CN114212169A

CN114212169A - Flexible assembling production line for automobile assembly

Info

Publication number: CN114212169A
Application number: CN202210112889.7A
Authority: CN
Inventors: 柯晶; 任海伟; 曹晓云; 徐恢川
Original assignee: Sanfeng Intelligent Equipment Group Co ltd
Current assignee: Sanfeng Intelligent Equipment Group Co ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-03-22
Anticipated expiration: 2042-01-29
Also published as: CN114212169B

Abstract

The invention relates to a flexible assembly production line for assembling automobiles, which comprises an assembling production line sequentially consisting of a feeding station, an assembling station, a front and rear suspension tightening station, a shock absorber tightening station, an engine gearbox tightening station, an oil tank bridging plate tightening station, a separating station and a discharging station, wherein a self-propelled track is arranged right above the assembling production line along the running direction of the assembling production line, and a self-propelled trolley runs on the self-propelled track; the flexible assembling production line for the combined assembly can realize the full-automatic flexible assembly production of the automobile chassis sub-assembly and the automobile body.

Description

Flexible assembling production line for automobile assembly

Technical Field

The invention relates to the technical field of automobile combination production processes and equipment, in particular to an automobile combination flexible assembly production line.

Background

Along with the development of automobile manufacturing technology, on an automobile production line in a final assembly workshop, an automobile chassis sub-assembly and an automobile body are assembled in a combined mode, and the production process and the production line in the prior art need to improve the production level of flexibility and automation collinear mixed flow so as to meet the market demand of rapid development. At present, the automobile assembling in China still generally adopts a split type auxiliary assembling process and a production line, and a special full-automatic production flow and equipment are lacked.

Disclosure of Invention

The invention aims to provide an automobile assembling flexible assembly production line aiming at the situation, and the assembling flexible assembly production line can realize the full-automatic assembly flexible production of an automobile chassis sub-assembly and an automobile body.

The specific scheme of the invention is as follows: the utility model provides an automobile attaches together flexible assembly production line, hangs the production line that attaches together that screws up station, bumper shock absorber tightening station, engine gearbox screw up station, oil tank bridging board screw up station, separation station and unloading station are constituteed including in proper order by the material loading station, close the station, front and back, is provided with the track by oneself along attaching together production line traffic direction directly over attaching together the production line, it has proper motion dolly, wherein to move on the track by oneself:

the feeding station and the discharging station are respectively composed of a first chain bed conveyor;

the closing station and the separating station respectively comprise a second chain bed conveyor, the second chain bed conveyor is supported by a lifting platform to lift, and a lifting appliance positioning support pin, a positioner, a vehicle body pressing device and an impact mechanism are arranged on the side part of the second chain bed conveyor;

the front and rear suspension tightening station comprises a third chain bed conveyor, a positioner is also arranged on the side part of the third chain bed conveyor, and a double-shaft passive adjustable tightening machine and a single-shaft adjustable tightening machine are arranged below the third chain bed conveyor;

the shock absorber tightening station comprises a fourth chain bed conveyor, a positioner is also arranged on the side part of the fourth chain bed conveyor, a suspended double-shaft adjustable tightening machine is arranged below the fourth chain bed conveyor close to the front side, and single-shaft tightening manipulators are arranged on two sides of the rear part of the fourth chain bed conveyor;

the engine gearbox tightening station comprises a fifth chain bed conveyor, a positioner is also arranged on the side part of the fifth chain bed conveyor, two single-shaft tightening manipulators are arranged on two sides of the front part of the fifth chain bed conveyor, and a twelve-shaft adjustable tightening machine is arranged below the fifth chain bed conveyor;

the oil tank bridge plate tightening station comprises a sixth chain bed conveyor, a positioner is also arranged on the side part of the sixth chain bed conveyor, two single-shaft tightening manipulators are arranged on two sides of the front part of the sixth chain bed conveyor, and a six-shaft adjustable tightening machine is arranged below the sixth chain bed conveyor;

the third chain bed conveyor, the fourth chain bed conveyor, the fifth chain bed conveyor and the sixth chain bed conveyor are all arranged at the same height and are conveyed in a front-to-back connection mode.

Furthermore, the self-propelled trolley comprises two driving trolleys, two driven trolleys, two connecting beams, a lifting device and a lifting appliance; the driving vehicle and the driven vehicle are hinged and connected through a connecting beam to form a group, wheels of the driving vehicle and wheels of the driven vehicle can advance or retreat along self-propelled rails, the two connecting beams are fixedly connected with a lifting device, the lifting device adopts a belt or chain lifting structure and is fixedly connected with a lifting appliance, the lifting appliance is used for lifting an automobile body, and the bottoms of lifting legs of the lifting appliance are provided with bolt holes for positioning during butt joint of stations.

Furthermore, the positioners in the closing station and the separating station are fixedly connected to two sides of the second chain bed conveyor, and four or two positioners are arranged in a diagonal arrangement mode; the vehicle body pressing device comprises a support, a Z-direction servo electric push rod, a Z-direction linear guide rail, a Z-direction movable frame, a Y-direction servo electric push rod, a Y-direction linear guide rail, an X-direction servo electric push rod, an X-direction linear guide rail and a pressing rod, wherein the support is fixed on the ground; the track of the Y-direction linear guide rail is fixedly connected with the Z-direction movable frame, a sliding block on the Y-direction linear guide rail is fixedly connected with the Y-direction movable frame, the fixed end of the Y-direction servo electric push rod is fixedly connected with the Z-direction movable frame, and the movable end of the Y-direction servo electric push rod is fixedly connected with the Y-direction movable frame; the track of the X-direction linear guide rail is fixedly connected with the Y-direction movable frame, and the sliding block on the X-direction linear guide rail is fixedly connected with the lower pressing rod; the fixed end of the X-direction servo electric push rod is fixedly connected to the Y-direction movable frame, and the movable end of the X-direction servo electric push rod is fixedly connected with the lower pressing rod; the telescopic directions of the Z-direction servo electric push rod, the Y-direction servo electric push rod and the X-direction servo electric push rod are arranged in pairs and are perpendicular to each other by 90 degrees, so that the pressing rod can be adjusted at any position in a space within a certain range; and the impact mechanism is fixed on the second chain bed conveyor and used for knocking a hook of the tray to be hooked with or unlocked from the automobile chassis sub-assembly.

Furthermore, the suspended double-shaft adjustable tightening machine comprises a hanger, an adjusting motor, a horizontal linear guide rail, a screw rod nut mechanism, two buffers, two cylinders, a horizontal sliding seat, two vertical linear guide rails, a vertical sliding seat and two tightening guns, wherein a track of the horizontal linear guide rail is fixed at the bottom of the hanger, and a sliding block on the horizontal linear guide rail is connected with a nut of the screw rod nut mechanism and is simultaneously connected with the horizontal sliding seat; the adjusting motor is connected with a screw rod of the screw rod nut mechanism; the two buffers are respectively fixed at two ends of the horizontal sliding seat; the track of the vertical linear guide rail is fixed in the middle of the horizontal sliding seat, and the sliding block on the track is connected with the vertical sliding seat; the body of the cylinder is fixed on the horizontal sliding seat, and the movable end of the cylinder is fixedly connected with the vertical sliding seat; the tightening gun flat row is fixed on the vertical sliding seat.

Furthermore, the twelve-axis adjustable tightening machine comprises a ground rail, two walking motors, a front moving platform, a rear moving platform, two rotating frames, two rodless cylinders, six linear guide rails, six adjusting motors, six tightening gun sliding frames and twelve tightening guns; the ground rail consists of two linear guide rails, a rack and a structural part and is horizontally arranged; the two walking motors are respectively fixed on the front moving platform and the rear moving platform, and one end of each walking motor is connected with a gear and meshed with a rack on the ground rail; the front moving platform and the rear moving platform are fixedly connected with a plurality of sliding blocks of the ground rail respectively; two of the linear guide rails are arranged perpendicular to the ground rail by 90 degrees and fixedly connected with the front moving platform, and sliding blocks of the linear guide rails are fixedly connected with two of the tightening gun sliding frames respectively; the adjusting motor adopts the same driving form as the walking motor, and the direction of the adjusting motor rotates by 90 degrees; one end of each of the two rodless cylinders is fixed on the rear moving platform, and the other end of each of the two rodless cylinders is hinged to the two rotating frames; a plurality of linear guide rails and a tightening gun sliding frame are fixed on the rotating frame; the tightening guns are fixedly connected with the tightening gun sliding frames respectively, at least one set of tightening guns is arranged on each tightening gun sliding frame, and the horizontal moving mode of the tightening gun sliding frame is the same as the moving mode of the front-back moving platform.

Furthermore, the six-shaft adjustable tightening machine comprises a ground rail, a traveling motor, a moving platform, four linear guide rails, four adjusting motors, four tightening gun sliding frames and six tightening guns; the ground rail consists of two linear guide rails, a rack and a structural part and is horizontally arranged; the walking motor is fixed on the moving platform, and one end of the walking motor is connected with the gear and meshed with the rack on the ground rail; the moving platform is fixedly connected with a plurality of sliding blocks of the ground rail; the tracks of the four linear guide rails are arranged perpendicular to the ground rail by 90 degrees and are fixedly connected with the mobile platform, and the sliding blocks on the linear guide rails are fixedly connected with the four tightening gun sliding frames respectively; the four adjusting motors are arranged in a staggered manner from top to bottom; the tightening gun is fixedly connected with the four tightening gun sliding frames respectively, at least one set of tightening gun is arranged on each tightening gun sliding frame, and the horizontal moving mode of the tightening gun sliding frame is the same as that of the moving platform.

The invention relates to a production process and a production line for flexible assembly of a sub-assembly of an automobile chassis and an automobile body, which comprises the procedures of automatic joint of the automobile body and the chassis, screw tightening of screws of a front bridge connecting plate and a rear bridge connecting plate, screw tightening of a shock absorber of the automobile body, screw tightening of an engine and a gearbox, screw tightening of an oil tank and a bridge connecting plate, screw tightening of a bottom plate and the like, and special equipment is selected according to the required process flow to organize a full-automatic flexible assembly production line.

Drawings

FIG. 1 is a schematic of the overall layout of the present invention;

FIG. 2 is a schematic view of the self-propelled cart assembly of the present invention;

FIG. 3 is a general assembly diagram of a station closing station in the present invention;

FIG. 4 is a schematic view of the vehicle body hold-down device components of the present invention;

FIG. 5 is a schematic view of a hanger positioning support pin member of the present invention;

FIG. 6 is a schematic view of the components of the striking mechanism of the present invention;

FIG. 7 is a schematic view of the front and rear overhang tightening station assembly of the present invention;

FIG. 8 is a schematic view of a dual spindle passively adjustable tightener assembly of the present invention;

FIG. 9 is a schematic view of a single-axis adjustable tightener assembly of the present invention;

FIG. 10 is a schematic view of the damper tightening station assembly of the present invention;

FIG. 11 is a schematic view of a single axis tightening robot component of the present invention;

FIG. 12 is a schematic view of a suspended dual-axis adjustable tightener assembly of the present invention;

FIG. 13 is a schematic view of an engine transmission tightening station assembly of the present invention;

FIG. 14 is a schematic view of a twelve-axis adjustable tightener assembly of the present invention;

FIG. 15 is a schematic view of a tank bridge plate tightening station assembly of the present invention;

FIG. 16 is a schematic view of a six-axis adjustable tightener assembly of the present invention.

In the figure: 1-self-propelled trolley, 2-closing station, 3-front and rear suspension tightening station, 4-damper tightening station, 5-engine gearbox tightening station, 6-oil tank bridge plate tightening station, 7-separating station, 8-blanking station, 9-feeding station, 11-self-propelled rail, 12-driving vehicle, 13-driven vehicle, 14-connecting beam, 15-lifting device, 16-lifting device, 21-lifting platform, 22-chain bed conveyor, 23-lifting device positioning support pin, 24-positioner, 25-vehicle body pressing device, 26-impact mechanism, 251-support, 252-Z-direction servo electric push rod, 253-Z-direction linear guide rail, 254-Z-direction movable frame, 255-Y-direction movable frame 255, 256-Y-direction servo electric push rod, 257-Y direction linear guide rail, 258-X direction servo electric push rod, 259-X direction linear guide rail and 260-depression bar. 231-support, 232-cylinder, 233-linear guide, 234-proximity switch, 235-movable bolt, 261-support-, 262-cylinder, 263-proximity switch, 264-bump, 31-biaxial passive adjustable tightening machine, 32-uniaxial adjustable tightening machine, 311-support, 312-X-directional linear guide, 313 balancer, 314-X-directional sliding seat, 315-proximity switch, 316-Z-directional linear guide, 317-tightening sliding seat, 318-tightening gun, 321-support, 322-Y-directional linear guide, 41-uniaxial tightening manipulator, 42-suspended biaxial adjustable tightening machine, 411-support, 412-primary joint arm, 413-secondary joint arm, 414-tertiary joint arm, 415-cylinder, 416-motor, 417-tightening gun, 421-cradle, 422-adjustment motor, 423-horizontal linear guide, 424-lead screw nut mechanism, 425-buffer, 426-cylinder, 427-horizontal sliding seat, 428-vertical linear guide, 429-vertical sliding seat, 430-tightening gun, 51-twelve-axis adjustable tightening machine, 511-ground rail, 512-walking motor, 513-front moving platform, 514-rear moving platform, 515-rotating frame, 516-rodless cylinder, 517-linear guide, 518-adjustment motor, 519-tightening gun carriage, 520-tightening gun, 61-six-axis adjustable tightening machine, 611-ground rail, 612-walking motor, 613-moving platform, 614-linear guide, 615-adjustment motor, 616-tighten gun carriage, 617-tighten gun.

The first chain bed conveyor, the second chain bed conveyor, the third chain bed conveyor, the fourth chain bed conveyor, the fifth chain bed conveyor and the sixth chain bed conveyor are unified into the chain bed conveyor 22 with the same specification.

Detailed Description

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally arranged when products of the present invention are used, and are only used for convenience in describing the present invention or simplifying the description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, or be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, the present invention is a flexible assembly line for automobile assembly, which basically operates as follows:

firstly, the self-propelled trolley 1 conveys the automobile body to the position above the first station closing station 2, and the closing station 2 stops the chassis sub-assembly with a plurality of tray assemblies at the designated position below the automobile body. The cycle trolley 1 lowers the vehicle body into pressing engagement with the vehicle chassis sub-assembly on the pallet of the closure station 2. The self-propelled trolley 1 is provided with a trolley body, a chassis sub-assembly and a plurality of tray assemblies and integrally moves to the next station;

secondly, the front and rear suspension tightening stations 3 adjust proper positions and torques according to signals transmitted by the central controller, tighten the front suspension bolts and the rear suspension bolts of the chassis sub-assembly, and then the self-propelled trolley 1 with the trolley body, the chassis sub-assembly and a plurality of tray assemblies integrally moves to the next station;

the shock absorber screwing station 4 adjusts proper position and torque according to signals transmitted by the central controller, screws the shock absorber bolts of the chassis sub-assembly, and then integrally moves the self-propelled trolley 1 with the trolley body, the chassis sub-assembly and the plurality of tray assemblies to the next station;

adjusting proper position and torque according to signals transmitted by the central controller by the engine gearbox screwing station 5, screwing the engine and the gearbox bolts of the chassis sub-assembly, and integrally moving the self-propelled trolley 1 with the body, the chassis sub-assembly and the plurality of tray assemblies to the next station;

the oil tank bridging plate screwing station 6 adjusts proper position and torque according to the signal transmitted by the central controller, screws the oil tank and bridging plate bolts of the chassis sub-assembly, and then moves the self-propelled trolley 1 with the body, the chassis sub-assembly and a plurality of tray assemblies to the next station;

sixthly, the separating station 7 separates the automobile chassis sub-assembly from the plurality of tray assemblies, and the self-propelled trolley 1 lifts the automobile body and the chassis sub-assembly and integrally moves to be off-line, so that the whole automobile assembling process is completed.

The following detailed description of embodiments of the invention refers to the accompanying drawings.

As shown in fig. 2, the self-propelled trolley 1 comprises a driving trolley 12, a driven trolley 13, a coupling beam 14, a lifting device 15 and a spreader 16. The driving vehicle 12 and the driven vehicle 13 are hinged through a connecting beam 14, the two groups of driving vehicles and the two groups of driven vehicles form a front group and a rear group, and wheels of the driving vehicle 12 and the driven vehicle 13 can move forward or backward along a self-propelled track. The two connecting beams 14 are fixedly connected with a lifting device 15, a belt (or a chain) of the lifting device 15 (adopting a belt or chain lifting structure form) is fixedly connected with a lifting appliance 16, the lifting appliance 16 can firmly lift the automobile body, and the bottoms of lifting legs of the lifting appliance are provided with bolt holes for positioning during butt joint of all stations. Wherein the lifting device 15 may be a four-belt lifting device or a four-chain lifting device.

As shown in fig. 3, the closing station 2 and the separating station 7 have the same arrangement structure, and both include a lifting platform 21, a chain bed conveyor 22, a hanger positioning support pin 23, a positioner 24, a vehicle body pressing device 25, and a striking mechanism 26. The lifting platform 21 can be driven by hydraulic pressure or a motor and is fixed on the ground. The chain bed conveyor 22 can smoothly convey a plurality of tray assemblies and upper chassis sub-assemblies, which are fixed on the upper plane of the lifting table 21. In particular, the chain bed conveyor 22 may be replaced by a roller conveyor. The hanger positioning support pins 23 are sequentially distributed on two sides of the lifting platform 21, and may be four or two diagonally arranged. The positioners 24 are respectively fixedly connected to two sides of the chain bed conveyor 22 and used for positioning and locking the workpiece tray. The vehicle body pressing device 25 is fixed on the ground at the rear part of the chain bed conveyor 22 and presses down the tail part of the vehicle body of the vehicle, so that the bolts on the chassis sub-assembly extend into the holes. The impact mechanism 26 is fixed to the chain bed conveyor 22 and can strike the hooks of the pallet to hook or unlock the automobile chassis sub-assembly.

As shown in FIG. 4, the vehicle body hold-down device 25 comprises a bracket 251, a Z-direction servo electric push rod 252, a Z-direction linear guide 253, a Z-direction movable frame 254, a Y-direction movable frame 255, a Y-direction servo electric push rod 256, a Y-direction linear guide 257, an X-direction servo electric push rod 258, an X-direction linear guide 259 and a hold-down bar 260, wherein the bracket 251 is fixed on the ground. The track of the Z-direction linear guide 253 is fixedly connected with the bracket 251, and the slide block of the Z-direction linear guide is fixedly connected with the Z-direction movable frame 254. The fixed end of the Z-direction servo electric push rod 252 is fixedly connected to the bracket 251, and the movable end of the Z-direction servo electric push rod is fixedly connected to the Z-direction movable frame 254. The track of the Y-direction linear guide 257 is fixedly connected with the Z-direction movable frame 254, and the sliding block thereof is fixedly connected with the Y-direction movable frame 255. The fixed end of the Y-direction servo electric push rod 256 is fixedly connected with the Z-direction movable frame 264, and the movable end thereof is fixedly connected with the Y-direction movable frame 255. Similarly, the track of the X-direction linear guide 259 is fixedly connected with the Y-direction movable frame 255, and the slider thereof is fixedly connected with the lower pressing rod 260. The fixed end of the X-direction servo electric push rod is fixedly connected to the Y-direction movable frame, and the movable end of the X-direction servo electric push rod is fixedly connected with the lower pressing rod 260. The Z-direction servo electric push rod 252, the Y-direction servo electric push rod 256 and the X-direction servo electric push rod 258 are arranged in a manner that the stretching directions are perpendicular to each other by 90 degrees, so that the adjustment of any position of the lower pressure rod in a space within a certain range can be realized.

As shown in fig. 5, the hanger positioning support pin 23 includes a bracket 231, an air cylinder 232, a linear guide 233, a proximity switch 234 and a movable latch 235. The holder 231 is fixed on the ground. The tail of the cylinder 232 is fixed on the bracket 231, and the movable end of the cylinder is fixedly connected with a movable bolt 235. The proximity switch 234 is fixed to one side of the bracket 231. The guide rail of the linear guide rail 233 is fixedly connected with the bracket, and the slide block of the linear guide rail 233 is fixedly connected with the movable bolt 235.

As shown in fig. 6, the striking mechanism 26 includes a bracket 261, four cylinders 262, a proximity switch 263, and a striking block 264. The tail parts of the cylinders 262 are fixed on two sides of the bracket 261 in groups, and the movable ends of the cylinders are fixedly connected with the collision blocks 264. The proximity switches 263 are fixed on the bracket 231 and respectively correspond to the four cylinders 262. The striking block 264 has a hook plate thereon.

As shown in fig. 7, the front and rear overhung tightening station 3 includes a chain bed conveyor 22, a positioner 24, a double-shaft passive adjustable tightening machine 31, and a single-shaft adjustable tightening machine 32. The chain bed conveyor 22 can stably convey a plurality of tray assemblies and the upper automobile chassis assemblies, and is fixed on the ground, and particularly, the chain bed conveyor 22 can also be replaced by a roller conveyor. The positioner 24 is respectively fixedly connected to two sides of the chain bed conveyor and used for positioning and locking the workpiece tray. The double-shaft passive adjustable tightening machine 31 and the single-shaft adjustable tightening machine 32 are fixed at the bottom of the chain bed conveyor 22 and are respectively arranged at the front and the rear positions.

As shown in fig. 8, the double-shaft passive adjustable tightening machine 31 includes a bracket 311, two X-directional linear guides 312, two balancers 313, two X-directional sliding seats 314, two proximity switches 315, two Z-directional linear guides 316, two tightening sliding seats 317, and two tightening guns 318. The tracks of the two X-direction linear guide rails 312 are fixed on the bracket 311, and the sliders of the two X-direction linear guide rails are fixedly connected with the two X-direction sliding seats 314. One end of the two balancers 313 is fixed on the bracket 311, and the other end is respectively connected with the two tightening sliding seats 317. The two proximity switches 315 are fixed to both sides of the bracket 311. The two rails of the Z-direction linear guide rail 316 are fixed on two sides of the bracket 311, and the sliding blocks are respectively fixedly connected with two tightening sliding seats 317. The two tightening guns 318 are fixedly connected with the two tightening sliding seats 317 respectively.

As shown in fig. 9, the adjustable single-shaft tightening machine 32 includes a bracket 321, two X-directional linear guides 312, a balancer 313, two X-directional sliding seats 314, two proximity switches 315, a Y-directional linear guide 322, a tightening sliding seat 317, and a tightening gun 318. The tracks of the two X-direction linear guide rails 312 are fixed on the bracket 321, and the sliding blocks thereof are fixedly connected with the two X-direction sliding seats 314. One end of the balancer 313 is fixed on the bracket 321, and the other end is connected with the tightening sliding seat 317. The two proximity switches 315 are fixed to both sides of the bracket 321. The track of the Y-direction linear guide 322 is fixed on one side of the bracket 321, and the slider thereof is fixedly connected with the tightening sliding seat 317. The tightening gun 318 is fixedly connected with the tightening sliding seat 317.

As shown in fig. 10, the damper tightening station 4 includes a chain bed conveyor 22, a positioner 24, two single-shaft tightening robots 41, and a suspended double-shaft adjustable tightening machine 42. The chain bed conveyor 22 can stably convey a plurality of tray assemblies and the upper automobile chassis assemblies, and is fixed on the ground, and particularly, the chain bed conveyor 22 can also be replaced by a roller conveyor. The positioners 24 are respectively fixedly connected to two sides of the chain bed conveyor 22 and used for positioning and locking the workpiece tray. The single-shaft tightening manipulators 41 are fixed on the ground and on both sides of the rear portion of the chain bed conveyor 22. The suspended double-shaft adjustable tightening machine 42 is fixed at a position near the bottom of the chain bed conveyor 22.

As shown in fig. 11, the uniaxial tightening robot 41 includes a bracket 411, a primary articulated arm 412, a secondary articulated arm 413, a tertiary articulated arm 414, a cylinder 415, three motors 416 and two tightening guns 417. The first-stage joint arm 412, the second-stage joint arm 413 and the third-stage joint arm 414 are hinged in pairs and are connected in a terminating way. The cylinder 415 is fixed to the front end of the secondary articulated arm 413. The motor 416 is respectively fixed on the bracket 411, the first-stage joint arm 412 and the second-stage joint arm 413, and drives the connected joint arms to rotate. The tightening guns 417 are fixed side by side to the tertiary articulated arm 414.

As shown in fig. 12, the suspended two-axis adjustable tightening machine 42 includes a hanger 421, an adjustment motor 422, a horizontal linear guide 423, a lead screw nut mechanism 424, two dampers 425, two air cylinders 426, a horizontal sliding block 427, two vertical linear guides 428, a vertical sliding block 429, and two tightening guns 430. The track of the horizontal linear guide 423 is fixed at the bottom of the hanger 421, and the slider thereof is connected with the nut of the feed screw nut mechanism 424 and also connected with the horizontal sliding seat 427. The adjusting motor 422 is connected with a screw of the screw and nut mechanism 424. The dampers 425 are fixed to both ends of the horizontal sliding seat 427, respectively. The track of the vertical linear guide 428 is fixed in the middle of the horizontal sliding seat 427, and the slide block thereof is connected with the vertical sliding seat 429. The body of the cylinder 426 is fixed on the horizontal sliding seat 427, and the movable end is fixedly connected with the vertical sliding seat 429. The tightening guns 430 are mounted in a horizontal row on a vertical slide 429.

As shown in fig. 13, the engine gearbox tightening station 5 includes a chain bed conveyor 22, a positioner 24, two single-axis tightening robots 41, and a twelve-axis adjustable tightening machine 51. The chain bed conveyor 22 can stably convey a plurality of tray assemblies and the upper automobile chassis assemblies, and is fixed on the ground, and particularly, the chain bed conveyor 22 can also be replaced by a roller conveyor. The positioner 24 is respectively fixedly connected to two sides of the chain bed conveyor and used for positioning and locking the workpiece tray. The single-shaft tightening robot 41 is fixed to the ground on both sides of the front portion of the chain bed conveyor 22. The six-axis adjustable tightening machine 51 is fixed on the bottom ground of the chain bed conveyor.

As shown in fig. 14, the twelve-axis adjustable tightening machine 51 includes a ground rail 511, two traveling motors 512, a front moving platform 513, a rear moving platform 514, two rotating frames 515, two rodless cylinders 516, six linear guide rails 517, six adjusting motors 518, six tightening gun carriages 519, and twelve tightening guns 520. The ground rail 511 is composed of two linear guide rails, a rack and a structural member and is horizontally arranged. The two traveling motors 512 are respectively fixed on the front moving platform 513 and the rear moving platform 514, and one end of each traveling motor is connected with a gear to be meshed with a rack on the ground rail 511. The front moving platform 513 and the rear moving platform 514 are respectively and fixedly connected with a plurality of sliding blocks of the ground rail 511. Two of the linear guide rails 517 are arranged perpendicular to the ground rail by 90 degrees, and are fixedly connected with the front moving platform 513, and the sliding blocks of the linear guide rails are fixedly connected with two of the tightening gun sliding frames 519 respectively. The adjustment motor 518 is driven in the same manner as the travel motor 512, except that it is rotated 90. One end of the rodless cylinder 516 is fixed on the rear moving platform 514, and the other end is hinged to the two rotating frames 515 respectively, and can swing to a certain angle through a rotating shaft. A plurality of linear guide rails 517 and a tightening gun carriage 519 are fixed on the rotating frame 515. The tightening guns 520 are respectively fixedly connected with the tightening gun sliding frames 519 and are not limited to the arrangement mode shown in the drawing, and at least one set of tightening gun should be arranged on each tightening gun sliding frame 519. The tightening gun carriage 519 moves horizontally in the same manner as the moving platform, but is rotated 90 ° in direction. The gear rack and the linear guide rail are also adopted for driving.

As shown in fig. 15, the fuel tank bridge plate tightening station 6 includes a chain bed conveyor 22, a positioner 24, two single-shaft tightening robots 41, and a six-shaft adjustable tightening machine 61. The chain bed conveyor 22 can stably convey a plurality of tray assemblies and the upper automobile chassis assemblies, and is fixed on the ground, and particularly, the chain bed conveyor 22 can also be replaced by a roller conveyor. The stoppers 24 and the locators are respectively fixedly connected to two sides of the chain bed conveyor 22 and used for positioning and locking the workpiece tray. The single-shaft tightening robot 41 is fixed to the ground on both sides of the front portion of the chain bed conveyor 22. The six-axis adjustable tightening machine 61 is fixed on the bottom ground of the chain bed conveyor 22.

As shown in fig. 16, the six-axis adjustable tightening machine 61 includes a ground rail 611, a traveling motor 612, a moving platform 613, four linear guide rails 614, four adjustment motors 615, four tightening gun carriages 616, and six tightening guns 617. The ground rail 611 is composed of two linear guide rails, a rack and a structural member, and is horizontally arranged. The walking motor 612 is fixed on the moving platform 613, and one end of the walking motor is connected with a gear to be meshed with a rack on the ground rail 611. The movable platform 613 is fixedly connected to a plurality of sliding blocks of the ground rail 611. The tracks of the four linear guide rails 614 are arranged perpendicular to the ground rail by 90 degrees, and are fixedly connected with the moving platform 613, and the sliding blocks thereof are fixedly connected with four tightening gun sliding frames 616 respectively. The four adjustment motors 615 are arranged in a staggered manner in the front and back direction by adopting an upper layer and a lower layer. The tightening guns 617 are respectively and fixedly connected with the four tightening gun sliding frames 616, and are not limited to the arrangement mode shown in the figure, and at least one set of tightening guns 617 should be arranged on each tightening gun sliding frame 616. The tightening gun carriage 616 moves horizontally in the same manner as the moving platform 613, but with a 90 ° rotation in the direction, and is also driven by a rack and pinion and linear guide.

All the work stations, tightening machines and tightening manipulators are controlled pneumatically or electrically.

The working principle of the invention is as follows:

firstly, a designed program is input in advance, the central controller controls the running of each automatic device according to the scheduling model of workpieces in the system, the self-propelled trolley 1 conveys the automobile body to the position above the first station closing station 2 through the lifting appliance 16 along the self-propelled rail 11, and the lifting platform 21 acts to lift the chassis sub-assembly with the plurality of tray assemblies to a proper height. The self-propelled trolley 1 then lowers the vehicle body to the appropriate height. The hanger positioning support pin 23 extends out of the movable bolt 235 and is inserted into a bottom pin hole of the hanger 16, then the vehicle body pressing mechanism 25 extends out of the pressing rod 260 and presses the vehicle body, and the impact mechanism 26 impacts the vehicle chassis tray upwards to lock the vehicle chassis and the tray together. Then, the striking mechanism 26 is retracted downward. The spreader position support pin 23 then retracts the movable latch 235 away from the bottom pin hole of the spreader 16. The cylinder action of the positioner 24 unlocks the pallet assembly from the chain bed conveyor 22. The self-propelled trolley 1 and the chain bed conveyor 22 synchronously run in the same direction, and the whole body with the trolley body, the chassis sub-assembly and a plurality of tray assemblies moves to the front and rear suspension tightening stations 3.

Secondly, the front and rear suspension tightening stations 3 stop rotating the chain bed conveyor 22 in the front and rear suspension tightening stations according to signals transmitted by the central controller, and the air cylinder of the positioner 24 acts to accurately stop and lock the tray assembly. At this time, the X-direction slide shoe and the tightening slide shoe 317 of the biaxial passive adjustable tightening machine 31 are pushed to a specific position by a number of push rods on the tray assembly. The tightening guns 318 of the dual spindle passive adjustable tightener 31 and the single spindle tightener 32 are then extended for rotation and tightened and then retracted with appropriate torque to the front and rear suspension bolts of the chassis sub-assembly. Then the self-propelled trolley 1 and the chain bed conveyor 22 synchronously run in the same direction, and the whole body with the trolley body, the chassis sub-assembly and the plurality of tray assemblies moves to the upper part of the damper tightening station 4 to stop;

and thirdly, the chain bed conveyor 22 stops rotating and the air cylinder of the positioner 24 acts according to the signal transmitted by the central controller by the damper tightening station 4, so that the tray assembly is accurately stopped and locked. At this time, the air cylinder 415 and the three motors 416 of the single-axis tightening robot 41 are operated to adjust the tightening gun 417 to a specific position and angle. Meanwhile, the dual axis adjustable tightening machine 42 adjusts the motion of the motor 422 to adjust the tightening gun 430 to a specific position and angle. The tightening gun 430 of the tightening gun 417 is then extended for rotation and the chassis subassembly shock absorber bolts are tightened with the appropriate torque and retracted. The self-propelled trolley 1 and the chain bed conveyor 22 synchronously run in the same direction, and the whole body with the trolley body, the chassis sub-assembly and the plurality of tray assemblies moves to the upper part of the tightening station 5 to stop;

and fourthly, the engine gearbox tightening station 5 stops the chain bed conveyor 22 and the air cylinder of the positioner 24 acts according to the signal transmitted by the central controller, so that the tray assembly is accurately stopped and locked. At this time, the rodless cylinder 516 and the six adjustment motors 518 of the twelve-axis adjustable tightening machine 51 are operated to adjust the tightening gun 520 to a specific position and angle. At the same time, the air cylinder 415 and the three motors 416 of the single-axis tightening robot 41 are operated to adjust the tightening gun 417 to a specific position and angle. The tightening gun 417 of the tightening gun 520 is then extended for rotation and retracted after tightening the gearbox bolts of the chassis sub-assembly with the appropriate torque. The self-propelled trolley 1 and the chain bed conveyor 22 synchronously run in the same direction, and the belt trolley body, the chassis sub-assembly and the plurality of tray assemblies integrally move to the upper part of the oil tank and the bridging plate screwing station 6 to stop;

and fifthly, the oil tank bridging plate tightening station 6 stops the rotation of the chain bed conveyor 22 according to a signal transmitted by the central controller, and the cylinder of the positioner 24 acts to accurately stop and lock the tray assembly. At this time, the four adjustment motors 615 of the six-axis adjustable tightening machine 61 are operated to adjust the tightening gun 617 to a specific position and angle. At the same time, the air cylinder 415 and the three motors 416 of the single-axis tightening robot 41 are operated to adjust the tightening gun 417 to a specific position and angle. The tightening gun 417 of the tightening gun 617 is then extended and rotated to retract the fuel tank and bridge plate bolts of the chassis sub-assembly with the appropriate torque. The self-propelled trolley 1 and the chain bed conveyor 22 synchronously run in the same direction, and the whole body with the trolley body, the chassis sub-assembly and the plurality of tray assemblies moves to the upper part of the separating station 7 to stop;

sixthly, the separating station 7 stops the chain bed conveyor 22 and the air cylinder of the positioner 24 acts according to the signal transmitted by the central controller, so that the tray assembly is accurately stopped and locked. The hanger positioning support pin 23 extends out of the movable bolt 235 and is inserted into the bottom pin hole of the hanger 16. Subsequently, the body hold-down mechanism 25 extends the hold-down bar 260 while holding down the vehicle body, and then the striking mechanism 26 strikes the chassis tray upward, unlocking the chassis and tray. Then, the striking mechanism 26 is retracted downward. The spreader position support pin 23 then retracts the movable latch 235 away from the bottom pin hole of the spreader 16. The cylinder action of the positioner 24 unlocks the pallet assembly from the chain bed conveyor 22. The elevating platform 21 acts to lower the chassis sub-assembly with the plurality of tray assemblies to the appropriate height. The self-propelled trolley 1 lifts the automobile body and the chassis sub-assembly and integrally moves to be off-line, and a whole set of automobile assembling process is completed.

Claims

1. The flexible assembly production line for automobile assembly is characterized in that: including in proper order by the material loading station, close the station, hang around screwing up station, bumper shock absorber screw up station, engine gearbox screw up station, oil tank bridging board screw up station, separation station and unloading station and constitute attach together the production line, be provided with the track by oneself along attaching together production line traffic direction directly over attaching together the production line, it has proper motion dolly, wherein to move on the track by oneself:

2. The automobile multi-piece flexible assembly line according to claim 1, characterized in that: the self-propelled trolley comprises two driving trolleys, two driven trolleys, two connecting beams, a lifting device and a lifting appliance; the driving vehicle and the driven vehicle are hinged and connected through a connecting beam to form a group, wheels of the driving vehicle and wheels of the driven vehicle can advance or retreat along self-propelled rails, the two connecting beams are fixedly connected with a lifting device, the lifting device adopts a belt or chain lifting structure and is fixedly connected with a lifting appliance, the lifting appliance is used for lifting an automobile body, and the bottoms of lifting legs of the lifting appliance are provided with bolt holes for positioning during butt joint of stations.

3. The automobile multi-piece flexible assembly line according to claim 1, characterized in that: the closing station and the separating station are provided with locators which are fixedly connected to two sides of the second chain bed conveyor, and the locators are arranged in four or two diagonal directions; the vehicle body pressing device comprises a support, a Z-direction servo electric push rod, a Z-direction linear guide rail, a Z-direction movable frame, a Y-direction servo electric push rod, a Y-direction linear guide rail, an X-direction servo electric push rod, an X-direction linear guide rail and a pressing rod, wherein the support is fixed on the ground; the track of the Y-direction linear guide rail is fixedly connected with the Z-direction movable frame, a sliding block on the Y-direction linear guide rail is fixedly connected with the Y-direction movable frame, the fixed end of the Y-direction servo electric push rod is fixedly connected with the Z-direction movable frame, and the movable end of the Y-direction servo electric push rod is fixedly connected with the Y-direction movable frame; the track of the X-direction linear guide rail is fixedly connected with the Y-direction movable frame, and the sliding block on the X-direction linear guide rail is fixedly connected with the lower pressing rod; the fixed end of the X-direction servo electric push rod is fixedly connected to the Y-direction movable frame, and the movable end of the X-direction servo electric push rod is fixedly connected with the lower pressing rod; the telescopic directions of the Z-direction servo electric push rod, the Y-direction servo electric push rod and the X-direction servo electric push rod are arranged in pairs and are perpendicular to each other by 90 degrees, so that the pressing rod can be adjusted at any position in a space within a certain range; and the impact mechanism is fixed on the second chain bed conveyor and used for knocking a hook of the tray to be hooked with or unlocked from the automobile chassis sub-assembly.

4. The automobile multi-piece flexible assembly line according to claim 1, characterized in that: the suspension double-shaft adjustable tightening machine comprises a hanger, an adjusting motor, a horizontal linear guide rail, a screw rod nut mechanism, two buffers, two cylinders, a horizontal sliding seat, two vertical linear guide rails, a vertical sliding seat and two tightening guns, wherein a track of the horizontal linear guide rail is fixed at the bottom of the hanger, and a sliding block on the horizontal linear guide rail is connected with a nut of the screw rod nut mechanism and is simultaneously connected with the horizontal sliding seat; the adjusting motor is connected with a screw rod of the screw rod nut mechanism; the two buffers are respectively fixed at two ends of the horizontal sliding seat; the track of the vertical linear guide rail is fixed in the middle of the horizontal sliding seat, and the sliding block on the track is connected with the vertical sliding seat; the body of the cylinder is fixed on the horizontal sliding seat, and the movable end of the cylinder is fixedly connected with the vertical sliding seat; the tightening gun flat row is fixed on the vertical sliding seat.

5. The automobile multi-piece flexible assembly line according to claim 1, characterized in that: the twelve-shaft adjustable tightening machine comprises a ground rail, two walking motors, a front moving platform, a rear moving platform, two rotating frames, two rodless cylinders, six linear guide rails, six adjusting motors, six tightening gun sliding frames and twelve tightening guns; the ground rail consists of two linear guide rails, a rack and a structural part and is horizontally arranged; the two walking motors are respectively fixed on the front moving platform and the rear moving platform, and one end of each walking motor is connected with a gear and meshed with a rack on the ground rail; the front moving platform and the rear moving platform are fixedly connected with a plurality of sliding blocks of the ground rail respectively; two of the linear guide rails are arranged perpendicular to the ground rail by 90 degrees and fixedly connected with the front moving platform, and sliding blocks of the linear guide rails are fixedly connected with two of the tightening gun sliding frames respectively; the adjusting motor adopts the same driving form as the walking motor, and the direction of the adjusting motor rotates by 90 degrees; one end of each of the two rodless cylinders is fixed on the rear moving platform, and the other end of each of the two rodless cylinders is hinged to the two rotating frames; a plurality of linear guide rails and a tightening gun sliding frame are fixed on the rotating frame; the tightening guns are fixedly connected with the tightening gun sliding frames respectively, at least one set of tightening guns is arranged on each tightening gun sliding frame, and the horizontal moving mode of the tightening gun sliding frame is the same as the moving mode of the front-back moving platform.

6. The automobile multi-piece flexible assembly line according to claim 1, characterized in that: the six-shaft adjustable tightening machine comprises a ground rail, a walking motor, a moving platform, four linear guide rails, four adjusting motors, four tightening gun sliding frames and six tightening guns; the ground rail consists of two linear guide rails, a rack and a structural part and is horizontally arranged; the walking motor is fixed on the moving platform, and one end of the walking motor is connected with the gear and meshed with the rack on the ground rail; the moving platform is fixedly connected with a plurality of sliding blocks of the ground rail; the tracks of the four linear guide rails are arranged perpendicular to the ground rail by 90 degrees and are fixedly connected with the mobile platform, and the sliding blocks on the linear guide rails are fixedly connected with the four tightening gun sliding frames respectively; the four adjusting motors are arranged in a staggered manner from top to bottom; the tightening gun is fixedly connected with the four tightening gun sliding frames respectively, at least one set of tightening gun is arranged on each tightening gun sliding frame, and the horizontal moving mode of the tightening gun sliding frame is the same as that of the moving platform.