前苏联专利SU1609440A3 Automatic flow line for assembling and welding motor vehicle bodies

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专利摘要:
Process and device for the automatic assembly and working of sub-assemblies consisting of several individual pieces, held by a work piece carrier (4) on a transfer line with resettable working stations (3). The sub-assemblies are first removed by the work piece carrier at the working station (3) and brought together in the assembly position, where they are held and worked on, primarily through spot welding, or final welding. In order to carry out these different tasks, and for maximum adaptibility of the working station the latter is equipped with several work piece carriers (22, 23) which have at least three axes of movement. The work piece carriers (22, 23) are all arranged on a parallel plane above and below the work piece carrier (4) so as to operate freely. The work piece carriers (22, 23) carry individual tools which they can change automatically from fixed or movable tool magazines (31, 33, 34). To suit the needs of various tasks, as well as when there is a change in the type of sub-assembly, new, mosaic-like combinations can be obtained using freely programmable adjustment drives, allowing for independent movement of each individual work piece carrier (22, 23).
公开号:SU1609440A3
申请号:SU864028249
申请日:1986-10-08
公开日:1990-11-23
发明作者:Циммер Эрнст
申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
IPC主号:

专利说明:

The invention relates to the automotive industry and can be used in automated production lines for assembling and welding bodywork.
The purpose of the invention is to save production space and reduce cost by carrying out several operations in one position.
EA of Fig. 1 depicts an automatic line diagram with three processing nodes; Fig. 2 shows a multi-part carrier in Fig. 3, a processing position; a longitudinal slit in Fig. 4 is section A-A in Fig. 3; Fig O5 - view B in Fig.Z; figure 6 is a view In fig O3; FIG. 7 shows a section of a G-D view of a figob; on - section through the coupling between the tool and the tool holder; FIG. 9 shows the machining position, cross section about
In assembly unit 1 serves empty media 2 parts (pallets), In node 1 on pallet 2 put freely and p
O4
house with each other, the detachable parts of parts 3 and 4 are subject to welding. In this case, the part 3 and 4 ezd are (figs 2 and 5) side walls of the vehicle body. Part 3 is a side wall with two doors, And the driver 4 is a side wall with partly doors, the same vehicle, Q Qtwa. However, in the automatic production line it is also possible to process various parts of vehicles. As for the number and differences in the configuration of different parts, the automatic flow line is unbounded From the assembly, the pallets move the jO node 5 arranged in parallel with one another. In the processing node 5, individual parts are moved from the pallet, driven and held in the joint position with one another. The parts are then centered one with the other, in their 25th position — is clamped, welded or machined. Then, the manufactured parts of the metal are moved on, the chambers from the processing units, and are again placed on raids with other jO parts of the body or left in the stand position. Idani for long processing about
In both right-hand machining units 5 (figo), the pallet 2c 5 are dispensed with the distributive parts 3 and 4 in an already welded condition. In one of the processing units 5, part 4 made only partial
Fig. 2 depicts a plaque with a deadweight of 3 in the form of a side wall with two doors. Part 3 consists of several separate parts, which should be welded one with the other. This refers to the front top 45
the side member 6, the rear top side member 7 and the lower part 8 of the side wall of the vehicle with two doors. FIG. 2 shows the position of the parts following the dashed line;
le welder
Pallet 2 has a closed frame from which support elements 9 arrive in the inner direction, on which parts 6-8 ° are mounted and held. Upper spars 6 and 7 are bare,
The blow is moved for welding with the bottom part 8 out of the waiting part. In order to ensure easy sleep

These upper spars 6 and 7 are supported with a connector on the supporting elements with 9 latches. Parts are installed near the edge on the pallet; 2, having sufficiently large dimensions so as to form a relatively large internal space, which is free from supporting elements. The supporting elements 9 are made as relatively inaccurate receiving elements and have only supporting or holding functions for parts without precise alignment. After transport, precise centering and clamping of parts in the processing unit, only a small number of supporting elements supporting parts and supports are sufficient. them for tool carriers with the possibility of gripping and clamping. In this case, parts 6 - 8 in their waiting position can sag without damage or otherwise deform flexibly. Elements 9, then supporting the finished part
FigoZ shows the processing unit. In this case, the arrow O shows the transport direction in which the pallets pass through the processing unit
The processing unit (- 5) has a frame 10 consisting mainly of four, installed rectangularly, vertical stands 11, connected to each other in the transport direction on both sides of the pallet 2 by one pair of longitudinal traverse arms 12 and 13. Further, stand 11 at the top is supported cross connection when forming the portal, the Pallets 2 move on a roller table connecting the individual nodes of the automatic production line to each other. In addition, the processing unit also extends in the length direction and protruding from the side inwards the direction 1 of the cracker 14 with the rollers 15 In addition, centering means are also provided for fixing the pallet in a position relative to the processing unit. distance below or above guide 15 and pallet 2
the lower longitudinal traverses 12 are installed with the possibility of longitudinal displacement transverse traverse 16 and 17, the traverse 12 form for Y traverse 16 and 7 the direction of junction (nd 1 8. On the upper longitudinal traverse 13 there are two transverse traverse 19 and 20 with the possibility of longitudinal movement of the transverse traverse 16 20 have running gears 21 for guiding on their longitudinal traverse arms 12 and 13, as well as a precise servo drive 22o. The servo drive consists of an electric motor, preferably a stepper motor or a disk rotor, which drives the traverse h Through backlash-free belt or rack transmission
Tool carriers 23 - 28 are mounted on transverse traverses with the possibility of moving across to the transport direction. Tool carriers 23 - 26 are made with the possibility of movement independently of each other.
20 Tool carriers 23-28 have replaceable, automatic couplings 33 and 34 tools 3.5 - 40, or 41-43о Tools 23-28 are embodied as centering pliers.
25 parts with several separate ones that can be moved in a joint, horizontal plane at a distance below and parallel to the main plane of folder 2 from the friend and form the upper carriers 27 and 28 also form a part that can be moved at a distance above and parallel to the main plane of the pallet 2o
On the transverse cross braces 16 and 17, the gear unit 29 is gaplessly guided and mounted on opposite sides of the two tool carriers. In contrast, only one tool carrier 27, 28 is mounted on the upper cross head bars 19 and 20 through suitable running gears 26 "
Transverse travers 16-20 are designed as beams on which tool carriers are fixed one-sided. In addition, the transverse traverse can be made in the form of a bridge by two parallel beams and spaced from one another and be placed and guided on both sides between them. tools about
The tool carriers 23-28 are gaplessly and separately driven in the same manner as the transverse traverse 16-20, Ie with 30 o servo drives
Thus, the tool carriers 23-28 are adapted to
40
Details with parts 44 - 47 of the side part 4 o. The figoZ depicts the side part in the form of a side wall of the trasport-30 means with four doors,
In contrast, both the upper carriers 27 and 28 of the tools are equipped with two-point welding jaws 39 and 41 or grippers 40 and 43 °. The lower carriers 23, 24 and 26 of the tools are supported by at least one clamp of their clamping elements 35, 36 and 38 the lower part 47 on a certain predetermined measure from the support element. 9 pallets (CGNO) In addition, the tool carrier 25 moves upwards with an empty clamping device 35. All tool carriers 23-26 are already in working position 5 than 3
The upper tool carrier 27 moves, with its grip, 40, the posterior upper spar 46 from the waiting position on the fly to a position opposite the 50 of the lower part 47 and transports the upper spar to the lower part and places it in the free jaws of the jig 35, The tool holder 28, replaced by the welding tongs 39 (FIG. 4) with the gripper 43. transports the door spar 45 to the bottom part and to the free separate clamp of the clamping horizontal horizontal movement along two axes, Tao etc. or on pallet and can lead to the exact polozhenieo
In order to move freely, the tool carriers 23 to 28 have another third vertical axis of movement. In addition, the tool carriers 23 to 28 also have a head 31, which is complete and can be adjusted in height by means of an exact servo drive 32,
In addition, the third axis is displaced
for tool carriers, it may be formed differently, for example, with a tilting head or a longitudinal traverse 12-13 with a height adjustment of about
Tool carriers 23-28 have replaceable, automatic couplings 33 and 34 tools 3.5 - 40, or 41-43о Tools 23-28 are embodied as centering clamping
devices with several separate0
Details with parts 44 - 47 of the side part 4 o. The figoZ shows the side part in the form of a side wall of the transport means with four doors,
In contrast, both the upper carriers 27 and 28 of the tools are equipped with two-point welding tongs 39 and 41 or grips 40 and 43. The lower carriers 23, 24 and 26 of the tools are attached by at least one clamp of their clamping fixtures 35, 36 and 38. 47 for a specific predetermined measure of the support element. 9 pallets (CGNO) In addition, the tool carrier 25 moves upwards with an empty clamping device 35. All tool carriers 23-26 are already in the working position 5
The upper tool carrier 27 moves, with its grip, 40, the posterior upper spar 46 from the waiting position on the fly to the position opposite the 0 of the lower part 47 and transports the upper spar to the lower part and places it in the free clips of the jig 35, In the same way another upper holder 28 of the tool, replaced by the welding tongs 39 (FIG. 4) with the gripper 43. transports the door of the spar 45 to the bottom part and to the free separate clamping clamp at 71 609440
36 and into the free clamp of the clamping device 37 o Then, after placing the upper spar, the free carrier of the tool again grasps 40 the front upper horse-tailon with its grip and places it in the still free separate clamps of the clamping jig 37 and 38c. d
devices 35-38, parts 44-47 are placed in the correct position relative to each other and can be welded at the junction point. For this purpose, on the upper carrier 27 28 of the tools 15 grips 40 and 43 are replaced by welding14 and pliers 39 and 4. After the finished 20 welding, the clamps are opened and the tool carriers 23 - 26 are lowered along with the part 4 until they are placed on the supporting elements, 9 pallets. The carriers then dag (its 25 is lowered to those op, while they do not provide the tools a stirred PA-4 years of
In addition, it is still possible to lower the pallet with a nomoi, and with a handler 48 (Fig. 3) with respect to the working devices 35-38, the lower part 47 is placed on the open rear devices 35, 36 and 38 and it centered itself After welding, the plaque rises again with-all
detail.
The tool carriers 23–26 of the plane of movement form the centering and clamping devices for the parts to be welded from 44 to 47 °. Then the carriers 27 and 28 of the tools of the upper plane of movement perform the functions of transport and processing.
In other cases, these functions can be performed by other elements. For example, various tasks can not only be distributed on a plane.
in height by one. or several upper traverses, while Bepxiffle. cross bars 50 are installed with the possibility of moving in the longitudinal direction on the corresponding longitudinal cross bars. This form of implementation is recommended to be used primarily if the parts should be moved in the vertical direction along such a path that is larger than the largest displacement path in the horizontal direction. carriers of tools or, in the case of parts with a larger plane s such as, for example, entire vehicle bodies (FIG. 9), and Possible and that the tool carriers operate mutually in the same shsh razlichnk planes and, for example, for rotating the first one the item is raised, and then it is transmitted to another medium
The spring elasticity of the processing unit requires, in most cases when replacing parts, in addition to changing the control program for moving the tool carriers, also replacing from the tool. For this purpose, there are several tool stores 51 and 52 in the processing unit. According to the example of the FIG. 27 and 28, an upper tool magazine 52 is installed, and two tool shops 51 are installed in the lower carriers 23-26. These magazines consist of a number of attachment tools 53 s fixed in the longitudinal direction above or below the guide pallet - 14 °. Attachments 53 for fastening the tools go to the side of the machining unit 11-1II. To change the tools, the carriers must be moved. prior to fixtures 53, set aside an unnecessary tool as a free space and in another place take
20
35
40
Thus, when transferring tools to the carrier, in order to fasten the tool and move it into the path of the carrier of tools, however, in order not to
strumentovo
The dd of complex control and machining for further horizontal tool carriers 49 can be provided for a third or even a fourth plane of movement. In this case, the tool carriers 49 are movable
interfere with the free movement of tool carriers; the tool attachment tools can also have pivotal levers with which they can be pushed out of the displaced carrier space
5 0 5
eight
in height by one. or several upper traverses, while Bepxiffle. cross bars 50 are installed with the possibility of moving in the longitudinal direction on the corresponding longitudinal cross bars. This form of implementation is recommended to be used primarily if the parts should be moved in the vertical direction along such a path that is larger than the largest displacement path in the horizontal direction. carriers of tools or, in the case of parts with a larger plane s such as, for example, entire vehicle bodies (FIG. 9), and Possible and that the tool carriers operate mutually in the same shsh razlichnk planes and, for example, for rotating the first one the item is raised, and then it is transmitted to another medium
The spring elasticity of the processing unit requires, in most cases when replacing parts, in addition to changing the control program for moving the tool carriers, also replacing from the tool. For this purpose, there are several tool stores 51 and 52 in the processing unit. According to the example of FIG. 5, in the upper carriers 27 and 28, an upper tool magazine 52 is installed, and two tool shops 51 are installed in the lower carriers 23-26. These magazines consist of a number of attachment tools 53 s fixed in the longitudinal direction above or below the guide pallet - 14 °. Attachments 53 for fastening the tools go to the side of the machining unit 11-1II. To change the tools, the carriers must be moved. prior to fixtures 53, set aside an unnecessary tool as a free space and in another place take
0
35
40
tools, however, so as not to
interfere with the free movement of tool carriers; the tool attachment tools can also have pivotal levers with which they can be pushed out of the displaced carrier space
9
In contrast, FIGS. 7 and 7 illustrate a variant of tool stores 51 and 52 o. These stores are formed by a closed series of attachments 53 for fastening tools that are designed to move along a fixed guide 54 transversely to the transport direction O o Oval guides 54 co. are mounted with the possibility of moving along the longitudinal cross-pieces 12 and 13 in the transport direction O and have an open internal space so that they can move behind the tool carrier B of this case, tool stores 51 and 52 are installed relative to tool carriers in the longitudinal direction, old tools are fed to a rotating tool holder 53 and new tools are attached. As shown in FIG. 7 with one tool magazine 51 with an appropriate position and tool holder 53 instruments can be equipped with both vertical carriers 23 and horizontal carriers

0
9440
five
0
five
ten
supplying all working mediums Control signals and energy, dp of the tool, which can be made to move in further axes, as well as have appropriate actuators, are transmitted through the subconnecting elements. In addition, the current for the welding is transmitted through the connecting elements and the refrigerant for the welding pincers, compressed air or oil for controlling clamps or a similar working medium. 1 The working medium is supplied to the heads 23 via dragging wires, sliding contacts or ToPo. The couplings are designed as direct connectors. a plug connector in which the connecting elements are inserted one into the other and are mutually open in case of a liquid or gaseous medium connection. When the coupling is open in this case, the connecting elements 57 are constricted; the connecting elements are completely closed; through the bayonet and threaded bolt 58, in order to connect the coupling 34, they are turned to the position of the joint and then the head is so far to
The telegrams 49c. In addition, the carriers of the JQ elements 33, 55, that the bayonet eclipse 27 of the upper plane can thief 58 occupy the wait
be equipped with tools from the bottom magazine if tool coupling 55 is pointing upwards
In order to prevent interference, the distance of the longitudinal traverses 12 and 13 from the pallet is greater than the distance according to the example of embodiment of FIGS. 3-5. In addition, the longitudinal traverses are extended on both sides and thus provide a waiting position for stores 51 and 52, in which they are out of pallets and tool carrier
35
40
and a retainer 59 for turning the reel onto the coupling 34. fits into the corresponding opening of the coupling 33. In this way, you provide 1 straight tension, neo6xo / i, iiMoe for the 17od1 connected body connector, and then rotate the fidge part 60 and the drive In engagement, the bolt 58o In addition to the j oro, the inner part 60 installed with the possibility of rotation 1 1 in the outer part 61 of the carrier clamp 59 to prevent rotation and turning, and connecting | e1 and from to
Figs 6 and 7 show the lower part 45 MANUAL part 61 loaded with a spring, detachable clamps 62 in the initial and final rotational positions. The latch 59 prevents the outer part 61 from being rotated, as a result of which the latch disengages if the inner part 60 rotates relatively stationary. the outer part 61 and the bayonet bolt 58 properly connects the parts
-56 of the vehicle as a part to be welded, depending on the various embodiments of the hole. These holes are made with replaceable (not shown) punching tools.
FIG. FIG. Shows automatic couplings 33, 55 and 34, providing
, detachable locks 62 in the initial and final positions of rotation. Locking device 59 prevents the outer part 61 from rotating, as a result of which the locking device is released if inner part 60 rotates relative to the fixed outer part 61 and bayonet 58 underneath; properly connects the parts
self tool replacement
In addition, the head 23 of the carrier of the tool, which is described above, the operation of the tool has a drive (not shown), imposes the opposite. Tools together with
whose driven shaft is rigidly mounted — the coupling parts are firmly mounted on
Lena Coupling 33 Couplings 33, 55 and 34 have-twisting in adaptations for
connectors 57 for fastening tools
0
and a retainer 59 for turning the chain on the coupling 34. inserts into the corresponding hole of the coupling 33. Thus, provide 1 strand direct tension, neo6xo / i, iiMoe for the plug 17, the connection of the body elements, then rotate the rotary portion 60 and engage the gate part 58o In addition to the j oro, the inner part 60 installed with the possibility of rotation 1 in the outer part 61, carrying the retainer 59 for rotating, and connect | e1 and with the manual part 61 loaded with
, detachable locks 62 in the initial and final positions of rotation. Locking device 59 prevents rotation of the outer part 61, as a result of which the locking device is released if inner part 60 rotates relative to the fixed outer part 61 and bayonet pad 58; properly connects the parts
If, due to the large torsional forces acting on the JSOK tools of the middle axis 63, there is a danger of shutter 58 being disconnected, then an imi imii final axle of an electrically pneumatically controlled latch 64o is provided. The piston is made as an arresting bolt 65 and extends from holes 66 or for the purpose of fixing is introduced into this hole 66 by a double-acting electromagnet using a valve 67 by means of compressed air at the beginning and at the end of rotation of the inner part 60 in the outer part 61
Line allows you to save production space, qi and increase productivity

权利要求:
Claims (3)
[1]
Claims 1 "Automated inline
ten
160944012
length, moreover, it is equipped with at least one tool magazine to be replaced, which is installed at the same technological position.
[2]
2 o The flow line for Pau1s is characterized by the fact that the longitudinal traverses are installed in pairs. but on both sides of the working plane of the conveyor, while the chambers are made in the form of closed frames with parts fixing elements located on them
[3]
3. Flow line on nn. 1 and 2, about t - distinctive with the fact that the drive of the carrier alternation is made in the form of a servo drive with backlash-free rack or belt drive
4 ° The flow through Po1, characterized in that the tool is equipped with a first coupling half with orienting holes along the periphery, a fixed threaded rod inside and connecting elements 15
20
the lines for assembling and welding the bodies are 25 standard for supplying the working media, and the vehicles that contain the position of the tool loader are equipped with rotating pulleys and the unloading position interconnected by a conveyor with raids located on it and located between them . transporting a clamping and welding device, so that, with the aim of econo and produce a shaft, ending with a sleeve with internal thread, on which is installed the second coupling half with guide rods on the periphery and subconnecting elements for working medium, in this case between the second coupling half and the shaft there is a spring-loaded blue retainer and / or a controlled retainer
the area and the cost by several operations at one position, one technological position is equipped with longitudinal traverses, on which at least one transverse traverse of tools is installed with the possibility of movement, which is installed along the conveyor transnortiruyushchy, zalshmnoe and welding devices, made in the form of at least one carrier
with a shaft terminated in a female threaded bushing, on which a second coupling half is installed with guide rods around the periphery and subconnecting elements to carry the working medium, a spring-loaded ball lock and / or control is installed between the second coupling half and the shaft lockable
5 o The flow line on pp1 - 4, characterized in that the tool magazine is made in the form of a beam with fastening elements located on it The flow line on pPo 1-4, meaning that the tool shop is made in the form of zgshkin tools with its drive shifted oval guide, on which is equipped with a clutch, connected by a swarm with the possibility of moving the installation - -. new items of fastening tools,
the plane of the perpendicular guide to the longitudinal traverse,
to the main line of supply of working media with connecting elements and capable of regulating
m
ten
60944012
length, moreover, it is equipped with at least one tool magazine to be replaced, which is installed at the same technological position.
2 o The flow line for Pau1s is characterized by the fact that the longitudinal traverses are installed in pairs. but on both sides of the working plane of the conveyor, while the chambers are made in the form of closed frames with parts fixing elements located on them
3. Flow line on nn. 1 and 2, about t - distinctive with the fact that the drive of the carrier alternation is made in the form of a servo drive with backlash-free rack or belt drive
4 ° The flow through Po1, characterized in that the tool is equipped with a first coupling half with orienting holes along the periphery, a fixed threaded rod inside and connecting elements 15
20
working media, and the tool carrier is equipped with a rotating
yeni tools installed along the conveyor
with a shaft terminated in a female threaded bushing, on which a second coupling half is installed with guide rods around the periphery and subconnecting elements to accommodate working mediums; a spruen-blue ball lock and / or controlled retainer
5 o The flow line according to pp1 - 4, characterized in that the tool magazine is made in the form of a beam with crepe elements on it
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同族专利:

公开号 | 公开日

EP0214199A1|1987-03-18|

DE3506314A1|1986-08-28|

EP0214199B1|1991-07-10|

DE3506314C2|1988-02-18|

US4944445A|1990-07-31|

JPS62502520A|1987-10-01|

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DE3680166D1|1991-08-14|

WO1986004871A1|1986-08-28|

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法律状态:

优先权:

申请号 | 申请日 | 专利标题

DE3506314A|DE3506314C2|1985-02-22|1985-02-22|

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