CN114589423A - Preceding cabin welds dress production line based on three-dimensional storehouse and AGV anchor clamps - Google Patents
Preceding cabin welds dress production line based on three-dimensional storehouse and AGV anchor clamps Download PDFInfo
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- CN114589423A CN114589423A CN202210155126.0A CN202210155126A CN114589423A CN 114589423 A CN114589423 A CN 114589423A CN 202210155126 A CN202210155126 A CN 202210155126A CN 114589423 A CN114589423 A CN 114589423A
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- agv
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- positioning mechanism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/006—Vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The invention relates to a front cabin welding production line based on a three-dimensional library and an AGV fixture. The automatic welding robot comprises a bidirectional idler AGV, an AGV clamp, a three-dimensional library, a ground positioning mechanism, a welding robot, an automatic welding clamp, a gripping apparatus and a PLC (programmable logic controller) electric control system; the bidirectional idler AGV pulls the AGV clamp and the front cabin part to a next ground positioning mechanism station; storing AGV fixtures in a three-dimensional warehouse; the AGV fixture is placed on a ground positioning mechanism, and the ground positioning mechanism realizes the opening and clamping of a cylinder on the AGV fixture and the detection of signals; the ground positioning mechanism sends a signal to the PLC electrical control system; the PLC electric control system controls the welding robot and the bidirectional idler AGV; the welding robot drives the automatic welding tongs to weld, after welding is completed, the welding robot drives the gripping apparatus to place the front cabin parts in the cache region, the process transfer of the white automobile body by the gripping apparatus is eliminated, the process transfer is carried out by using the AGV to pull the clamp, and meanwhile, the AGV clamps of different automobile types are stored in the three-dimensional library to realize flexible switching production of multiple automobile types.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a front cabin welding production line based on a three-dimensional garage and an AGV fixture.
Background
Due to the acceleration of new energy automobile updating in the current market, many automobile enterprises adopt the same production line and multiple automobile types to switch the production mode. The traditional vehicle type switching method is to modify a clamp or newly manufacture the clamp into a line body, so that the design difficulty of modifying the vehicle type is increased, and meanwhile, the simultaneous online production of more than 4 vehicle types is difficult to realize due to the limited space.
For example: a programmable logic-based automobile side wall welding production line control system relates to the technical field of automobile welding. The system comprises a programmable main controller, a plurality of safe input and output modules, an electric welding robot and a frequency converter; the plurality of safety input and output modules are connected with the programmable main controller through a communication bus; any one safety input and output module is connected with station safety equipment; the programmable main controller is respectively in communication connection with the electric welding robot and the frequency converter through communication buses. The control system acquires the position and the state of the robot in real time in the motion process, ensures the production rhythm to be stable and accurate, and improves the utilization rate of the corresponding station robot; meanwhile, the welding assembly line control system based on the programmable main controller avoids the technical problems that the production line safety system connected by the safety relay and the hard wiring loop in the prior art is complicated in wiring, inconvenient to maintain and fast in troubleshooting, and improves production safety. But can not meet the simultaneous on-line production of various vehicle models.
A sealing welding device and a battery production line are provided, the sealing welding device comprises a workbench, a linear slide rail, a welding tool and a welding mechanism, the welding tool comprises a base, a driving guide sleeve, a driven guide sleeve, a riding wheel, a pressing wheel, a driven pressing head and a driving pressing head, the base is arranged on the linear slide rail, the riding wheel and the driving pressing head are both arranged on the base, the pressing wheel is rotatably arranged on the base and is positioned above the riding wheel, the riding wheel and the pressing wheel are mutually matched to radially limit the position of a battery cell to be welded, the driving guide sleeve is slidably arranged on the base and movably sleeved on the driving pressing head, the driven pressing head is arranged on the driven pressing plate, the driven pressing plate is slidably arranged on the base through a linear driving unit, the driven guide sleeve is slidably arranged on the driven pressing plate and movably sleeved on the driven pressing head, the driven guide sleeve is coaxially arranged with the driving guide sleeve, the driving pressing head is connected with the rotary driving mechanism, the welding mechanism is arranged at the tail end of the linear sliding rail, and the welding mechanism is good in welding quality and high in welding efficiency. But can not meet the simultaneous on-line production of various vehicle models.
Disclosure of Invention
The invention provides a front engine room welding production line based on a three-dimensional library and AGV fixtures, which gets rid of the process transfer of a white automobile body by a gripper, uses the AGV to pull the fixtures to transfer the processes, simultaneously stores the AGV fixtures of different automobile types in the three-dimensional library to realize flexible switching production of multiple automobile types, adopts RFID equipment to identify automobile type information, serial numbers and other related information by reading code carriers on different AGV fixtures, not only reduces the occupation of space, but also improves the information processing capacity of automobile type transfer, and can realize a welding production line for simultaneously producing more than 4 automobile types on line. On the basis of meeting the production beat of 60JPH, the capacity of quickly switching the vehicle type production for 15s is increased. Compared with the traditional welding production line, the welding production line has the characteristics of high flexibility, low cost, low vehicle model integration difficulty and the like.
The technical scheme of the invention is described as follows by combining the attached drawings:
a front cabin welding production line based on a three-dimensional library and an AGV clamp comprises a two-way idler AGV1, an AGV clamp 2, a three-dimensional library 3, a ground positioning mechanism 4, a welding robot 5, an automatic welding clamp 6, a gripping apparatus 7 and a PLC (programmable logic controller) electrical control system 8; the bidirectional idler AGV1 pulls the AGV clamp 2 and the front cabin part to the next ground positioning mechanism station 4; an AGV clamp 2 is stored in the three-dimensional library 3; the AGV fixture 2 is placed on the ground positioning mechanism 4, and the ground positioning mechanism 4 is used for detecting opening and clamping of an air cylinder on the AGV fixture 2 and detection of signals; the ground positioning mechanism 4 sends a signal to the PLC electrical control system 8; the PLC electric control system 8 controls the welding robot 5 and the two-way idler AGV 1; the welding robot 5 drives the automatic welding tongs 6 to weld, and after welding is completed, the welding robot 5 drives the gripping apparatus 7 to place the front cabin part in the cache region.
A proximity switch is arranged on the ground positioning mechanism 4; whether proximity switch discernment AGV anchor clamps 2 target in place, if target in place, proximity switch sends the signal that targets in place to PLC control system 8, and welding robot 5 welds the body in white, sends welding completion signal handle to two-way idler AGV1 through PLC control system 8 again after the welding and sends next station.
The ground positioning mechanism 4 is used for electrifying the AGV clamp 2 through the pneumatic-electric quick plug 13.
The three-dimensional warehouse 3 is provided with four layers which respectively correspond to AGV clamps 2 of four vehicle types.
The two-way idler AGV1 has a lifting function by which the AGV clamp 2 is placed onto the ground positioning mechanism 4.
The ground positioning mechanism 4 is provided with a three-axis NC mechanism 9; a hooking pin cylinder 16 in the three-axis NC mechanism 9 positions and clamps front cabin parts; the three-axis NC mechanism 9 realizes X, Y, Z three-way large-stroke movement through three motors; the hooking pin cylinder 16 positions and clamps the body in white through hooking pins, and the welding process is kept free from deviation.
The ground positioning mechanism 4 is provided with an RFID device 14; the RFID device 14 is used to read the body-in-white information contained within the carrier 15 on the current AGV gripper 2.
The information includes serial number and vehicle type information.
The PLC electrical control system 8 is integrated with an AGV control system 10, a three-axis NC control system 11 and a three-dimensional library control system 12; the AGV control system 10 is used to control a two-way idler AGV 1; the three-axis NC control system 11 is used for controlling the three-axis NC mechanism 9; the stereo garage control system 12 is used for controlling the stereo garage 3.
The travel accuracy of the two-way idler AGV1 is 10 mm.
The invention has the beneficial effects that:
1) the process transfer of the white automobile body by the grippers is eliminated, the process transfer is carried out by dragging the clamp by the AGV, meanwhile, the AGV clamps of different automobile types are stored in a three-dimensional library to realize flexible switching production of various automobile types, and the method is adopted;
2) the invention meets the production rhythm of 60JPH and provides a 15s fast switching function, shortens the rhythm to 49s by the characteristics of welding spot distribution of each welding station and fast braking of a bidirectional idler AGV, and realizes 15s fast switching by the cooperation of a three-dimensional library and a three-axis NC mechanism;
3) according to the invention, the RFID equipment is adopted to identify the vehicle type information, the serial number and other related information by reading the code carriers on different AGV fixtures, so that the occupation of space is reduced, the information transmission processing capacity of vehicle types is improved, and a welding production line for simultaneously producing more than 4 vehicle types on line can be realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is an overall plan view of the present invention;
FIG. 2 is a schematic diagram of a ground positioning mechanism and an AGV fixture according to the present invention;
FIG. 3 is a schematic structural view of a triaxial NC mechanism according to the present invention;
FIG. 4 is a schematic structural diagram of a three-dimensional library according to the present invention.
In the figure:
1. a bidirectional idler AGV;
2. an AGV fixture;
3. a three-dimensional warehouse;
4. a ground positioning mechanism;
5. a welding robot;
6. automatic soldering pliers;
7. a gripper;
8. a PLC electrical control system;
9. a three-axis NC mechanism;
10. an AGV control system;
11. a three-axis NC control system;
12. a stereoscopic garage control system;
13. fast plug of gas and electricity;
14. an RFID device;
15. a code carrier;
16. and hooking the pin cylinder.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.
Referring to fig. 1, 2 and 3, a front cabin welding production line based on a three-dimensional library and an AGV fixture comprises a bidirectional idler AGV1, an AGV fixture 2, a three-dimensional library 3, a ground positioning mechanism 4, a welding robot 5, an automatic welding tongs 6, a gripping apparatus 7 and a PLC electric control system 8.
The two-way idler AGV1 pulls the AGV fixture 2 and the front cabin part to the next ground positioning mechanism station 4, so that process transfer is realized.
The walking precision of two-way idler AGV1 is 10mm to walking in the line body is reciprocated in the circulation, utilizes two-way idler characteristics, can realize XY two-way quick current, cancels the beat influence that rotatory operation brought.
After the two-way idler AGV1 reaches the welding station, the AGV clamp 2 is placed on the ground positioning mechanism 4 through the lifting function of the two-way idler AGV1, and the AGV clamp 2 is electrified by the aid of the pneumatic-electric quick plug 13, so that opening and clamping of an air cylinder on the AGV clamp 2 and detection of signals are achieved;
an AGV clamp 2 is stored in the three-dimensional library 3; in order to realize the coproduction that multi-vehicle type merged into, three-dimensional storehouse 3 is equipped with four layers, corresponds the AGV anchor clamps 2 of four motorcycle types respectively, issues current production motorcycle type information through PLC, and two-way idler AGV1 pulls AGV anchor clamps 2 to three-dimensional storehouse 3, switches AGV anchor clamps 2 of current motorcycle type through the slip table of three-dimensional storehouse 3, and the switching time can realize multi-vehicle type fast switch over production in 15 s.
The ground positioning mechanism 4 comprises a proximity switch; whether proximity switch discerns AGV anchor clamps 2 targets in place, if target in place, proximity switch sends the signal that targets in place to PLC electrical control system 8, and the welding robot 5 of this station can weld the white automobile body, sends welding completion signal and sends to next station to two-way idler AGV1 through PLC electrical control system 8 after the welding is accomplished.
Referring to fig. 3, the ground positioning mechanism 4 further includes a three-axis NC mechanism 9; the three-axis NC mechanism 9 switches and positions the positioning pin; the triaxial NC mechanism 9 realizes the rapid switching of the positioning pin X, Y, Z in the range of 200mm in three directions through three directional motors and a sliding table, and meets the requirement of the positioning switching of most current passenger cars. The PLC electric control system 8 sends vehicle type information to the three-axis NC mechanism 9, and the next vehicle type is automatically switched in advance.
The ground positioning mechanism 4 is also provided with RFID equipment; the RFID equipment reads the serial number and the vehicle type information of the current vehicle type judged by the code carrier 15 on the AGV fixture 2. The method comprises the steps that the information of the current serial number vehicle type is transmitted to the RFID of a key station through the PLC electrical control system 8, whether the vehicle type is consistent or not is judged through reading the code carrier 15 of the AGV clamp 2, whether the process of the current serial number is met or not is judged, and if the vehicle type is consistent, the vehicle type is fed back to the PLC electrical control system 8 and the welding process of the current vehicle type is issued to the welding robot 5.
Referring to fig. 3 and 4, the PLC electric control system 8 integrates an AGV control system 10, a three-axis NC control system 11, and a stereo library control system 12; the AGV control system 10 is used to control a two-way idler AGV 1; the three-axis NC control system 11 is used for controlling the three-axis NC mechanism 9; the stereo garage control system 12 is used for controlling the stereo garage 3; by integrating and networking other systems, the functions of all equipment control, all signal interaction and the like in the cable body are realized.
The using method of the invention is as follows:
in the 1 district in preceding cabin, the cabin part is to anchor clamps platform before the artifical piece of loading of workman, and through welding robot 5 with preceding cabin part transport to AGV anchor clamps 2. Two-way idler AGV1 pulls AGV anchor clamps 2 and preceding cabin part to next ground positioning mechanism station 4, lifting function through two-way idler AGV1 places AGV anchor clamps 2 on ground positioning mechanism 4, and drive automatic welding tongs 6 by welding robot 5 and weld, the welding is accomplished the back, again by welding robot 5 drive gripping apparatus 7 with preceding cabin part place the buffer memory district, based on this kind of technology, two-way idler AGV1 is at 1 district's internal circulation reciprocal 1 district welding process of completion of the line body.
In the buffer area, the AGV fixture 2 is driven by a bidirectional idler pulley AGV1 to perform cyclic buffer, and the front cabin parts are conveyed to the front cabin 2 area.
In 2 districts in preceding cabin, utilize artifical piece to the anchor clamps platform of going up of workman equally, carry the operation through welding robot 5, accomplish the AGV reciprocating cycle of 6 stations simultaneously in 2 districts in the line body to transport 3 districts in preceding cabin.
In the 3 districts in preceding cabin, ground positioning mechanism 4 adopts triaxial NC mechanism 9 to drive colludes round pin jar 16 and carries out the positioning and clamping to preceding cabin part, and every ground positioning mechanism 4 both sides all adopt welding robot to carry out repair welding to preceding cabin part. And finally, the welded front cabin is driven by a bidirectional idler AGV1 to be conveyed to other line bodies.
All be equipped with three-dimensional storehouse in 1 district and 2 districts, in order to switch with AGV anchor clamps fast, satisfy the production requirement of other motorcycle types in 15 s. Every three-dimensional storehouse 3 all is equipped with the four layers, corresponds the AGV anchor clamps 2 of 4 motorcycle types respectively, if reform transform at AGV anchor clamps 2, still can adapt to the production with multi-vehicle type.
The ground positioning mechanism 4 is provided with an RFID device 14 for reading all the information of the body-in-white included in the code body 15 on the current AGV jig 2, including serial number and vehicle type information. The accuracy of the current vehicle type production is verified through comparison with the vehicle type issued by the PLC control system 8, and meanwhile, vehicle type information can be transmitted.
In conclusion, the clamp disclosed by the invention reduces the design difficulty of the clamp, can realize flexible production of multiple vehicle types, meets the production rhythm of 60JPH, provides a 15s quick switching function, and shortens the rhythm to 49s through the characteristics of welding spot distribution of each welding station and quick braking of the AGV (automatic guided vehicle). Meanwhile, the three-dimensional library is matched with the three-axis NC mechanism, so that 15s quick switching is realized.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween.
Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A front cabin welding production line based on a three-dimensional library and an AGV fixture is characterized by comprising a bidirectional idler AGV (1), an AGV fixture (2), a three-dimensional library (3), a ground positioning mechanism (4), a welding robot (5), an automatic welding clamp (6), a gripping apparatus (7) and a PLC (programmable logic controller) electrical control system (8); the bidirectional idler AGV (1) pulls the AGV clamp (2) and the front cabin part to a next ground positioning mechanism station (4); AGV clamps (2) are stored in the three-dimensional library (3); the AGV fixture (2) is placed on the ground positioning mechanism (4), and the ground positioning mechanism (4) is used for detecting opening and clamping of an air cylinder on the AGV fixture (2) and signals; the ground positioning mechanism (4) sends a signal to a PLC electrical control system (8); the PLC electrical control system (8) controls the welding robot (5) and the two-way idler AGV (1); welding robot (5) drive automatic soldering turret (6) welding, and after the welding was accomplished, the buffer memory district is placed with preceding cabin part by welding robot (5) drive gripping apparatus (7).
2. The front cabin welding production line based on the stereoscopic garage and the AGV fixture according to claim 1, characterized in that a proximity switch is arranged on the ground positioning mechanism (4); whether proximity switch discernment AGV anchor clamps (2) target in place, if target in place, proximity switch sends PLC control system (8) signal of targetting in place, and welding robot (5) weld the body in white, sends welding completion signal handle to two-way idler AGV (1) through PLC control system (8) again after the welding and sends next station.
3. The front cabin welding production line based on the stereoscopic garage and the AGV fixture is characterized in that the ground positioning mechanism (4) is used for electrifying the AGV fixture (2) through the pneumatic-electric quick plug (13).
4. The front cabin welding production line based on the three-dimensional library and the AGV fixtures is characterized in that the three-dimensional library (3) is provided with four layers of AGV fixtures (2) corresponding to four vehicle types respectively.
5. Front nacelle welding production line based on a stereo garage and AGV clamp according to claim 1, characterized in that the two-way idler AGV (1) has a lifting function, and the AGV clamp (2) is placed on the ground positioning mechanism (4) through the lifting function.
6. The front cabin welding production line based on the stereoscopic garage and the AGV fixture according to claim 1, characterized in that the ground positioning mechanism (4) is provided with a three-axis NC mechanism (9); a hooking cylinder (16) in the three-axis NC mechanism (9) positions and clamps a front cabin part; the three-axis NC mechanism (9) realizes X, Y, Z three-way large-stroke movement through three motors; the hook pin cylinder (16) positions and clamps the body-in-white through the hook pin, and the welding process is kept free of deviation.
7. The front cabin welding production line based on the stereoscopic garage and the AGV fixture according to claim 1, characterized in that the ground positioning mechanism (4) is provided with an RFID device (14); the RFID device (14) is used to read the body-in-white information contained within the carrier (15) on the current AGV gripper (2).
8. The front cabin welding production line based on the stereoscopic library and the AGV fixture according to claim 1, wherein the information comprises serial number and vehicle type information.
9. The front cabin welding production line based on the stereo library and the AGV fixture is characterized in that the PLC electrical control system (8) integrates an AGV control system (10), a three-axis NC control system (11) and a stereo library control system (12); the AGV control system (10) is used for controlling a bidirectional idler AGV (1); the three-axis NC control system (11) is used for controlling the three-axis NC mechanism (9); the stereo garage control system (12) is used for controlling the stereo garage (3).
10. Front nacelle welding production line based on a stereo garage and AGV clamp according to claim 1, characterized in that the walking precision of the two-way idler AGV (1) is 10 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155126.0A CN114589423A (en) | 2022-02-21 | 2022-02-21 | Preceding cabin welds dress production line based on three-dimensional storehouse and AGV anchor clamps |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210155126.0A CN114589423A (en) | 2022-02-21 | 2022-02-21 | Preceding cabin welds dress production line based on three-dimensional storehouse and AGV anchor clamps |
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| CN114589423A true CN114589423A (en) | 2022-06-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115091216A (en) * | 2022-07-08 | 2022-09-23 | 广州明珞装备股份有限公司 | Flexible workstation and automatic trial-manufacturing line thereof |
| CN115502629A (en) * | 2022-09-01 | 2022-12-23 | 中国第一汽车股份有限公司 | Welding flexible production system based on intelligent AGV and intelligent three-dimensional library |
| CN115625453A (en) * | 2022-10-19 | 2023-01-20 | 中国第一汽车股份有限公司 | White automobile body side wall planking welding assembly transfer machine |
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