CN111746685A - Method for self-walking assembly of finished product vehicle for electric vehicle - Google Patents
Method for self-walking assembly of finished product vehicle for electric vehicle Download PDFInfo
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- B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
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Abstract
The invention relates to a method for self-walking assembly of a finished vehicle of an electric vehicle, which comprises the following steps: after the painted automobile body is input into a final assembly workshop, the installation of a driving part is completed; inputting a VCU program; installing and calibrating a detachable vehicle-mounted controller; the vehicle-mounted controller controls the electric automobile to sequentially move to each station to complete assembly of the rest parts; detecting the assembly quality; dismantling the vehicle-mounted controller; inputting a VCU program of the assembled vehicle; calibrating the vehicle after assembly; and performing subsequent performance detection, rain detection, final detection and road test. The electric automobile is pre-assembled with the driving component, so that the electric automobile can be driven and controlled to self-walk, most stations in the assembling process are separated from the constraints of conveying equipment such as a sliding plate line and a plate chain line, the investment cost in civil engineering and production equipment in the construction of an electric automobile assembly workshop is greatly reduced, the flexible arrangement of most stations in the electric automobile assembly workshop is realized, and the large-scale customized and intelligent production of the electric automobile is realized by controlling the walking of the automobile.
Description
Technical Field
The invention belongs to the technical field of electric automobile assembly, and particularly relates to a self-walking finished product automobile assembling method for an electric automobile.
Background
In an electric vehicle manufacturing enterprise, the existing vehicle assembly mode is a production line method, namely, the assembly and assembly detection tasks of all parts of the vehicle are completed online and offline.
The whole automobile assembling process in the prior art comprises the following steps: and after the painted vehicle body is conveyed to a final assembly workshop, assembling an inner decoration line, a chassis line and a final line in sequence and detecting the quality after assembly. Among them, the interior line is generally conveyed by a slide plate line or a plate link line, the chassis line is generally conveyed by a stacking type overhead friction line, the final assembly line is generally conveyed by a slide plate line or a plate link line, and the inspection line (assembly quality inspection) is generally conveyed by a plate link line.
In the assembly mode of a production line method in the prior art, a conveying device is used for conveying a vehicle body to an assembly station to install corresponding parts. The method is suitable for small-variety and large-batch whole vehicle assembly of the same chassis. Among them are the problems: the production line of the method is jointly adjusted to achieve a longer production period; the product iteration and the transformation amount of the model change are large; the flexibility of the process flow is poor; unbalanced production is not supported; flexible production of personalized customization is difficult to realize.
Disclosure of Invention
Therefore, the invention provides a self-walking finished automobile assembling method for an electric automobile, which is used for overcoming the problems in the prior art.
In order to achieve the purpose, the invention provides a self-walking finished product vehicle assembling method of an electric vehicle, which comprises the following steps:
step 1: after the painted automobile body enters a general assembly workshop, the automobile body firstly enters an automobile drive assembly line (ADL line) to assemble drive parts in the electric automobile;
step 2: after the driving part is assembled, an assembler installs the detachable Vehicle-mounted controller on the electric automobile and detects and calibrates the electric automobile after the installation is completed, and after the inspection is completed, the Vehicle-mounted controller controls the electric automobile to move to a Self-walking Assembly line (SAV line);
and step 3: when the electric automobile enters the self-walking assembly line, the vehicle-mounted controller controls the electric automobile to sequentially move to each assembly procedure in the self-walking assembly line, and an assembler at the corresponding assembly procedure operates the corresponding instrument to assemble the electric automobile;
and 4, step 4: after assembly, an assembler detaches the vehicle controller, writes a control program into the VCU, calibrates the electric vehicle, uploads the advancing record and the assembly information of the electric vehicle to the production management system, and performs subsequent performance detection, rain test detection, final detection and road test on the electric vehicle.
Further, a travel route protocol is preset in the vehicle-mounted controller, and the travel route protocol includes a preset travel protocol matrix group a (Ta0, Tb0, D0, V0), where Ta0 is a preset travel time matrix, Tb0 is a preset stay time matrix, D0 is a preset trigger distance matrix, and V0 is a preset speed matrix;
for a preset travel time matrix Ta0, Ta0(Ta1, Ta2, Ta3.. Tan), wherein Ta1 is a first preset travel time required for the electric vehicle to travel from the entrance of the self-walking assembly line to the first process, Ta2 is a second preset travel time required for the electric vehicle to travel from the first process to the second process, Ta3 is a third preset travel time required for the electric vehicle to travel from the second process to the third process, and Tan is an nth preset travel time required for the electric vehicle to travel from the n-1 process to the nth process;
for the retention time matrix Tb0, Tb0(Tb1, Tb2, tb3.. Tbn), where Tb1 is the time that the electric vehicle stays in the first process, Tb2 is the time that the electric vehicle stays in the second process, Tb3 is the time that the electric vehicle stays in the third process, and Tbn is the time that the electric vehicle stays in the nth process;
for the preset trigger distance matrix D0, D0(D1, D2, D3, D4), where D1 is a first preset distance between the electric vehicle and the first steering indicator, D2 is a second preset distance between the electric vehicle and the second steering indicator, D3 is a third preset distance between the electric vehicle and the third steering indicator, and D4 is a fourth preset distance between the electric vehicle and the fourth steering indicator;
for the preset speed matrix V0, V0(V1, V2, V3... Vn), where V1 is a first preset speed required for the electric vehicle to travel from the entrance of the self-walking assembly line to the first process, V2 is a second preset speed required for the electric vehicle to travel from the first process to the second process, V3 is a third preset speed required for the electric vehicle to travel from the second process to the third process, and Vn is an nth preset speed required for the electric vehicle to travel from the n-1 process to the nth process.
Furthermore, a timer used for respectively recording the single traveling time Ta and the single staying time Tb of the electric automobile, a speed detector used for detecting the traveling speed V of the electric automobile, a trigger distance detector used for detecting the linear distance D between the electric automobile and the steering identifier and an identifier detector used for detecting and identifying the steering identifier are arranged in the vehicle-mounted controller;
when the electric automobile travels from the self-walking assembly line inlet to the first procedure and a steering identification is not detected by an identification detector, an on-board controller establishes a first travel matrix A1(Ta1, Tb1 and V1) according to the A matrix group; when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the traveling time Ta of the electric automobile, and the speed detector detects the traveling speed V of the electric automobile in real time; in the process of traveling, the vehicle-mounted controller compares the speed value V detected by the speed detector with a first preset speed V1 in real time:
when V is less than V1, the vehicle-mounted controller controls the electric vehicle to increase the moving speed V to perform accelerated motion;
when V is V1, the vehicle-mounted controller controls the electric vehicle to keep moving at a constant speed;
when V is larger than V1, the vehicle-mounted controller controls the electric vehicle to reduce the moving speed V so as to perform deceleration movement;
when the traveling time Ta of the electric automobile recorded by the timer is Ta1, the vehicle-mounted controller brakes the electric automobile to enable the electric automobile to stop at the designated position in the first process, when the moving speed V of the electric automobile is 0, the timer starts to time to record the stopping time Tb of the electric automobile, an assembler controls the assembling apparatus in the first process to assemble the electric automobile, and when Tb1, the vehicle-mounted controller controls the electric automobile to start;
when the electric automobile travels from the n-1 procedure to the n procedure and the steering identification is not detected by the identification detector, the vehicle-mounted controller establishes An n travel matrix An (Tan, Tbn, Vn) according to the A matrix group; when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the traveling time Ta of the electric automobile, and the speed detector detects the traveling speed V of the electric automobile in real time; in the process of advancing, the vehicle-mounted controller can compare the speed value V detected by the speed detector with the nth preset speed Vn in real time:
when V is less than Vn, the vehicle-mounted controller controls the electric vehicle to increase the moving speed V so as to accelerate;
when V is Vn, the vehicle-mounted controller controls the electric vehicle to keep moving at a constant speed;
when V is larger than Vn, the vehicle-mounted controller controls the electric vehicle to reduce the moving speed V so as to perform deceleration movement;
when the travel time Ta of the electric automobile recorded by the timer is equal to Tan, the vehicle-mounted controller brakes the electric automobile to enable the electric automobile to stop at the designated position in the nth process, when the moving speed V of the electric automobile is equal to 0, the timer starts to time to record the stop time Tb of the electric automobile, an assembling worker controls an assembling device in the nth process to assemble the electric automobile, and when Tb is equal to Tbn, the vehicle-mounted controller controls the electric automobile to start.
Further, a preset steering protocol matrix Z (Z1, Z2, Z3, Z4) is further provided in the vehicle-mounted controller, wherein Z1 is a first preset steering protocol program for a first steering indicator, Z2 is a second preset steering protocol program for a second steering indicator, Z3 is a third preset steering protocol program for a third steering indicator, and Z4 is a fourth preset steering protocol program for a fourth steering indicator;
when the electric automobile moves from the self-walking assembly line inlet to the first process and the identification detector detects a steering identification, the identification detector identifies the steering identification, a corresponding preset trigger distance is selected according to the steering identification, when the identification detector detects the ith steering identification, i is 1, 2, 3 and 4, the vehicle-mounted controller establishes a first moving matrix A1(Ta1, Tb1, Di and V1) according to the matrix A group, when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the moving time Ta of the electric automobile, and the distance detector detects the linear distance D between the electric automobile and the steering identification in real time; the vehicle-mounted controller compares the detection distance D with the ith preset distance Di:
when D is larger than Di, the vehicle-mounted controller controls the electric automobile to move forwards at a constant speed of V1;
when D is equal to Di, the vehicle-mounted controller suspends the recording of the traveling time Ta of the electric automobile, meanwhile, the vehicle-mounted controller selects a corresponding ith preset steering protocol program Zi from the Z matrix according to Di, controls the electric automobile to steer according to Zi, when the electric automobile is steered, the vehicle-mounted controller continues to record the traveling time Ta of the electric automobile, and the identification detector detects and identifies the steering identification on the traveling route of the electric automobile again.
When the electric automobile moves from the n-1 procedure to the n procedure and the identification detector detects a steering identification, the identification detector identifies the steering identification and selects a corresponding preset trigger distance according to the steering identification, when the identification detector detects the ith steering identification, the vehicle-mounted controller establishes An n-th moving matrix An (Tan, Tbn, Di, Vn) according to the matrix group A, when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the moving time Ta of the electric automobile, and the distance detector detects the linear distance D between the electric automobile and the steering identification in real time; the vehicle-mounted controller compares the detection distance D with the ith preset distance Di:
when D is larger than Di, the vehicle-mounted controller controls the electric automobile to move forward at a constant speed of Vn;
when D is equal to Di, the vehicle-mounted controller suspends the recording of the traveling time Ta of the electric automobile, meanwhile, the vehicle-mounted controller selects a corresponding ith preset steering protocol program Zi from the Z matrix according to Di, controls the electric automobile to steer according to Zi, when the electric automobile is steered, the vehicle-mounted controller continues to record the traveling time Ta of the electric automobile, and the identification detector detects and identifies the steering identification on the traveling route of the electric automobile again.
Further, the first turning mark is a mark turning left for 90 degrees, the second turning mark is a mark turning left for 180 degrees, the third turning mark is a mark turning right for 90 degrees, and the fourth turning mark is a mark turning right for 180 degrees.
Furthermore, each electric automobile is also provided with an obstacle avoidance sensor for detecting obstacles in front of the electric automobile, and the vehicle-mounted controller is internally provided with a preset obstacle avoidance distance L0; at electric automobile marching in-process, keep away the barrier detector and can carry out real-time detection to the road surface in electric automobile the place ahead, when the barrier appears on electric automobile advancing route, keep away the distance L between barrier detector and the electric automobile can real-time detection barrier and the electric automobile, on-vehicle controller compares L and preset distance L0:
when L is larger than L0, the vehicle-mounted controller controls the electric vehicle to travel at the preset speed;
and when the L is less than or equal to L0, the vehicle-mounted controller records the current advancing parameters of the electric automobile and brakes the electric automobile, and when the barrier is cleared, the vehicle-mounted controller continues to advance according to the previous record.
Furthermore, each electric automobile is provided with an emergency stop button, and when an emergency occurs in an assembly line, an assembler presses the emergency stop button to complete emergency braking of the electric automobile.
Further, electric automobile gets into when among the automobile drive assembly line, electric automobile passes through first drive assembly worker group and second drive assembly worker group in proper order, and wherein, first drive assembly worker group includes: the method comprises the following steps of vehicle door disassembly, harness assembly including a CAN bus, motor assembly, rear axle assembly, front axle assembly including EPS, battery assembly including BMS, wheel assembly and liquid filling; wherein, each procedure in the first drive assembly procedure group has no fixed arrangement sequence; the second drive assembly process group includes: assembling a vehicle-mounted controller, writing a vehicle-mounted controller program and detecting and calibrating the vehicle-mounted controller; when the electric automobile enters the second driving assembly process group, the assembly personnel can assemble the automobile in sequence according to the process sequence in the second driving assembly process group.
Further, the process in the self-walking assembly line comprises a first self-walking assembly process group and a second self-walking assembly process group, wherein the first self-walking assembly process group comprises: assembling front and rear windshields, a skylight, a ceiling, a floor, chassis parts, an instrument panel, a central armrest, a seat, a front bumper, a rear bumper, a lamp and a vehicle door; wherein, each procedure in the first self-walking assembly procedure group has no fixed arrangement sequence; the second self-walking assembly process group includes: assembly detection, disassembly of a vehicle-mounted controller and inspection and calibration of the electric automobile; when electric automobile got into the second from walking assembly worker group, the assembly personnel can assemble the car according to the process order in the second drive assembly worker group in proper order.
Compared with the prior art, the invention has the advantages that the method for self-walking assembly of the finished vehicle by the electric vehicle is designed by utilizing the change of the driving principle of the electric vehicle caused by the change of energy storage, power output and control modes, the driving part is pre-assembled on the electric vehicle, the electric automobile can be driven to self-walk into a line, so that most stations in the assembly process are separated from the constraints of conveying equipment such as a slide plate line, a plate chain line and the like, the production of multi-variety and large-batch assembly of the stations is realized, meanwhile, the method also effectively shortens the period of production line joint adjustment to reach the production, reduces the workload of product iteration, model change and production line modification, has good flexibility of the process flow, and further, because the method is not restricted by a production line, the method can support unbalanced production and is easier to realize flexible production of personalized customization.
Furthermore, the invention makes the whole vehicle assembly mode of the electric vehicle overturn the traditional whole vehicle assembly mode of the electric vehicle, eliminates the slide plate and plate chain type conveying equipment which most parts depend on in the assembly process, and reduces the equipment investment and the civil engineering and public power cost; the number of the on-site assembly stations can be flexibly arranged and adjusted according to the requirements of unbalanced production, so that the production cost can be greatly reduced; and the flexible production of personalized customization except for the driving part can be realized, namely the switching between large-batch production line assembly and small-batch island assembly.
Drawings
FIG. 1 is a flow chart of a method for self-walking assembly of a finished vehicle by an electric vehicle according to the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through the communication between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a block diagram illustrating a flow chart of a method for assembling a finished product vehicle by an electric vehicle according to the present invention. The self-walking finished product assembling method for the electric automobile comprises the following steps:
step 1: after the painted automobile body enters a general assembly workshop, the automobile body firstly enters an automobile drive assembly line (ADL line) to assemble drive parts in the electric automobile;
step 2: after the drive component is assembled, an assembling person installs the detachable Vehicle-mounted controller on the electric automobile, detects and calibrates the electric automobile after the installation is completed, and after the inspection is completed, the Vehicle-mounted controller controls the electric automobile to move to a Self-walking Assembly line (SAV line);
and step 3: when the electric automobile enters the self-walking assembly line, the vehicle-mounted controller controls the electric automobile to sequentially move to each assembly procedure in the self-walking assembly line, and an assembler at the corresponding assembly procedure operates the corresponding instrument to assemble the electric automobile;
and 4, step 4: after assembly, an assembler detaches the vehicle controller, writes a control program into the VCU, calibrates the electric vehicle, uploads the advancing record and the assembly information of the electric vehicle to the production management system, and performs subsequent performance detection, rain test detection, final detection and road test on the electric vehicle.
Specifically, a travel route protocol is preset in the vehicle-mounted controller, and the travel route protocol includes a preset travel protocol matrix group a (Ta0, Tb0, D0, V0), where Ta0 is a preset travel time matrix, Tb0 is a preset stay time matrix, D0 is a preset trigger distance matrix, and V0 is a preset speed matrix;
for a preset travel time matrix Ta0, Ta0(Ta1, Ta2, Ta3.. Tan), wherein Ta1 is a first preset travel time required for the electric vehicle to travel from the entrance of the self-walking assembly line to the first process, Ta2 is a second preset travel time required for the electric vehicle to travel from the first process to the second process, Ta3 is a third preset travel time required for the electric vehicle to travel from the second process to the third process, and Tan is an nth preset travel time required for the electric vehicle to travel from the n-1 process to the nth process;
for the retention time matrix Tb0, Tb0(Tb1, Tb2, tb3.. Tbn), where Tb1 is the time that the electric vehicle stays in the first process, Tb2 is the time that the electric vehicle stays in the second process, Tb3 is the time that the electric vehicle stays in the third process, and Tbn is the time that the electric vehicle stays in the nth process;
for the preset trigger distance matrix D0, D0(D1, D2, D3, D4), where D1 is a first preset distance between the electric vehicle and the first steering indicator, D2 is a second preset distance between the electric vehicle and the second steering indicator, D3 is a third preset distance between the electric vehicle and the third steering indicator, and D4 is a fourth preset distance between the electric vehicle and the fourth steering indicator;
for the preset speed matrix V0, V0(V1, V2, V3... Vn), where V1 is a first preset speed required for the electric vehicle to travel from the entrance of the self-walking assembly line to the first process, V2 is a second preset speed required for the electric vehicle to travel from the first process to the second process, V3 is a third preset speed required for the electric vehicle to travel from the second process to the third process, and Vn is an nth preset speed required for the electric vehicle to travel from the n-1 process to the nth process.
Specifically, a timer used for respectively recording single traveling time Ta and single staying time Tb of the electric automobile, a speed detector used for detecting traveling speed V of the electric automobile, a trigger distance detector used for detecting a linear distance D between the electric automobile and a steering identifier and an identifier detector used for detecting and identifying the steering identifier are arranged in the vehicle-mounted controller;
when the electric automobile travels from the self-walking assembly line inlet to the first procedure and a steering identification is not detected by an identification detector, an on-board controller establishes a first travel matrix A1(Ta1, Tb1 and V1) according to the A matrix group; when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the traveling time Ta of the electric automobile, and the speed detector detects the traveling speed V of the electric automobile in real time; in the process of traveling, the vehicle-mounted controller compares the speed value V detected by the speed detector with a first preset speed V1 in real time:
when V is less than V1, the vehicle-mounted controller controls the electric vehicle to increase the moving speed V to perform accelerated motion;
when V is V1, the vehicle-mounted controller controls the electric vehicle to keep moving at a constant speed;
when V is larger than V1, the vehicle-mounted controller controls the electric vehicle to reduce the moving speed V so as to perform deceleration movement;
when the traveling time Ta of the electric automobile recorded by the timer is Ta1, the vehicle-mounted controller brakes the electric automobile to enable the electric automobile to stop at the designated position in the first process, when the moving speed V of the electric automobile is 0, the timer starts to time to record the stopping time Tb of the electric automobile, an assembler controls the assembling apparatus in the first process to assemble the electric automobile, and when Tb1, the vehicle-mounted controller controls the electric automobile to start;
when the electric automobile travels from the n-1 procedure to the n procedure and the steering identification is not detected by the identification detector, the vehicle-mounted controller establishes An n travel matrix An (Tan, Tbn, Vn) according to the A matrix group; when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the traveling time Ta of the electric automobile, and the speed detector detects the traveling speed V of the electric automobile in real time; in the process of advancing, the vehicle-mounted controller can compare the speed value V detected by the speed detector with the nth preset speed Vn in real time:
when V is less than Vn, the vehicle-mounted controller controls the electric vehicle to increase the moving speed V so as to accelerate;
when V is Vn, the vehicle-mounted controller controls the electric vehicle to keep moving at a constant speed;
when V is larger than Vn, the vehicle-mounted controller controls the electric vehicle to reduce the moving speed V so as to perform deceleration movement;
when the travel time Ta of the electric automobile recorded by the timer is equal to Tan, the vehicle-mounted controller brakes the electric automobile to enable the electric automobile to stop at the designated position in the nth process, when the moving speed V of the electric automobile is equal to 0, the timer starts to time to record the stop time Tb of the electric automobile, an assembling worker controls an assembling device in the nth process to assemble the electric automobile, and when Tb is equal to Tbn, the vehicle-mounted controller controls the electric automobile to start.
Specifically, a preset steering protocol matrix Z (Z1, Z2, Z3, Z4) is further provided in the vehicle-mounted controller, wherein Z1 is a first preset steering protocol program for a first steering indicator, Z2 is a second preset steering protocol program for a second steering indicator, Z3 is a third preset steering protocol program for a third steering indicator, and Z4 is a fourth preset steering protocol program for a fourth steering indicator;
when the electric automobile moves from the self-walking assembly line inlet to the first process and the identification detector detects a steering identification, the identification detector identifies the steering identification, a corresponding preset trigger distance is selected according to the steering identification, when the identification detector detects the ith steering identification, i is 1, 2, 3 and 4, the vehicle-mounted controller establishes a first moving matrix A1(Ta1, Tb1, Di and V1) according to the matrix A group, when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the moving time Ta of the electric automobile, and the distance detector detects the linear distance D between the electric automobile and the steering identification in real time; the vehicle-mounted controller compares the detection distance D with the ith preset distance Di:
when D is larger than Di, the vehicle-mounted controller controls the electric automobile to move forwards at a constant speed of V1;
when D is equal to Di, the vehicle-mounted controller suspends the recording of the traveling time Ta of the electric automobile, meanwhile, the vehicle-mounted controller selects a corresponding ith preset steering protocol program Zi from the Z matrix according to Di, controls the electric automobile to steer according to Zi, when the electric automobile is steered, the vehicle-mounted controller continues to record the traveling time Ta of the electric automobile, and the identification detector detects and identifies the steering identification on the traveling route of the electric automobile again.
When the electric automobile moves from the n-1 procedure to the n procedure and the identification detector detects a steering identification, the identification detector identifies the steering identification and selects a corresponding preset trigger distance according to the steering identification, when the identification detector detects the ith steering identification, the vehicle-mounted controller establishes An n-th moving matrix An (Tan, Tbn, Di, Vn) according to the matrix group A, when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the moving time Ta of the electric automobile, and the distance detector detects the linear distance D between the electric automobile and the steering identification in real time; the vehicle-mounted controller compares the detection distance D with the ith preset distance Di:
when D is larger than Di, the vehicle-mounted controller controls the electric automobile to move forward at a constant speed of Vn;
when D is equal to Di, the vehicle-mounted controller suspends the recording of the traveling time Ta of the electric automobile, meanwhile, the vehicle-mounted controller selects a corresponding ith preset steering protocol program Zi from the Z matrix according to Di, controls the electric automobile to steer according to Zi, when the electric automobile is steered, the vehicle-mounted controller continues to record the traveling time Ta of the electric automobile, and the identification detector detects and identifies the steering identification on the traveling route of the electric automobile again.
Specifically, the first steering identification is an identification for turning left by 90 degrees, the second steering identification is an identification for turning left by 180 degrees, the third steering identification is an identification for turning right by 90 degrees, and the fourth steering identification is an identification for turning right by 180 degrees.
Specifically, each electric automobile is further provided with an obstacle avoidance sensor for detecting an obstacle in front of the electric automobile, and the vehicle-mounted controller is internally provided with a preset obstacle avoidance distance L0; at electric automobile marching in-process, keep away the barrier detector and can carry out real-time detection to the road surface in electric automobile the place ahead, when the barrier appears on electric automobile advancing route, keep away the distance L between barrier detector and the electric automobile can real-time detection barrier and the electric automobile, on-vehicle controller compares L and preset distance L0:
when L is larger than L0, the vehicle-mounted controller controls the electric vehicle to travel at the preset speed;
and when the L is less than or equal to L0, the vehicle-mounted controller records the current advancing parameters of the electric automobile and brakes the electric automobile, and when the barrier is cleared, the vehicle-mounted controller continues to advance according to the previous record.
Specifically, each electric automobile is provided with an emergency stop button, and when an emergency occurs in an assembly line, an assembler presses the emergency stop button to complete emergency braking of the electric automobile.
Specifically speaking, electric automobile gets into during in the automobile drive assembly line, electric automobile passes through first drive assembly worker group and second drive assembly worker group in proper order, and wherein, first drive assembly worker group includes: the method comprises the following steps of vehicle door disassembly, harness assembly including a CAN bus, motor assembly, rear axle assembly, front axle assembly including EPS, battery assembly including BMS, wheel assembly and liquid filling; wherein, each process in the first drive assembly process group has no fixed arrangement sequence. The second drive assembly process group includes: assembling a vehicle-mounted controller, writing a vehicle-mounted controller program and detecting and calibrating the vehicle-mounted controller; when the electric automobile enters the second driving assembly process group, the assembly personnel can assemble the automobile in sequence according to the process sequence in the second driving assembly process group.
Specifically, the process in the self-walking assembly line includes a first self-walking assembly process group and a second self-walking assembly process group, wherein the first self-walking assembly process group includes: assembling front and rear windshields, a skylight, a ceiling, a floor, chassis parts, an instrument panel, a central armrest, a seat, a front bumper, a rear bumper, a lamp and a vehicle door; wherein, each procedure in the first self-walking assembly procedure group has no fixed arrangement sequence; the second self-walking assembly process group includes: assembly detection, disassembly of a vehicle-mounted controller and inspection and calibration of the electric automobile; when electric automobile got into the second from walking assembly worker group, the assembly personnel can assemble the car according to the process order in the second drive assembly worker group in proper order.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A self-walking finished product assembling method for an electric automobile is characterized by comprising the following steps:
step 1: after the painted automobile body enters a final assembly workshop, the automobile body firstly enters an automobile driving assembly line to assemble driving parts in the electric automobile;
step 2: after the driving part is assembled, an assembling worker installs the detachable vehicle-mounted controller on the electric automobile, detects and calibrates the electric automobile after the installation is finished, and after the inspection is finished, the vehicle-mounted controller controls the electric automobile to move to a self-walking assembly line;
and step 3: when the electric automobile enters the self-walking assembly line, the vehicle-mounted controller controls the electric automobile to sequentially move to each assembly procedure in the self-walking assembly line, and an assembler at the corresponding assembly procedure operates the corresponding instrument to assemble parts of the electric automobile;
and 4, step 4: after assembly, an assembler detaches the vehicle controller, writes a control program into the VCU, calibrates the electric vehicle, uploads the advancing record and the assembly information of the electric vehicle to the production management system, and performs subsequent performance detection, rain test detection, final detection and road test on the electric vehicle.
2. The method for self-walking assembly of finished electric vehicles of claim 1, wherein the vehicle-mounted controller is preset with a travel route protocol, and the travel route protocol comprises a preset travel protocol matrix group a (Ta0, Tb0, D0, V0), wherein Ta0 is a preset travel time matrix, Tb0 is a preset stay time matrix, D0 is a preset trigger distance matrix, and V0 is a preset speed matrix;
for a preset travel time matrix Ta0, Ta0(Ta1, Ta2, Ta3.. Tan), wherein Ta1 is a first preset travel time required for the electric vehicle to travel from the entrance of the self-walking assembly line to the first process, Ta2 is a second preset travel time required for the electric vehicle to travel from the first process to the second process, Ta3 is a third preset travel time required for the electric vehicle to travel from the second process to the third process, and Tan is an nth preset travel time required for the electric vehicle to travel from the n-1 process to the nth process;
for the retention time matrix Tb0, Tb0(Tb1, Tb2, tb3.. Tbn), where Tb1 is the time that the electric vehicle stays in the first process, Tb2 is the time that the electric vehicle stays in the second process, Tb3 is the time that the electric vehicle stays in the third process, and Tbn is the time that the electric vehicle stays in the nth process;
for the preset trigger distance matrix D0, D0(D1, D2, D3, D4), where D1 is a first preset distance between the electric vehicle and the first steering indicator, D2 is a second preset distance between the electric vehicle and the second steering indicator, D3 is a third preset distance between the electric vehicle and the third steering indicator, and D4 is a fourth preset distance between the electric vehicle and the fourth steering indicator;
for the preset speed matrix V0, V0(V1, V2, V3... Vn), where V1 is a first preset speed required for the electric vehicle to travel from the entrance of the self-walking assembly line to the first process, V2 is a second preset speed required for the electric vehicle to travel from the first process to the second process, V3 is a third preset speed required for the electric vehicle to travel from the second process to the third process, and Vn is an nth preset speed required for the electric vehicle to travel from the n-1 process to the nth process.
3. The self-walking finished product vehicle assembling method for the electric vehicle as claimed in claim 2, wherein the vehicle-mounted controller is provided with a timer for respectively recording single traveling time Ta and single staying time Tb of the electric vehicle, a speed detector for detecting traveling speed V of the electric vehicle, a trigger distance detector for detecting a linear distance D between the electric vehicle and a steering mark, and a mark detector for detecting and identifying the steering mark;
when the electric automobile travels from the self-walking assembly line inlet to the first procedure and a steering identification is not detected by an identification detector, an on-board controller establishes a first travel matrix A1(Ta1, Tb1 and V1) according to the A matrix group; when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the traveling time Ta of the electric automobile, and the speed detector detects the traveling speed V of the electric automobile in real time; in the process of traveling, the vehicle-mounted controller compares the speed value V detected by the speed detector with a first preset speed V1 in real time:
when V is less than V1, the vehicle-mounted controller controls the electric vehicle to increase the moving speed V to perform accelerated motion;
when V is V1, the vehicle-mounted controller controls the electric vehicle to keep moving at a constant speed;
when V is larger than V1, the vehicle-mounted controller controls the electric vehicle to reduce the moving speed V so as to perform deceleration movement;
when the traveling time Ta of the electric automobile recorded by the timer is Ta1, the vehicle-mounted controller brakes the electric automobile to enable the electric automobile to stop at the designated position in the first process, when the moving speed V of the electric automobile is 0, the timer starts to time to record the stopping time Tb of the electric automobile, an assembler controls the assembling apparatus in the first process to assemble the electric automobile, and when Tb1, the vehicle-mounted controller controls the electric automobile to start;
when the electric automobile travels from the n-1 procedure to the n procedure and the steering identification is not detected by the identification detector, the vehicle-mounted controller establishes An n travel matrix An (Tan, Tbn, Vn) according to the A matrix group; when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the traveling time Ta of the electric automobile, and the speed detector detects the traveling speed V of the electric automobile in real time; in the process of advancing, the vehicle-mounted controller can compare the speed value V detected by the speed detector with the nth preset speed Vn in real time:
when V is less than Vn, the vehicle-mounted controller controls the electric vehicle to increase the moving speed V so as to accelerate;
when V is Vn, the vehicle-mounted controller controls the electric vehicle to keep moving at a constant speed;
when V is larger than Vn, the vehicle-mounted controller controls the electric vehicle to reduce the moving speed V so as to perform deceleration movement;
when the travel time Ta of the electric automobile recorded by the timer is equal to Tan, the vehicle-mounted controller brakes the electric automobile to enable the electric automobile to stop at the designated position in the nth process, when the moving speed V of the electric automobile is equal to 0, the timer starts to time to record the stop time Tb of the electric automobile, an assembling worker controls an assembling device in the nth process to assemble the electric automobile, and when Tb is equal to Tbn, the vehicle-mounted controller controls the electric automobile to start.
4. The method for assembling the finished electric vehicle by self-walking of the electric vehicle as claimed in claim 3, wherein a preset steering protocol matrix Z (Z1, Z2, Z3, Z4) is further provided in the vehicle-mounted controller, wherein Z1 is a first preset steering protocol program for a first steering indicator, Z2 is a second preset steering protocol program for a second steering indicator, Z3 is a third preset steering protocol program for a third steering indicator, and Z4 is a fourth preset steering protocol program for a fourth steering indicator;
when the electric automobile moves from the self-walking assembly line inlet to the first process and the identification detector detects a steering identification, the identification detector identifies the steering identification, a corresponding preset trigger distance is selected according to the steering identification, when the identification detector detects the ith steering identification, i is 1, 2, 3 and 4, the vehicle-mounted controller establishes a first moving matrix A1(Ta1, Tb1, Di and V1) according to the matrix A group, when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the moving time Ta of the electric automobile, and the distance detector detects the linear distance D between the electric automobile and the steering identification in real time; the vehicle-mounted controller compares the detection distance D with the ith preset distance Di:
when D is larger than Di, the vehicle-mounted controller controls the electric automobile to move forwards at a constant speed of V1;
when D is equal to Di, the vehicle-mounted controller suspends the recording of the traveling time Ta of the electric automobile, meanwhile, the vehicle-mounted controller selects a corresponding ith preset steering protocol program Zi from the Z matrix according to Di, controls the electric automobile to steer according to Zi, when the electric automobile is steered, the vehicle-mounted controller continues to record the traveling time Ta of the electric automobile, and the identification detector detects and identifies the steering identification on the traveling route of the electric automobile again.
When the electric automobile moves from the n-1 procedure to the n procedure and the identification detector detects a steering identification, the identification detector identifies the steering identification and selects a corresponding preset trigger distance according to the steering identification, when the identification detector detects the ith steering identification, the vehicle-mounted controller establishes An n-th moving matrix An (Tan, Tbn, Di, Vn) according to the matrix group A, when the vehicle-mounted controller controls the electric automobile to start moving, the timer records the moving time Ta of the electric automobile, and the distance detector detects the linear distance D between the electric automobile and the steering identification in real time; the vehicle-mounted controller compares the detection distance D with the ith preset distance Di:
when D is larger than Di, the vehicle-mounted controller controls the electric automobile to move forward at a constant speed of Vn;
when D is equal to Di, the vehicle-mounted controller suspends the recording of the traveling time Ta of the electric automobile, meanwhile, the vehicle-mounted controller selects a corresponding ith preset steering protocol program Zi from the Z matrix according to Di, controls the electric automobile to steer according to Zi, when the electric automobile is steered, the vehicle-mounted controller continues to record the traveling time Ta of the electric automobile, and the identification detector detects and identifies the steering identification on the traveling route of the electric automobile again.
5. The method for self-walking assembly of finished electric vehicles according to claim 2, wherein the first turning indicator is a 90 ° turn left indicator, the second turning indicator is a 180 ° turn left indicator, the third turning indicator is a 90 ° turn right indicator, and the fourth turning indicator is a 180 ° turn right indicator.
6. The method for self-walking assembly of finished products of electric vehicles according to claim 1, wherein each electric vehicle is further provided with an obstacle avoidance sensor for detecting obstacles in front of the electric vehicle, and the vehicle-mounted controller is internally provided with a preset obstacle avoidance distance L0; at electric automobile marching in-process, keep away the barrier detector and can carry out real-time detection to the road surface in electric automobile the place ahead, when the barrier appears on electric automobile advancing route, keep away the distance L between barrier detector and the electric automobile can real-time detection barrier and the electric automobile, on-vehicle controller compares L and preset distance L0:
when L is larger than L0, the vehicle-mounted controller controls the electric vehicle to travel at the preset speed;
and when the L is less than or equal to L0, the vehicle-mounted controller records the current advancing parameters of the electric automobile and brakes the electric automobile, and when the barrier is cleared, the vehicle-mounted controller continues to advance according to the previous record.
7. The method of self-propelled assembly of finished vehicles by electric vehicles of claim 1, wherein each of the electric vehicles is provided with an emergency stop button, and wherein an assembler completes emergency braking of the electric vehicle by pressing the emergency stop button when an emergency occurs in the assembly line.
8. The method for self-walking assembly of a finished vehicle by an electric vehicle as claimed in claim 1, wherein the electric vehicle sequentially passes through a first driving assembly process group and a second driving assembly process group when the electric vehicle enters the vehicle driving assembly line, wherein the first driving assembly process group comprises: the method comprises the following steps of vehicle door disassembly, harness assembly including a CAN bus, motor assembly, rear axle assembly, front axle assembly including EPS, battery assembly including BMS, wheel assembly and liquid filling; wherein, each procedure in the first drive assembly procedure group has no fixed arrangement sequence; the second drive assembly process group includes: assembling a vehicle-mounted controller, writing a vehicle-mounted controller program and detecting and calibrating the vehicle-mounted controller; when the electric automobile enters the second driving assembly process group, the assembly personnel can assemble the automobile in sequence according to the process sequence in the second driving assembly process group.
9. The method for self-walking assembly of finished product vehicle of electric vehicle as claimed in claim 1, wherein the processes in the self-walking assembly line comprise a first self-walking assembly process group and a second self-walking assembly process group, wherein the first self-walking assembly process group comprises: assembling front and rear windshields, a skylight, a ceiling, a floor, chassis parts, an instrument panel, a central armrest, a seat, a front bumper, a rear bumper, a lamp and a vehicle door; wherein, each procedure in the first self-walking assembly procedure group has no fixed arrangement sequence; the second self-walking assembly process group includes: assembly detection, disassembly of a vehicle-mounted controller and inspection and calibration of the electric automobile; when electric automobile got into the second from walking assembly worker group, the assembly personnel can assemble the car according to the process order in the second drive assembly worker group in proper order.
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| CN202010597046.1A CN111746685B (en) | 2020-06-28 | 2020-06-28 | Method for self-walking assembly of finished product vehicle for electric vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115343289A (en) * | 2022-07-18 | 2022-11-15 | 中国第一汽车股份有限公司 | Automatic scratch detection system and method for whole automobile assembly pit package |
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| US4937929A (en) * | 1986-09-25 | 1990-07-03 | Honda Giken Kogyo Kabushiki Kaisha | Method and apparatus for transporting vehicle bodies, and vehicle assembling system |
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| JP2001347943A (en) * | 2000-06-08 | 2001-12-18 | Suzuka Fuji Xerox Co Ltd | Assembling line, carrier car for component, and control method for self-traveling carrier car |
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| CN115343289A (en) * | 2022-07-18 | 2022-11-15 | 中国第一汽车股份有限公司 | Automatic scratch detection system and method for whole automobile assembly pit package |
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