CN207971597U - Switching device for vehicle body conveying carrier - Google Patents
Switching device for vehicle body conveying carrier Download PDFInfo
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- CN207971597U CN207971597U CN201820404680.7U CN201820404680U CN207971597U CN 207971597 U CN207971597 U CN 207971597U CN 201820404680 U CN201820404680 U CN 201820404680U CN 207971597 U CN207971597 U CN 207971597U
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- turntable
- trolley
- windmill
- vehicle body
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- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 238000005096 rolling process Methods 0.000 claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 16
- 238000003466 welding Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 6
- 230000009466 transformation Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
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- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
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Abstract
The utility model discloses a kind of switching device for vehicle body conveying carrier, including robot controller, rolling bed, trolley, the windmill mechanism being arranged on trolley, aweather mechanism of car provides flexible positioning device, the track of power；The flexible positioning device includes X-axis, Y-axis, Z axis, turntable, flange, positioning track and wedge block；The utility model is for the vehicle body conveying between the station of different welding and assembling production lines, this mode of movement is one of the most widely used transporting pattern on automobile body-in-white welding line, solves the problems, such as that unsustainable usability, the positioning accuracy of current rolling bed and trolley are low.
Description
Technical field
It is welded field more particularly to a kind of switching device for vehicle body conveying carrier the utility model is related to white body.
Background technology
White body（Body in White）：Refer to the vehicle body before completing welding but non-application, not including four-door two-lid etc.
Movement parts；Flexible positioning device refers to multi-axis numerical control positioning device.
On automatic automobile welding line, High-speed roller machine and trolley device can realize quick conveying of the workpiece between station with
It is accurately positioned, while capable of ensureing welding quality at a high speed, reduces the time of conveying and positioning, greatly improve production effect
Rate.It most importantly can guarantee that white body part and fixture will not detach in transmission process, avoiding problems secondary clampings may
It can existing error.
In order to realize that vehicle conveys, the switching mechanism on trolley can complete the conveying and switching of vehicle, to adapt to more vehicles
The needs of type production.It is then equipped in rolling bed to the power plant of the switching mechanism offer power of trolley, such as motor, and trolley sheet
Body does not install any power plant then.General trolley is matched with rolling bed, together with robot controller, becomes a set of complete
At conveying device.
In fact, the switching mechanism on general trolley leverages white vehicle using the form of rotation switching/conveying
The positioning accuracy of main body element, this is because rotation switching can influence the positioning of body part repeatedly in transmission process.Therefore, traditional
Way is to increase correcting mechanism.For example, bolt is arranged near the center of turntable of switching mechanism, with the pin hole pair in power plant
It answers, when power plant drives switching mechanism rotation, bolt can be utilized to realize the purpose of calibration and positioning.However this increases greatly
The difficulty of processing of switching mechanism is added, including the part being connected with switching construction in power plant.
So in practical application, the positioning accuracy of this switching mechanism itself is very low.
In addition to this, this rolling bed+trolley conveying device be typically to configured per frame exchanging mechanism a set of power source or
Often cover " windmill mechanism " two sets of power sources of configuration.These power sources are arranged in rolling bed, and structure is fixed." rolling actual in this way
Bed+trolley " conveying mechanism is heavy, and can be only applied in the production of specified vehicle.Once needing to produce other vehicles, old is dynamic
Power source is unable to adjust position, and majority of case must be removed, and trolley structure, power source and the switching machine being arranged on trolley
Structure is required for that the production for just adapting to new model is transformed.This emerges one after another for current automobile brand, vehicle style is varied
Today for, Late reformation needs take a significant amount of time, seriously extend the production cycle.It it is one huge for enterprise
Waste.
The windmill mechanism of the prior art carries out positioning and the method for vehicle switching：
Prior art windmill mechanism has shaft and turntable, configurates into four pin holes of square on turntable, one group
Diagonal pin hole squeezes into bolt, and remaining one group idle.The mating motor output flange of the windmill mechanism is then equally configurated into just
Four rectangular pin holes realize the connection of motor and windmill mechanism using the docking of bolt-pin hole.Also therefore bolt is relied solely on
Realize switching and the fine positioning of windmill mechanism, not only required precision is high for this bolt, material requirements is high, but also cost is expensive, also because
This is inconjunction with " windmill mechanism " cost is expensive.
In fact, this structure greatly reduces the positioning accuracy for ensureing white body part.The reason is that the anchor point of body part
Far apart with the calibration point of switching mechanism, because calibration point is almost on the rotation center of switching mechanism, and anchor point then exists
On circumference, radius value is about distance of the white body part center to the rotation center of switching mechanism.Anchor point（Vehicle body switching point）'s
Error can be calibrate point tolerance several times.In addition, in practical application, the diagonal of two rotation centers around switching mechanism inserts
Pin is calibrated to realize, such calibration point more disperses, the positioning point tolerance bigger of body part, as shown in Fig. 6.
In addition, the power plant in rolling bed is that corresponding windmill mechanism position is fixed, if end item produces vehicle
Change, then this rolling bed and trolley device are likely to be continuing in subsequent project, need to be transformed, even if carrying out
Transformation is also required to very big cost.Sometimes the position of power plant, the structure of windmill mechanism even must be redesigned, old can only
It destroys.
Invention content
The purpose of this utility model：A kind of switching device for vehicle body conveying carrier is provided, be a kind of high switching precision,
The vehicle body of multi-vehicle-type switching, the conveying of high position precision switches conveying device, simple in structure, easy to use, at low cost.
To achieve the goals above, the technical solution of the utility model is：
A kind of switching device for vehicle body conveying carrier, including robot controller, rolling bed, trolley, it is arranged in platform
Windmill mechanism on vehicle, aweather mechanism of car provide the flexible positioning device and track of power；The trolley is arranged described
The centre position of rolling bed, the windmill mechanism are distributed in two rows on the trolley, are located at the both sides of the trolley；Institute
The track stated is arranged in both sides of the rolling bed and corresponding with the windmill mechanism, and the flexible positioning device passes through institute
The track stated is arranged in the rolling bed, and the flexible positioning device is moved back and forth by the track；Described is soft
Property positioning device includes X-axis, Y-axis, Z axis, turntable, flange, positioning track and wedge block；The X-axis passes through the positioning
Track is fixedly mounted, and is slided along the positioning track, and the Y-axis is mounted in the X-axis and same with the X-axis
Step sliding, the Z axis are mounted in the Y-axis, and the turntable and wedge block are separately mounted on the Z axis, institute
The flange stated is arranged on the turntable, and the turntable is adapted to by the flange with the turntable of the windmill mechanism
It connects and rotates synchronously.
The above-mentioned switching device for vehicle body conveying carrier, wherein have height between the rolling bed and the trolley
Degree is poor.
The above-mentioned switching device for vehicle body conveying carrier, wherein the turntable of the windmill mechanism is equipped with spring
Cover, the spring shield are equipped with interface, and the flange is adapted to snapping with the spring shield.
The above-mentioned switching device for vehicle body conveying carrier, wherein the turntable of the windmill mechanism is equipped with calibration
The peace in the windmill mechanism is arranged by the calibration retaining spring for retaining spring, axis and multiple flanges, the axis
It fills in groove, multiple flanges, which are respectively separated, to be arranged in the turntable of the windmill mechanism, and along the turntable
Inner wall slides, and the flange described in one pair of which is respectively symmetrically clamped in the end both sides of the axis.
The above-mentioned switching device for vehicle body conveying carrier, wherein one end of the wedge block and the windmill
The installation groove of mechanism is flexibly connected, and the other end of the wedge block is mounted on the Z axis.
For the utility model for the vehicle body conveying between the station of different welding and assembling production lines, this mode of movement is that automobile is white
One of the most widely used transporting pattern on automobile welding lines, solve current rolling bed and trolley unsustainable usability,
The low problem of positioning accuracy.
Description of the drawings
Fig. 1 is structural schematic diagram figure of the utility model for the switching device of vehicle body conveying carrier.
Fig. 2 is structural schematic diagram of the utility model for the flexible positioning device of the switching device of vehicle body conveying carrier.
Fig. 3 is company of the utility model for the flexible positioning device and windmill mechanism of the switching device of vehicle body conveying carrier
Connect schematic diagram.
Fig. 4 is structural schematic diagram of the utility model for the windmill of the switching device of vehicle body conveying carrier.
Fig. 5 is sectional view of the utility model for the windmill of the switching device of vehicle body conveying carrier.
Fig. 6 is the switching principle figure of the windmill of the prior art.
Fig. 7 is switching principle figure of the utility model for the windmill mechanism of the switching device of vehicle body conveying carrier.
Fig. 8 is the utility model for the schematic diagram under a kind of operating mode of the switching device of vehicle body conveying carrier.
Fig. 9 is the utility model for the schematic diagram under another operating mode of the switching device of vehicle body conveying carrier.
Specific implementation mode
The embodiments of the present invention are further illustrated below in conjunction with attached drawing.
It refers to shown in attached drawing 1 to attached drawing 3, a kind of switching device for vehicle body conveying carrier, including robot control
Device, rolling bed 1, trolley 2, the windmill mechanism 5 being arranged on trolley 2, aweather mechanism of car provide power flexible positioning device 3 and
Track 4；The trolley 2 is arranged in the centre position of the rolling bed 1, and the windmill mechanism 5 is distributed in described in two rows
Trolley 2 on, be located at the trolley 2 both sides；The track 4 be arranged the both sides of the rolling bed 1 and with it is described
Windmill mechanism 5 corresponds to, and the flexible positioning device 3 is arranged by the track 4 in the rolling bed 1, and described is soft
Property positioning device 3 pass through the track 4 and move back and forth；The flexible positioning device 3 include X-axis 31, Y-axis 32, Z axis 33,
Turntable 34, flange 35, positioning track 36 and wedge block 37；The X-axis 31 is fixedly mounted by the positioning track 36, and
Slided along the positioning track 36, the Y-axis 32 be mounted in the X-axis 31 and with 31 synchronous slide of X-axis,
The Z axis 33 is mounted in the Y-axis 32, and the turntable 34 and wedge block 37 are separately mounted on the Z axis 33,
The flange 35 is arranged on the turntable 33, and the turntable 33 passes through the flange 35 and the windmill mechanism
Turntable adaptation connect and rotate synchronously.
There is difference in height between the rolling bed 1 and the trolley 2.
The windmill mechanism 5 is equipped with multiple mounting surfaces, and multiple mounting surfaces are equipped with fixture, can fill a variety of vehicles
The white body weldment of type.
It refers to shown in attached drawing 4, the turntable of the windmill mechanism 5 is equipped with spring shield 51, on the spring shield 51
Equipped with interface 52, the flange 35 is adapted to snapping with the spring shield 51.
The interface 52 and respectively compatible " ten " character form structure of flange 35, can also be used other knots
Structure, as long as the flange shape cooperation that can and design.
It refers to shown in attached drawing 5 and attached drawing 7, the turntable of the windmill mechanism 5 is equipped with calibration retaining spring 511, axis
512 and multiple flanges 513, the axis 512 be arranged in the windmill mechanism 5 by the calibration retaining spring 511
In installation groove, multiple flanges 513, which are respectively separated, to be arranged in the turntable of the windmill mechanism 5, and along described
The inner wall of turntable slides, and the flange 513 described in one pair of which is respectively symmetrically clamped in the end both sides of the axis 512.School
When quasi- 511 free state of retaining spring, the axis 512 that jacks up can just be stuck in windmill mechanism 5 certain between protrusion, can
To position the position of the rotation of windmill mechanism 5；When calibrating 511 compressive state of retaining spring, the axis 512 of decline leaves windmill mechanism 5,
At this moment windmill mechanism 5 can rotate freely.
One end of the wedge block 37 is flexibly connected with the installation groove of the windmill mechanism 5, the wedge block
37 other end is mounted on the Z axis 33.When switching, wedge block 37 with Z axis 33 towards windmill move, then, Z axis 33
On flange 35 block " cross " groove, it is downward that the wedge block 37 of lower section just compresses calibration retaining spring 511 so that axis
512 leave a pair of flanges 513 of windmill so that windmill can rotate.Then the flange 35 of the motor driving Z axis 33 on Z axis 33
Rotation drives windmill rotation.When positioning, wedge block 37 is as Z axis 33 is far from windmill movement, and then the flange 35 on Z axis 33 is de-
From " cross " groove, the wedge block 37 of lower section does not compress compression calibration retaining spring 511, and compression calibration retaining spring 511 is pushed up
It rises, between being stuck in a pair of flanges 513 of windmill with moving axis 512, firmly windmill, windmill cannot rotate surely.
Realize calibration retaining spring 511 " freedom-compression " state is the 33 terminal turntable 34 of Z axis of flexible positioning device 3
Under wedge block 37, flexible positioning device 3 aweather " ten " font interface movement of mechanism of car when, it is fixed that wedge block 37 is pressed downward calibration
Position spring 511, waits for that 3 flange 35 of flexible positioning device is stuck at " ten " font interface 52, and calibration retaining spring 511 leaves wind completely
Mechanism of car 5, windmill mechanism 5 is rotatable at this time.Then flexible positioning device 3 drives windmill mechanism 5 to rotate predetermined angular, soft
Property positioning device 3 further out windmill mechanism, the calibration positioning that drives wedge block 37 to leave calibration retaining spring 511, therefore discharge
Spring 511 makes the jacking of axis 512 be stuck in again in another pair flange 513 of windmill mechanism 5, positioning windmill mechanism 5.Therefore, this reality
Vehicle switching and the positioning of windmill mechanism are realized with the novel cooperation leaned on flexible positioning device 3 completely and calibrate retaining spring 511.
Flexible positioning device 3 can be moved back and forth along track 4, flexibly change position.Flexible positioning device 3 also known as servo are flexible
Positioning device, the displacement with tri- directions X, Y, Z, Z-direction are output, and the turntable of servo-drive is housed, is had on turntable 34 convex
Edge 35 is equivalent to " key ", and " ten " the font interface 52 on " windmill mechanism " turntable can be inserted, coordinate with it.
2 feature of trolley is firm in structure durable, and does not install any power plant, such as motor, cylinder etc. above.Platform
Two rows of windmill mechanisms 5 can be at most arranged on vehicle 2, often row there are four frame windmills.It is disposed with power plant in rolling bed 1, utilizes rolling bed 1
With the difference in height of trolley 2, two flexible positioning devices 3 are filled to the both sides of rolling bed 1, corresponding two rows windmill mechanism 5 respectively.
Flexible positioning device 3 can realize X, Y, Z three-shaft linkage.X-axis 31 realizes the longitudinally reciprocal shifting on positioning track 36
Dynamic, Y-axis 32 realizes that transverse reciprocating movement, Z axis 33 realize that lifting moves back and forth.Flexible positioning device 3 can be according to different windmills
The position location of mechanism 5 adjusts tri- axis 31,32,33 of X, Y, Z, and the task of positioning and clamping is completed by the turntable 34 on 33 top of Z axis,
Realization is accurately positioned.Turntable 34 on Z axis 33 is driven by motor, can be coordinated with installation groove on the turntable of windmill mechanism 5.It is flexible
Positioning device 3 can carry out flexible programming by teaching machine to the motor of 33 terminal of Z axis, and flexibility reply different automobile types are positioned to
It asks.X, Y, Z axis 31,32,33 is all made of the cooperation high precision ball leading screw driving of high performance servo motor, realizes that the high of terminal repeats
Positioning accuracy.
Meanwhile the function of windmill mechanism 5 is to realize the switching of different automobile types, does not set any power plant on trolley 2, therefore
Windmill mechanism 5 is driven by the 33 terminal turntable 34 of Z axis of flexible positioning device.Multiple mounting surfaces of windmill mechanism 5 are used for filling
Fixture is pressed from both sides, the white body weldment of various can be filled.By taking 2 structure of trolley equipped with two rows of four windmill mechanisms 5 as an example, windmill
Mechanism 5 is respectively arranged with fixture（Equipped with striking out cylinder）, it is ensured that reliable clamping force and retentivity.Windmill mechanism 5 is fixed on platform by screw
On vehicle 2, when production requirement change need to change the position of windmill mechanism 5, transformation is also more convenient.
In addition, flexible positioning device 3 has the characteristics that transmission speed is fast, precision is high, reliability is high, while High-speed roller machine is also
Configured with vehicle type recognition device, it can ensure that production is correct in switching.
The utility model uses flexible positioning device 3 to be used as power plant, since flexible positioning device 3 has X, Y, Z tri-
The displacement in a direction, can flexible modulation, realized and the Adaptive matching of windmill mechanism 5 by 3 track of flexible positioning device.This reality
It is adjustable with the novel flexible positioning device 3 used position on positioning track 36, therefore a set of flexible positioning device 3 controllable one
Air draft mechanism of car considerably reduces material input.Moreover, even if to be applied on sundry item, production line needs adapt to
Property transformation when, can only to control program rewrite, flexible positioning device 3 can coordinate with windmill mechanism 5.
The operation principle of the switching device of the utility model is：
It refers to shown in attached drawing 8, the first operating mode, the switching device serves stand-alone workstation：The use arranged on trolley
In the sensor of detection windmill mechanism kinematic, the position signal of windmill mechanism feeds back to robot controller；Flexibility positioning dress
Set 3 aweather mechanism of car provide power, control signal be also to feed back to robot controller.Then by teaching machine according to reality
Border production adjustment robot controller.
It refers to shown in attached drawing 9, second of operating mode, the switching device uses in wire body：That is arranged on trolley is used to examine
The sensor of windmill mechanism kinematic is surveyed, the position signal of windmill mechanism feeds back to I/O modules, and manual signal is then transmitted by PLC
To robot controller；Aweather mechanism of car provides power to flexible positioning device 3, and control signal is also to feed back to robot control
Device processed.Then robot controller is adjusted according to actual production by teaching machine.
The utility model can reduce vehicle instead of traditional land based power plant using flexible positioning device 3 and switch institute
The equipment needed, the structure of windmill mechanism 5 can reduce the type of required trolley, the trouble of design be reduced, relative to traditional structure
Improve running accuracy；The utility model is using 3 power plant of moveable flexible positioning device instead of traditional fixed drive
It is dynamic, save the trouble of subsequent adaptation；The utility model can apply first or the last one station in production line,
Be exactly workpiece to be input to main line from the trolley of the utility model and produced, or after the completion of production using this practicality newly
Type exports main line.Thus it is not take up the productive temp of wire body.Improve production efficiency.In the present invention, to " ten " font
The requirement on machining accuracy of interface 52 is not high, can guarantee positioning accuracy by calibration retaining spring 511, reduces processing cost.
In conclusion the utility model is for the vehicle body conveying between the station of different welding and assembling production lines, this conveying side
Formula is one of the most widely used transporting pattern on automobile body-in-white welding line, solves can not holding for current rolling bed and trolley
The low problem of continuous usability, positioning accuracy.
The above is only the preferred embodiment of the present invention, and it does not limit the scope of the patent of the present invention,
It is every to utilize equivalent structure transformation made by the utility model description, it is directly or indirectly related with other are attached to
The technical field of product, is equally included in the patent within the scope of the utility model.
Claims (5)
1. a kind of switching device for vehicle body conveying carrier, it is characterised in that：Including robot controller, rolling bed, trolley,
It is arranged in that windmill mechanism on trolley, aweather mechanism of car provides the flexible positioning device and track of power；The trolley setting
In the centre position of the rolling bed, the windmill mechanism is distributed in two rows on the trolley, is located at the trolley
Both sides；The track is arranged in the both sides of the rolling bed and flexible positioning corresponding with the windmill mechanism, described
Device is arranged by the track in the rolling bed, and the flexible positioning device is moved back and forth by the track
It is dynamic；The flexible positioning device includes X-axis, Y-axis, Z axis, turntable, flange, positioning track and wedge block；The X-axis passes through
The positioning track is fixedly mounted, and is slided along the positioning track, the Y-axis be mounted in the X-axis and with
The X-axis synchronous slide, the Z axis are mounted in the Y-axis, and the turntable and wedge block are separately mounted to described
Z axis on, the flange is arranged on the turntable, and the turntable passes through the flange and the windmill mechanism
Turntable adaptation connect and rotate synchronously.
2. the switching device according to claim 1 for vehicle body conveying carrier, it is characterised in that：The rolling bed and institute
There is difference in height between the trolley stated.
3. the switching device according to claim 1 for vehicle body conveying carrier, it is characterised in that：The windmill mechanism
Turntable be equipped with spring shield, the spring shield is equipped with interface, and the flange is adapted to snapping with the spring shield.
4. the switching device according to claim 1 for vehicle body conveying carrier, it is characterised in that：The windmill mechanism
Turntable be equipped with calibration retaining spring, axis and multiple flanges, the axis is arranged by the calibration retaining spring in institute
In the installation groove of the windmill mechanism stated, multiple flanges, which are respectively separated, to be arranged in the turntable of the windmill mechanism,
And slided along the inner wall of the turntable, and the flange described in one pair of which is respectively symmetrically clamped in the end two of the axis
Side.
5. the switching device according to claim 4 for vehicle body conveying carrier, it is characterised in that：The wedge block
One end is flexibly connected with the installation groove of the windmill mechanism, and the other end of the wedge block is mounted on the Z axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820404680.7U CN207971597U (en) | 2018-03-24 | 2018-03-24 | Switching device for vehicle body conveying carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820404680.7U CN207971597U (en) | 2018-03-24 | 2018-03-24 | Switching device for vehicle body conveying carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207971597U true CN207971597U (en) | 2018-10-16 |
Family
ID=63764627
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820404680.7U Expired - Fee Related CN207971597U (en) | 2018-03-24 | 2018-03-24 | Switching device for vehicle body conveying carrier |
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| Country | Link |
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| CN (1) | CN207971597U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247255A (en) * | 2018-03-24 | 2018-07-06 | 上海晓奥汽车销售有限公司 | For the switching system of vehicle body conveying carrier |
| CN109530954A (en) * | 2019-02-02 | 2019-03-29 | 宁波吉利汽车研究开发有限公司 | White body always spells integrated welding production line |
| CN109676296A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | Windmill mechanism switching station and switching system |
| CN112958965A (en) * | 2021-03-19 | 2021-06-15 | 东风汽车股份有限公司 | Flexible switching device of multi-vehicle type shared clamp and control method |
| CN114229442A (en) * | 2021-11-12 | 2022-03-25 | 马翼 | Intelligent positioning equipment and positioning method for automatic automobile production line |
-
2018
- 2018-03-24 CN CN201820404680.7U patent/CN207971597U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108247255A (en) * | 2018-03-24 | 2018-07-06 | 上海晓奥汽车销售有限公司 | For the switching system of vehicle body conveying carrier |
| CN108247255B (en) * | 2018-03-24 | 2024-05-03 | 上海晓奥享荣汽车工业装备有限公司 | Switching system for car body conveying trolley |
| CN109530954A (en) * | 2019-02-02 | 2019-03-29 | 宁波吉利汽车研究开发有限公司 | White body always spells integrated welding production line |
| CN109676296A (en) * | 2019-02-02 | 2019-04-26 | 宁波吉利汽车研究开发有限公司 | Windmill mechanism switching station and switching system |
| CN109530954B (en) * | 2019-02-02 | 2019-06-04 | 宁波吉利汽车研究开发有限公司 | White body always spells integrated welding production line |
| CN112958965A (en) * | 2021-03-19 | 2021-06-15 | 东风汽车股份有限公司 | Flexible switching device of multi-vehicle type shared clamp and control method |
| CN114229442A (en) * | 2021-11-12 | 2022-03-25 | 马翼 | Intelligent positioning equipment and positioning method for automatic automobile production line |
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Granted publication date: 20181016 |