CN101722421A - Robotic high density welding body shop - Google Patents
Robotic high density welding body shop Download PDFInfo
- Publication number
- CN101722421A CN101722421A CN200910132979A CN200910132979A CN101722421A CN 101722421 A CN101722421 A CN 101722421A CN 200910132979 A CN200910132979 A CN 200910132979A CN 200910132979 A CN200910132979 A CN 200910132979A CN 101722421 A CN101722421 A CN 101722421A
- Authority
- CN
- China
- Prior art keywords
- zone
- automated guided
- guided vehicle
- assembling device
- automatic welding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a method and apparatus for managing the delivery of component parts and tooling to a robotic welding assembly positioned on a motor vehicle body assembly line. Automatic guided vehicles deliver component parts from a source of parts to a parts staging area on the robotic welding assembly including a substage awaiting area, a substage in-use area and a substage empty area, and further automatic guided vehicles deliver tooling from a tooling management area to the robotic welding assembly whereafter the tooling, upon model changeover, is moved to a tooling use area proximate the assembly line whereafter, upon further model changeover, the tooling is removed from the tooling use area and loaded onto an automatic guided vehicle for return to the tooling management area.
Description
Technical field
The present invention relates to the motor vehicle manufacturing, and more particularly, relate to a kind of high density welding car body workshop that body of motor vehicle is made of being convenient to.
Background technology
Although proposed or implemented countless car body workshop structures, but typical motor-vehicle bodies workshop always needs a large amount of manpowers, always consume huge factory floor space, always need complex apparatus and technology so that parts are supplied to assembly line, and always need complex apparatus and technology to be convenient to the model conversion with the replacing instrument.
Summary of the invention
The invention provides a kind of car body workshop structure, this car body workshop structure provides unrestricted flexibility for different car body patterns; Be convenient to have the batch construction of limited possibility at random (random potential); Provide incomparable modularity for instrument layout, material passageway or the like; Provide the optimal material management about transporting flexibly with classification and ordering; Optimize material delivery; Optimizing material loads; Optimize clamp-replacing, anchor clamps maintenance and anchor clamps classification; Make the maximization of automatic machine (robot) density; Be convenient to best maintenance strategy; Be convenient to the production schedule and ground space utilization; Make the production basis compact structure; Make the construction process densification; Optimize manpower utilization, Transportation Engineering, reach equipment utilization; And be convenient to engineering-built, installation, maintenance, reach store keeping.
The present invention relates to a kind of method and apparatus that is used for managing body of motor vehicle workshop assembly clearly, the automatic welding assembling device (Robotic welding AssemblyDevice is abbreviated as RAD) that the body of motor vehicle workshop assembly of the type comprises the car body assembly line and locatees on assembly line.This inventive method comprises: at least one automated guided vehicle (Automotive Guide Vehicle is abbreviated as AGV) is set, be arranged in the part source on the part shelf, comprise for RAD and using with the first model instrument that assembles the first motor vehicle model with for the tool management zone of RAD use with the second model instrument that assembles the second motor vehicle model, qualification extends to RAD and turns back to the part source and the device of the mobile route that is used for AGV in tool management zone from part source and tool management zone, and be used for guiding at least one AGV to be used for optionally along in the part source, the tool management zone, reach the device that the mobile route between the RAD moves; And utilize at least one AGV, optionally with the first model instrument and the second model tool carrier to RAD so that be used for assembling respectively the first motor vehicle model and the second motor vehicle model, make the obsolete first model instrument or the second model instrument turn back to the tool management zone, and fully loaded part shelf are transported to RAD from the part source, and make empty part shelf turn back to the part source.
The other feature of steps of a method in accordance with the invention (mothodology), RAD limits stepped zone, this stepped zone comprises along the mobile route and near the sub level waiting area of arranging successively mobile route, sub level uses zone and sub level dummy section, and the first fully loaded part shelf are used in the zone so that used by RAD at sub level, the second empty part shelf are in the sub level dummy section, and vacancy is in the sub level waiting area, the AGV that carries the 3rd fully loaded part shelf is moved to stepped zone from the part source, the 3rd fully loaded part shelf are loaded onto on the sub level waiting area, the second empty part shelf are loaded onto on the AGV, and make AGV turn back to the part source.
According to other feature of the present invention, after sub level uses the location part to use up from the first fully loaded part shelf, the present first empty part shelf are used the regional sub level dummy section that is moved to present sky from sub level, and the 3rd fully loaded part shelf at sub level waiting area place are moved to the sub level use zone of present sky so that used by RAD.
Other feature according to the inventive method, after this AGV that carries the 4th fully loaded part shelf is moved to stepped zone from the part source, the 4th fully loaded part shelf are discharged on the sub level waiting area, and the first empty part shelf are discharged on the AGV, and make AGV turn back to the part source.
The other feature of steps of a method in accordance with the invention, at first AGV the moving from the part source to stepped zone of carrying fully loaded part shelf comprise AGV moving to the sub level waiting area, after this Man Zai part shelf are discharged on the sub level waiting area, AGV is moved to the sub level dummy section, part shelf at the sky at sub level dummy section place are loaded onto on the AGV, and make AGV turn back to the part source.
The other feature of steps of a method in accordance with the invention, RAD qualification instrument uses the zone, and the first model instrument is used in the zone so that used by RAD at instrument, the AGV that carries the second model instrument is moved to RAD from the tool management zone, the second model instrument is discharged on the RAD, and after this, after the first model vehicle production is finished, the first model instrument uses the zone to remove from instrument, the second model instrument is moved to instrument and uses the zone, the first model instrument is discharged on the AGV, and makes AGV turn back to the tool management zone.
The other feature of steps of a method in accordance with the invention, mobile route comprise and extend near first mobile route part of the position RAD one side from the tool management zone and extend to the second mobile route part in tool management zone near the position the opposite side at RAD; And the second model instrument mobile from the tool management zone to RAD is along the first mobile route part, and the first model instrument mobile from RAD to the tool management zone is along the second mobile route part.
Other feature of the present invention relates to system and the equipment that is used for realizing above-described method step feature.
Description of drawings
Here reference will be made to the accompanying drawings, and wherein like reference numerals runs through several views and relates to like parts, and wherein:
Fig. 1 is the total arrangement plane according to welding car body of the present invention workshop;
Fig. 2 is the part end-view in the car body workshop of Fig. 1;
Fig. 3 is the partial plan in the car body workshop of Fig. 1;
Fig. 4 is the plane in the part in the car body workshop shown in Fig. 3;
Fig. 5 is the end view of the roller assembly unit that utilizes in car body of the present invention workshop;
Fig. 6 is the end view of the saddle assembly unit that utilizes in car body of the present invention workshop;
Fig. 7 is the schematic isometric of the part in welding car body workshop;
Fig. 8 is the schematic plan view of the welding car body workshop part seen in Fig. 7;
Fig. 9-the 13rd, successive views illustrates parts according to the present invention and transports system;
Figure 14 is the part stereogram of instrument transfer equipment;
Figure 15 is the part stereogram, is illustrated in the small rail car that utilizes in the instrument transfer equipment of Figure 14; And
Figure 16-the 21st, successive views illustrates the method step according to tool changing of the present invention system.
The specific embodiment
The car body of the present invention workshop of being seen in the overview in Fig. 1 10 comprises store keeping zone 12, sub-assembly area 14, main line zone 16 and tool management zone 17.Material in Fig. 1 and workflow consider that returning mobile is from right to left basically, and the tool changing flow process in Fig. 1 considers that returning mobile is from left to right basically.Can see that store keeping zone 12 will be configured for the source of the componentry of welding operation.
In store keeping zone 12, it is unloaded and be deposited in the backing plate container to arrive the material of platforms 13 by track 18 or semitrailer 20, after this it takes out from the backing plate container, be placed in the part shelf 22, and when needed, be loaded into and be used for along the passageway automated guided vehicle (AGV) 24 that 26 automatic battery power supply is moved, so as optionally with material delivery to sub-assembly area 14 and main line zone 16.
Sub-assembly area 14 comprises six roller assembly units 28 side by side that are arranged between the corresponding passageway 26.
Each automatic carriage assembly unit 28 (Fig. 2,3,4,5 and 9) comprises unlimited scaffolding structure, be somebody's turn to do automata controller 38, top suspention carriage 40, the bottom opening wide scaffolding structure and comprise central tower structure 32, side automatic machine platform structure 34, outrigger 36a, 36b, installation on automatic machine platform structure 34 and suspend carriage 41 in midair, reach a plurality of automatic machines 42, they all are arranged to and central assembly line 47 symmetries are aimed at.For example, for 6 automatic machines altogether, three automatic machines 42 can be suspended on the platform 34A of each automatic machine platform structure.
The further details of automatic carriage assembly unit 28 can be in U.S. Patent No. 6,799, sees that the both transfers the application's assignee in 673 and No.6,564,440, and its disclosure is all by with reference to being included in here.
Each automatic saddle assembly unit 30 (Fig. 2,3 and 6) comprises unlimited scaffolding structure, should open wide scaffolding structure comprises spaced automatic machine platform structure 50, outrigger 52a, 52b, the automata controller of installing 54, a plurality of automatic machine 56, reaches lower central conveyor construction 58 on automatic machine platform structure 50, this lower central conveyor construction 58 carries saddle 60, this saddle 60 arrange be used for along central assembly line 47 be powered move.For example, for ten automatic machines altogether, three automatic machines 56 can be suspended on the platform 50A of an automatic machine platform structure, and two automatic machines 56 can extend upward from the ground 50B of each automatic machine platform structure.
Automatically the further details of saddle assembly unit 30 can be in U.S. Patent No. 6,948, sees that this patent transfers assignee of the present invention in 227, and its disclosure is by with reference to being included in here.
Generally, part and so on arrives platform through track 18 or truck 20 in backing plate, after this, part is taken off from backing plate, and be loaded on the part shelf 22, after this, when needed, AGV 24 receives the part shelf, and advances to left in sub-assembly area 14 and the main line zone 16.Material will be at certain model of the various models of the production line that is assembling or order by classification.Some materials will be upgraded in sub-assembly area, and be moved to main line then, but under any circumstance, the flow direction of material all from right to left.All main line rows are similar.On the bottom three that seen in Fig. 1 are roller assembly units 28, and on the top three that seen in Fig. 1 are saddle assembly units 30.Usually, the roller assembly unit is used to build the geometric shape of vehicle, this geometric shape is car body bottom and car body left side and car body right side, and the saddle assembly unit is used to build the car body bottom, and this car body bottom has point frame and has a little and closed deck of car body or assembly.All materials are in backing plate, and this backing plate is through design (engineered) backing plate, and an element that has requirement at use point place.System does not use any conveyer, does not utilize anyone worker's operation yet or pollutes anything that main line assembles.Stock support is arranged on each side of roller assembly unit and saddle assembly unit.These supports are used to material or component delivery to each roller or saddle assembly unit, and/or be used to tool carrier to each roller or saddle assembly unit, so that transform to different car body patterns.Passageway (aisle) between every row's assembly unit comprises the main car body passageway and in side, main car body passageway and the passage (walkway) adjacent with the stock support of assembly unit.AGV 24 moves along mobile route 25, and this mobile route 25 extends along each passageway and between each passageway, and is used for making that store keeping zone 12, son assembling zone 14, main line zone 16 and tool management zone 17 are generally interconnected.Path 25, as in Fig. 7 and 8 the clearest see, can comprise the path part 25a that extends along a side of each roller assembly unit 28 of alignment and the path part 25b that extends along the opposite side of each assembly unit of alignment.
By means of this mobile route 25, each AGV can be as expressed, often move in mode side by side, make an AGV as seeing among Fig. 1, in the passageway, top, transporting part or instrument, and make in the passageway, adjacent bottom of another AGV in Fig. 1 and transport part or instrument.The supporting structure that part that is transported by each AGV or instrument are transported to roller or saddle assembly unit, after this part or instrument are moved to the work use location.This layout has been eliminated for the personnel that will relate to or for the necessity of the conveyer that will relate to.
Each AGV 24 comprises dilly, and this dilly can be that for example six feet wide and 15 feet long, bottom have four wheels, and by battery-operated; And the load/unload mechanism that comprises the fork truck mechanism form that typically schematically illustrates at the 24A place.AGV walks back and forth along the passageway just as car, and is directed by the navigation system such as gps system.Each AGV has the implantation navigation system, makes each factory row (factorycolumn) have emitter, and each AGV has receiver, this receiver is distinguished the position of AGV in factory, thereby the exact position of AGV in factory always grasped.Such AGV generally is used in the auto industry, and has ability that is conducted through factory and the function of finishing load/unload by means of the emitter on AGV.This system allows to build in batches, and this is built in batches and allows to build a kind of model clearly and add one then, add one, add one, thereby the flexibility of system is unlimited.This system can build for example 15 models, but also builds one sometimes.This system can build a model during one hour, and built one then during five hours, and built one then during three hours, and built one then during nine hours, and the rest may be inferred.The critical aspects of this system is mobile through the material of design.This system utilizes modular instrument and designed product to flow, and can realize that from part to sub-assembly unit to main line or directly to the moving of main line, all parts use AGV to be transported to the use point, thereby this system is with personnel and main line disengagement.On main line, have no talent, because all material all arrives main line in backing plate or in certain baggage systems.Material always is brought to production line, and these AGV advance basically from right to left.Except that passageway, the outside is provided for returning of sky part shelf move, it is one-way road that material flows.The circular that this layout produces AGV moves, make AGV as seeing among Fig. 1 along the top three passageways move, place, end in the passageway that is used to lead to the passageway, top turns right, and the AGV in three passageways, bottom turns left when mobile when they surmount main line zone, so that move to bottom or outside passageway, and move back to the store keeping zone, to receive other part and to begin new supply circulation.Such as mentioned, each AGV is powered, and each AGV has battery.Be provided with that AGV berths and the zone 70 of charging, to allow AGV that they oneself are moored to electrical outlets and to be recharged.AGV oneself charges for during a time period basically thus them again, and moves back in the operation.
AGV not only plays the effect of parts being taken to each welding station that is used for welding on assembly line, and plays at the welding station place and change instrument to realize the effect of motor vehicle model replacing.
AGV play with parts be transported to welding station effect mode Fig. 7,8,9 and successively Fig. 9-13 in see the most clearly.
About element transporting to automatic carriage assembly unit 28, and particularly with reference to Fig. 9-13, stepped zone 71 is arranged on the support 36 of each assembly unit 28, and this stepped zone 71 comprises along the adjacent part of the mobile route 25 of AGV and the sub level waiting area 72 of arranging successively near this adjacent part, sub level use zone 74, reaches sub level dummy section 76.Have to be positioned at and use in the zone 74 so that the fully loaded part shelf 22 that use by automatic welding assembly unit, be positioned at empty shelf 22 in the dummy section 76, and the vacancy (Figure 10) in waiting area 72, system's operation, move to stepped zone 71 (Figure 11) from part source 12 with the AGV 24 that will carry fully loaded part shelf 22, fully loaded part shelf 22 are unloaded on the waiting area 72, empty part shelf 22 are unloaded to (Figure 12) on the AGV 24, and make AGV 24 turn back to part source 12 (Figure 13).
As seen, at first AGV 24 the moving from the part source to stepped zone of carrying fully loaded part shelf comprise AGV move (Figure 11) to sub level waiting area 72, after this Man Zai part shelf are loaded onto on the sub level waiting area, AGV is moved to sub level dummy section (Figure 12), empty part shelf are loaded onto on the AGV, make AGV turn back to part source (Figure 13) then.
This system further can operate after using regional 74 place's parts to use up from fully loaded part shelf 22 so that empty now part shelf 22 are moved to the gap level 76 of present sky from using the zone, and will move to the use zone 74 of present sky at the fully loaded part shelf 22 at waiting area 72 places so that use by automatic soldering device 28, after this system is operable, move to stepped zone 71 with the AGV 24 that will carry fully loaded part shelf 22 once more from part source 12, fully loaded part shelf 22 are unloaded on the waiting area 72, the part shelf 22 of sky are unloaded on the AGV 24, then AGV 24 are turned back to part source 12.
Will be appreciated that and part shelf 22 are loaded into that AGV goes up and are to utilize the 24a of fork truck mechanism of AGV to finish from AGV unload parts shelf; Part shelf moving between sub level zone 72,74,76 uses the automatic machine 42 of relevant automatic carriage assembly unit 28 to finish; Using regional 74 place's parts to leave moving by the automatic machine 42 of relevant automatic carriage assembly unit 28 of part shelf for the use when forming the automotive vehicle body structure in the substation finishes; And the actual welding that forms the parts of automotive vehicle body is also finished by the welding automatic machine 42 of relevant automatic carriage assembly unit.
It will also be understood that, the element process of transporting described above can utilize support 36a or relative support 36b to carry out, and will be appreciated that, parts in part shelf 22 are pressed and the identical mode of describing at the automatic carriage assembly unit by AGV, supply to any support 50b, 50b of automatic saddle assembly unit 30.
About using AGV to change instrument at automatic assembly unit 28 or 30 places, particularly with reference to Figure 14 and 15, the reciprocal assembly unit 80 of instrument laterally is positioned at below the assembly unit 28.Assembly unit 80 comprises pair of parallel track 82, be rotatably positioned in orbit pair of tracks dolly 84,86, and the saddle 88,90 that carries on each small rail car.
To see that track 82 is from extending near the second end 82b the part 25b of AGV path near the first end 82a the part 25a of AGV path.
Each small rail car 84,86 comprises that the excitation energy operation of electro-motor 92 and response motor is to promote the suitable mechanism of small rail car along track.
Being dimensioned to of each saddle 88/40 makes it to be positioned on the top of respective rail dolly 84,86.
Back and forth assembly unit 80 is used to see the most clearly in the mode of assembly unit 28 places replacing instrument in Figure 16-21.Specifically, earlier with reference to Figure 16, the instrument of medially locating about near automatic carriage assembly unit 28 places assembly line 47 uses the in place and instrument 17a in use in regional 78 places, the AGV 24 that advances on mobile route 25a can be used to take instrument 17b to roller assembly unit (Figure 17), and the load/unload mechanism of utilizing AGV is loaded into instrument 17b in the small rail car 86 below the support 36a that is positioned at the roller assembly unit (Figure 18), after this, when being used to complete of instrument 17a, small rail car 84 is promoted left, as seeing among Figure 19, instrument 17a is moved to the position below the support 36b on the opposite side of roller assembly unit, small rail car 86 is promoted left simultaneously, use zone 78 (Figure 20) with instrument that instrument 17b is moved to, after this instrument 17a utilizes the AGV fork truck 24a of mechanism can be loaded on the AGV 24 of the mobile route 25b that advances on the opposite side of assembly unit (Figure 21), and after this AGV can operate so that instrument 17a is turned back to tool management zone 17.
Between the operating period of instrument 17b, can utilize the AGV that on mobile route 25b, advances, other instrument is taken to the left side of assembly unit 28, after this other instrument can be loaded on the small rail car 84, after this when being used to complete of instrument 17b, small rail car 86 can move right, with permission instrument 17b is loaded on the AGV 24 of location, assembly unit the right, so that on mobile route 25a, turn back to tools area, after this small rail car 84 instrument that can move to uses zone 78, so that, other tool positioned is used location at instrument for the use when constructing other motor vehicle model.
To understand, the instrument that offers automatic assembly unit in each case comprises the instrument for the motor vehicle model special use that is assembled, and can comprise for example anchor clamps or end-effector (end effector), these anchor clamps or end-effector are used by the automatic machine of assembly unit so that welding operation, thereby form the sub-component of body of motor vehicle or body of motor vehicle.
In the whole operation of system, AGV 24 picks up part shelf 22 from store keeping zone 12 continuously, and take the part shelf to main line 17 so that use by each assembly unit 28/30, simultaneously different AGV is used for changing at each assembly unit 28/30 place instrument, and the time of replacing is that a kind of production of specific model finishes and a kind of production of new model when beginning.System of the present invention makes that the tool changing time can be between two to three minutes.
According to the clause of Patent Law, adopted already to be considered to represent the explanation of the preferred embodiments of the present invention that the present invention is described.Yet, should be noted that the present invention can adopt in clear and definite explanation and outside describing and the mode that does not break away from the spirit or scope of the present invention is implemented.
Claims (33)
1. method that is used for managing body of motor vehicle workshop assembly, this body of motor vehicle workshop assembly are to comprise the car body assembly line and the type of the automatic welding assembling device of locating on described assembly line, and described method comprises:
At least one automated guided vehicle is set, be arranged in the part source on the part shelf, comprise for described automatic welding assembling device and using with the first model instrument that assembles the first motor vehicle model with for the tool management zone of described automatic welding assembling device use with the second model instrument that assembles the second motor vehicle model, qualification extends to described automatic welding assembling device and turns back to described part source and the device of the mobile route that is used for described automated guided vehicle in described tool management zone from described part source and described tool management zone, and be used for guiding described at least one automated guided vehicle with optionally along in described part source, described tool management zone, reach the device that the described mobile route between the described automatic welding assembling device moves; And
Utilize described at least one automated guided vehicle, optionally the described first model instrument and the second model tool carrier are arrived described automatic welding assembling device, so that be used for assembling respectively described first motor vehicle model and the described second motor vehicle model, make the obsolete described first model instrument or the second model instrument turn back to described tool management zone, fully loaded part shelf are transported to described automatic welding assembling device from described part source, and make empty part shelf turn back to described part source.
2. method according to claim 1, wherein, described method also comprises:
The place is provided with stepped zone at described automatic welding assembling device, and this stepped zone comprises contiguous described mobile route and a plurality of sub levels zone of arranging successively; And
Utilize described automated guided vehicle that the part shelf are transported to described stepped zone, and after this between described sub level zone, move described part shelf successively.
3. method according to claim 2, wherein:
Described stepped zone comprises along described mobile route and near the sub level waiting area of arranging successively described mobile route, sub level use zone and sub level dummy section; And
Use in the zone so that by described automatic welding assembling device use, when the second empty part shelf are empty in described sub level dummy section and in the described sub level waiting area at described sub level at the first fully loaded part shelf, the automated guided vehicle that carries the 3rd fully loaded part shelf is moved to described stepped zone from described part source, fully loaded described the 3rd part shelf are loaded onto on the described sub level waiting area, the empty described second part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
4. method according to claim 3, wherein, after described sub level uses the part of the fully loaded described first part shelf of location to use up, the described first part shelf of this space-time are used the regional described sub level dummy section that moves to this space-time from described sub level, and the fully loaded described part shelf at described sub level waiting area place are moved to the described sub level use zone of this space-time so that used by described automatic welding assembling device.
5. method according to claim 4, wherein, after this automated guided vehicle that carries the 4th fully loaded part shelf is moved to described stepped zone from described part source, fully loaded described the 4th part shelf are discharged on the described sub level waiting area, the empty described first part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
6. method according to claim 1, wherein, at first described move of automated guided vehicle from described part source to described stepped zone of carrying fully loaded part shelf comprise described automated guided vehicle moving to described sub level waiting area, after this Man Zai described part shelf are discharged on the described sub level waiting area, described automated guided vehicle is moved to described sub level dummy section, empty described part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
7. method according to claim 1, wherein:
Described automatic welding assembling device qualification instrument uses the zone; And
When the first model instrument uses in the zone so that when being used by described automatic welding assembling device at described instrument, the automated guided vehicle that carries the second model instrument is moved to described automatic welding assembling device from described tool management zone, the described second model instrument is discharged on the described automatic welding assembling device, and after this, after the first model vehicle production is finished, the described first model instrument uses the zone to remove from described instrument, the described second model instrument is moved to described instrument and uses the zone, the described first model instrument is discharged on the automated guided vehicle, and makes the described automated guided vehicle that carries the described first model instrument turn back to described tool management zone.
8. method according to claim 7, wherein:
Described mobile route comprise extend to from described tool management zone on described assembly line one side near first mobile route of the position described automatic welding assembling device part and from the opposite side at described assembly line near the position described automatic welding assembling device extend to the second mobile route part in described tool management zone; And
The described second model instrument mobile from described tool management zone to described automatic welding assembling device comprises described first mobile route, and the described first model instrument mobile from described tool management zone to described automatic welding assembling device comprises described second mobile route.
9. method that is used for managing body of motor vehicle workshop assembly, this body of motor vehicle workshop assembly are to comprise the car body assembly line and the type of the automatic welding assembling device of locating on described assembly line, and described method comprises:
At least one automated guided vehicle is set, is arranged in part source on the part shelf, limits the device of the mobile route that is used for described automated guided vehicle that extends to described automatic welding assembling device from described part source and turn back to described part source and is used for guiding the device of described at least one automated guided vehicle optionally to move along described mobile route;
The place is provided with stepped zone at described automatic welding assembling device, and this stepped zone comprises along described mobile route and near arrange successively described mobile route a plurality of sub levels zone; And
Utilize described automated guided vehicle that the part shelf are transported to described stepped zone, and after this between described sub level zone, move described part shelf successively.
10. method according to claim 9, wherein:
Described stepped zone comprises along described mobile route and near the sub level waiting area of arranging successively described mobile route, sub level use zone and sub level dummy section; And
Use in the zone so that by described automatic welding assembling device use, when empty shelf are empty in described sub level dummy section and in the described sub level waiting area at described sub level at the first fully loaded part shelf, the automated guided vehicle that carries fully loaded part shelf is moved to described sub level waiting area from described part source, fully loaded described part shelf are discharged on the described sub level waiting area, empty described part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
11. method according to claim 10, wherein, after described sub level uses the part of the fully loaded described part shelf of location to use up, the described part shelf of this space-time are used the regional described sub level dummy section that moves to this space-time from described sub level, and the fully loaded described part shelf at described sub level waiting area place are moved to the described sub level use zone of this space-time so that used by described automatic welding assembling device.
12. method according to claim 11, wherein, after this automated guided vehicle that carries fully loaded part shelf is moved to described stepped zone from described part source, fully loaded described part shelf are discharged on the described sub level waiting area, empty described part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
13. method according to claim 10, wherein, at first described move of described automated guided vehicle from described part source to described stepped zone of carrying fully loaded described part shelf comprise described automated guided vehicle moving to described sub level waiting area, after this Man Zai described part shelf are discharged on the described sub level waiting area, described automated guided vehicle is moved to described sub level dummy section, empty described part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
14. a method that is used for managing body of motor vehicle workshop assembly, this body of motor vehicle workshop assembly are to comprise the car body assembly line and the type of the automatic welding assembling device of locating on described assembly line, described method comprises:
At least one automated guided vehicle is set, being included in described automatic welding assembling device place is used in first model instrument of the assembling first motor vehicle model on the assembly line and the tool management zone that is used for assembling the second model instrument of the second motor vehicle model at described automatic welding assembling device place on assembly line, qualification extends to described automatic welding assembling device and turns back to the device of the mobile route that is used for described automated guided vehicle in described tool management zone from described tool management zone, and be used for guiding the device of described at least one automated guided vehicle optionally to move along described mobile route;
The instrument that is provided with at described automatic welding assembling device place uses the zone; And
Use in the zone so that when using at described instrument at the first model instrument by described automatic welding assembling device, the automated guided vehicle that carries the second model instrument is moved to described automatic welding assembling device from described tool management zone, the described second model instrument is discharged on the described automatic welding assembling device, after this, after the first model vehicle production is finished, the described first model instrument uses the zone to remove from described instrument, the described second model instrument is moved to described instrument and uses the zone, the described first model instrument is moved on the automated guided vehicle, and the described first model instrument turns back to described tool management zone by described automated guided vehicle.
15. method according to claim 14, wherein:
Described mobile route comprise extend to from described tool management zone on described assembly line one side near first mobile route of the position described automatic welding assembling device part and from the opposite side at described assembly line near the position described automatic welding assembling device extend to the second mobile route part in described tool management zone; And
The described second model instrument mobile from described tool management zone to described automatic welding assembling device comprises first mobile route, and the described first model instrument is from mobile second mobile route that comprises in described tool management zone.
16. method according to claim 14, wherein, before the finishing of the second model vehicle production, other instrument utilizes automated guided vehicle to be moved to described automatic welding assembling device from described tool management zone, and after this, after the second model vehicle production is finished, the described second model instrument uses the zone to remove from described instrument, the described second model instrument utilizes automated guided vehicle to be moved to described tool management zone, and described other instrument is moved to described instrument use zone.
17. a body of motor vehicle workshop system comprises:
The car body assembly line;
Automatically the welding assembling device is positioned on the described assembly line;
The part source;
The tool management zone, comprise for described automatic welding assembling device use with the first model instrument that assembles the first motor vehicle model and for described automatic welding assembling device use to assemble the second model instrument of the second motor vehicle model;
At least one automated guided vehicle;
Be defined for the device of the mobile route of described automated guided vehicle, this mobile route extends to described automatic welding assembling device and turns back to described part source and described tool management zone from described part source and described tool management zone; And
Be used for guiding described at least one automated guided vehicle with optionally along described part source, described tool management zone, and described automatic welding assembling device between the device that moves of described mobile route.
18. body of motor vehicle workshop system according to claim 17, wherein:
Part at place, described part source is disposed on the part shelf;
Described automatic welding assembling device comprises stepped zone, and this stepped zone comprises along described mobile route and near arrange successively described mobile route a plurality of sub levels zone;
Described automated guided vehicle can be operated so that the part shelf are transported to described stepped zone; And
After this described automatic welding assembling device can be operated to move described part shelf successively between described sub level zone.
19. body of motor vehicle workshop system according to claim 18, wherein:
Described stepped zone comprises along described mobile route and near the sub level waiting area of arranging successively described mobile route, sub level use zone and sub level dummy section;
Described automated guided vehicle comprises load/unload mechanism;
Described automatic welding assembling device comprises at least one automatic machine; And
Described at least one automatic machine and described load/unload mechanism are to operate on cooperation ground, use in the zone so that by described automatic welding assembling device use, when the second empty part shelf are empty in described sub level dummy section and in the described sub level waiting area at described sub level at the first part shelf, the 3rd fully loaded part shelf are loaded on the described sub level waiting area, and the described second part shelf of sky are loaded on the described automated guided vehicle, make described automated guided vehicle turn back to described part source.
20. body of motor vehicle workshop system according to claim 19, wherein, after described sub level uses the part of the fully loaded described first part shelf of location to use up, described at least one automatic function operation uses the zone to move to the described sub level dummy section of this space-time with the described first part shelf with this space-time from described sub level, and will move to the described sub level use zone of this space-time at the fully loaded described part shelf at described sub level waiting area place so that used by described automatic welding assembling device.
21. body of motor vehicle workshop system according to claim 20, wherein, the automated guided vehicle that after this described system can operate will carry fully loaded part shelf moves to described stepped zone from described part source, the 4th fully loaded part shelf are unloaded on the described sub level waiting area, the described first part shelf of sky are loaded on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
22. body of motor vehicle workshop system according to claim 19, wherein, at first described move of automated guided vehicle from described part source to described stepped zone of carrying fully loaded part shelf comprise described automated guided vehicle moving to described sub level waiting area, after this Man Zai described part shelf are discharged on the described sub level waiting area, described automated guided vehicle is moved to described sub level dummy section, empty described part shelf are discharged on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
23. body of motor vehicle workshop system according to claim 17, wherein:
Described automatic welding assembling device qualification instrument uses the zone; And
When the first model instrument uses in the zone so that when being used by described automatic welding assembling device at described instrument, the automated guided vehicle that described system can operate will carry the second model instrument moves to described automatic welding assembling device from described tool management zone, the described second model instrument is unloaded on the described automatic welding assembling device, and after this, after the first model vehicle production is finished, use the zone to remove from described instrument the described first model instrument, the described second model instrument is moved to described instrument use the zone, to automated guided vehicle, and make described automated guided vehicle turn back to described tool management zone the described first model tool loading.
24. body of motor vehicle workshop system according to claim 23, wherein:
Described mobile route comprise extend to from described tool management zone on described assembly line one side near first mobile route of the position described automatic welding assembling device part and from the opposite side at described assembly line near the position described automatic welding assembling device extend to the second mobile route part in described tool management zone; And
The described second model instrument mobile from described tool management zone to described automatic welding assembling device comprises described first mobile route, and the described first model instrument mobile from described tool management zone to described automatic welding assembling device comprises described second mobile route.
25. a body of motor vehicle workshop system comprises:
Assembly line;
Automatically the welding assembling device is positioned on the described assembly line;
The part source is arranged on the part shelf;
Qualification extends to described automatic welding assembling device and turns back to the device of the mobile route in described part source from described part source;
Stepped zone at described automatic welding assembling device place comprises along described mobile route and near arrange successively described mobile route a plurality of sub levels zone;
At least one automated guided vehicle is arranged to be used for optionally move along described mobile route, and can operate so that the part shelf are transported to described stepped zone; And
Automatic machine on described automatic welding assembling device can be operated to move described part shelf subsequently successively between the substation.
26. body of motor vehicle workshop system according to claim 25, wherein:
Described stepped zone comprises along described mobile route and near the sub level waiting area of arranging successively described mobile route, sub level use zone and sub level dummy section; And
Described automated guided vehicle comprises load/unload mechanism, this load/unload mechanism and described automatic function are operated with interacting, use in the zone so that by described automatic welding assembling device use, when empty part shelf are empty in described sub level dummy section and in the described sub level waiting area at described sub level at fully loaded part shelf, fully loaded part shelf are loaded on the described sub level waiting area from described automated guided vehicle, and the described part shelf of sky are loaded on the described automated guided vehicle, so that turn back to described part source.
27. body of motor vehicle workshop system according to claim 26, wherein, after described sub level uses the part of the fully loaded described part shelf of location to use up, described system can operate with the described part shelf with this space-time and use the zone to move to the described sub level dummy section of this space-time from described sub level, and will move to the described sub level use zone of this space-time at the fully loaded described part shelf at described sub level waiting area place so that used by described automatic welding assembling device.
28. body of motor vehicle workshop system according to claim 27, wherein, the automated guided vehicle that after this described system can operate will carry fully loaded part shelf moves to described stepped zone from described part source, fully loaded described part shelf are unloaded on the described sub level waiting area, the described part shelf of sky are loaded on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
29. body of motor vehicle workshop system according to claim 26, wherein, at first described move of automated guided vehicle from described part source to described stepped zone of carrying fully loaded part shelf comprise described automated guided vehicle moving to described sub level waiting area, after this Man Zai described part shelf are discharged on the described sub level waiting area, described automated guided vehicle is moved to described sub level dummy section, empty described part shelf are loaded onto on the described automated guided vehicle, and make described automated guided vehicle turn back to described part source.
30. a body of motor vehicle workshop system comprises:
Assembly line;
Automatically welding assembling device is positioned on the described assembly line and comprises at least one automatic machine;
At least one automated guided vehicle;
The tool management zone is included in described automatic welding assembling device place and is used for assembling the first model instrument of the first motor vehicle model on the assembly line and be used for assembling the second model instrument of the second motor vehicle model at described automatic welding assembling device place on assembly line;
Qualification extends to described automatic welding assembling device and turns back to the device of the mobile route in described tool management zone from described tool management zone;
Be used for guiding the device of described at least one automated guided vehicle optionally to move along described mobile route;
Instrument at described automatic welding assembling device place uses the zone; And
Load/unload mechanism, carry by described automated guided vehicle, and operate with described automatic function with interacting, when the first model instrument uses in the zone so that when being used by described automatic welding assembling device at described instrument, the automated guided vehicle that carries the second model instrument is moved to described automatic welding assembling device from described tool management zone, the described second model instrument is unloaded on the described automatic welding assembling device, and after this, after the first model vehicle production is finished, use the zone to remove from described instrument the described first model instrument, the described second model instrument is moved to described instrument use the zone, the described first model instrument is moved on the automated guided vehicle, and make described automated guided vehicle turn back to described tool management zone.
31. body of motor vehicle workshop system according to claim 30, wherein:
Described mobile route comprise extend to from described tool management zone on described assembly line one side near first mobile route of the position described automatic welding assembling device part and from the opposite side at described assembly line near the position described automatic welding assembling device extend to the second mobile route part in described tool management zone; And
The described second model instrument mobile from described tool management zone to described automatic welding assembling device comprises described first mobile route, and the described first model instrument mobile from described tool management zone to described automatic welding assembling device comprises described second mobile route.
32. body of motor vehicle workshop system according to claim 31, wherein, described system is operable before the second model vehicle production is finished, to utilize automated guided vehicle that other instrument is moved to described automatic welding assembling device from described tool management zone, and after this, after the second model vehicle production is finished, use the zone to remove from described instrument the described second model instrument, utilize automated guided vehicle that the described second model instrument is moved to described tool management zone, and described other instrument is moved to described instrument use zone.
33. one kind with instrument and component delivery to the method that is positioned at the automatic welding assembling device on the body of motor vehicle assembly line, may further comprise the steps:
The part source is set;
The instrument source is set;
The mobile route in interconnection described automatic welding assembling device, described part source and described instrument source is set;
A plurality of automated guided vehicles that setting can be moved along described mobile route; And
Optionally move described automated guided vehicle along described mobile route, optionally component part being transported to described automatic welding assembling device from described part source, and optionally instrument is transported to described automatic welding assembling device from described instrument source.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US12/262,722 | 2008-10-31 | ||
| US12/262,722 US8201723B2 (en) | 2008-03-12 | 2008-10-31 | Robotic high density welding body shop |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101722421A true CN101722421A (en) | 2010-06-09 |
| CN101722421B CN101722421B (en) | 2013-10-30 |
Family
ID=42126264
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910132979 Active CN101722421B (en) | 2008-10-31 | 2009-04-03 | Robotic high density welding body shop |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101722421B (en) |
| CA (3) | CA2904752C (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347708A (en) * | 2015-07-16 | 2017-01-25 | 波音公司 | Method and system for controlling automated operations on a workpiece |
| CN107838546A (en) * | 2017-11-20 | 2018-03-27 | 苏州凯尔博精密机械有限公司 | A kind of intelligent transport welding production line |
| CN108290259A (en) * | 2015-11-27 | 2018-07-17 | 库卡系统有限责任公司 | Manufacturing equipment and manufacturing method |
| US10131388B2 (en) | 2014-12-15 | 2018-11-20 | Comau Llc | Modular vehicle assembly system and method |
| CN109814566A (en) * | 2019-02-01 | 2019-05-28 | 青岛港国际股份有限公司 | Automatic dock AGV working space apparatus for examination and repair and system |
| CN109967904A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of automatic assembling welding method of trailer |
| US10384873B2 (en) | 2016-05-06 | 2019-08-20 | Comau Llc | Inverted carrier lift device system and method |
| CN113275799A (en) * | 2021-06-01 | 2021-08-20 | 东风柳州汽车有限公司 | Welding system for vehicle assembly |
| CN113385844A (en) * | 2021-06-04 | 2021-09-14 | 东风柳州汽车有限公司 | Welding method of automobile side wall assembly |
| CN113492292A (en) * | 2021-07-19 | 2021-10-12 | 中国第一汽车股份有限公司 | Welding jig based on AGV multi-vehicle type switches |
| US11420853B2 (en) | 2019-10-03 | 2022-08-23 | Comau Llc | Assembly material logistics system and methods |
| US11905114B2 (en) | 2020-06-08 | 2024-02-20 | Comau Llc | Assembly material logistics system and methods |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113134692A (en) * | 2021-01-27 | 2021-07-20 | 安徽中科春谷激光产业技术研究院有限公司 | Automatic assembly welding device for train side wall and welding method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4659895A (en) * | 1982-09-02 | 1987-04-21 | Fata European Group S.P.A. | Automatic system for assembly and welding of motor vehicle bodies |
| EP0446518A1 (en) * | 1990-03-14 | 1991-09-18 | 501 Permaflex Company | Non-synchronous assembly system |
| US5347700A (en) * | 1992-03-19 | 1994-09-20 | Mazda Motor Corporation | Method of assembling vehicle parts |
| US20030037432A1 (en) * | 2001-08-21 | 2003-02-27 | Mcnamara Jeffrey S. | Automotive body component positioning method and apparatus |
| CN1705584A (en) * | 2002-10-22 | 2005-12-07 | 大发工业株式会社 | Method of assembling motor vehicle body |
-
2009
- 2009-03-19 CA CA2904752A patent/CA2904752C/en active Active
- 2009-03-19 CA CA2904751A patent/CA2904751C/en active Active
- 2009-03-19 CA CA2659143A patent/CA2659143C/en active Active
- 2009-04-03 CN CN 200910132979 patent/CN101722421B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4659895A (en) * | 1982-09-02 | 1987-04-21 | Fata European Group S.P.A. | Automatic system for assembly and welding of motor vehicle bodies |
| EP0446518A1 (en) * | 1990-03-14 | 1991-09-18 | 501 Permaflex Company | Non-synchronous assembly system |
| US5347700A (en) * | 1992-03-19 | 1994-09-20 | Mazda Motor Corporation | Method of assembling vehicle parts |
| US20030037432A1 (en) * | 2001-08-21 | 2003-02-27 | Mcnamara Jeffrey S. | Automotive body component positioning method and apparatus |
| CN1705584A (en) * | 2002-10-22 | 2005-12-07 | 大发工业株式会社 | Method of assembling motor vehicle body |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10131388B2 (en) | 2014-12-15 | 2018-11-20 | Comau Llc | Modular vehicle assembly system and method |
| US11021200B2 (en) | 2014-12-15 | 2021-06-01 | Comau Llc | Modular vehicle assembly system and method |
| CN106347708A (en) * | 2015-07-16 | 2017-01-25 | 波音公司 | Method and system for controlling automated operations on a workpiece |
| CN108290259A (en) * | 2015-11-27 | 2018-07-17 | 库卡系统有限责任公司 | Manufacturing equipment and manufacturing method |
| US10807801B2 (en) | 2016-05-06 | 2020-10-20 | Comau Llc | Inverted carrier lift device system and method |
| US10384873B2 (en) | 2016-05-06 | 2019-08-20 | Comau Llc | Inverted carrier lift device system and method |
| CN107838546A (en) * | 2017-11-20 | 2018-03-27 | 苏州凯尔博精密机械有限公司 | A kind of intelligent transport welding production line |
| CN109967904B (en) * | 2017-12-27 | 2022-03-29 | 中集车辆(集团)股份有限公司 | Automatic assembling and welding method for trailer |
| CN109967904A (en) * | 2017-12-27 | 2019-07-05 | 中集车辆（集团）有限公司 | A kind of automatic assembling welding method of trailer |
| CN109814566A (en) * | 2019-02-01 | 2019-05-28 | 青岛港国际股份有限公司 | Automatic dock AGV working space apparatus for examination and repair and system |
| US11420853B2 (en) | 2019-10-03 | 2022-08-23 | Comau Llc | Assembly material logistics system and methods |
| US11905114B2 (en) | 2020-06-08 | 2024-02-20 | Comau Llc | Assembly material logistics system and methods |
| CN113275799A (en) * | 2021-06-01 | 2021-08-20 | 东风柳州汽车有限公司 | Welding system for vehicle assembly |
| CN113385844A (en) * | 2021-06-04 | 2021-09-14 | 东风柳州汽车有限公司 | Welding method of automobile side wall assembly |
| CN113492292A (en) * | 2021-07-19 | 2021-10-12 | 中国第一汽车股份有限公司 | Welding jig based on AGV multi-vehicle type switches |
| CN113492292B (en) * | 2021-07-19 | 2023-03-24 | 中国第一汽车股份有限公司 | Welding jig based on AGV multi-vehicle type switches |
Also Published As
| Publication number | Publication date |
|---|---|
| CA2904751A1 (en) | 2010-04-30 |
| CA2659143A1 (en) | 2010-04-30 |
| CA2904751C (en) | 2017-02-14 |
| CN101722421B (en) | 2013-10-30 |
| CA2659143C (en) | 2015-12-15 |
| CA2904752C (en) | 2017-02-14 |
| CA2904752A1 (en) | 2010-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101722421B (en) | Robotic high density welding body shop | |
| EP2100804B1 (en) | Robotic high density welding body shop | |
| US11021200B2 (en) | Modular vehicle assembly system and method | |
| KR100896888B1 (en) | Cell production method and cell production facility | |
| CA3039049C (en) | Automated warehouse fulfillment system and method of operation | |
| CN100537332C (en) | Manufacturing method and manufacturing equipment for components | |
| US20110314665A1 (en) | Sequenced part delivery system | |
| CN103649857B (en) | The transmission of integrated vehicle part and constructing system | |
| CN108290259A (en) | Manufacturing equipment and manufacturing method | |
| CN107512515A (en) | Unmanned intelligent compact storage management method and warehousing system | |
| CN104508582A (en) | Methods for using an automated guided cart | |
| CN105593143A (en) | Transfer robot system | |
| CN102233527A (en) | Flexible automatic conveyance system between processes | |
| CN113602141A (en) | Battery changing station and battery changing method thereof | |
| KR101495612B1 (en) | Auto sequences apparatus using AGV | |
| CN217101530U (en) | Stereoscopic warehouse dispatching system | |
| CN115605415A (en) | Assembly material logistics system and method thereof | |
| CN209746415U (en) | intelligent factory training system | |
| CN112925305A (en) | AGV flexible scheduling method of workshop logistics system and workshop logistics system | |
| JP5748452B2 (en) | Parts assembly system | |
| RU2489299C2 (en) | Vehicle production line | |
| ES2350419T3 (en) | ROBOTIZED BODY WORKSHOP FOR HIGH DENSITY WELDING. | |
| JPH0241834A (en) | System for supplying parts to vehicle assembling line | |
| JPH02185348A (en) | Production equipment for plate | |
| WO2023104947A1 (en) | Method for operating a driverless transport system, supply device and transport system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee |
Owner name: COMAU LLC Free format text: FORMER NAME: COMAU INC. |
|
| CP01 | Change in the name or title of a patent holder |
Address after: Michigan Patentee after: KEMA COMPANY Address before: Michigan Patentee before: Comau Inc. |