CN1125674A - Automation device for vehicle main assembly line - Google Patents
Automation device for vehicle main assembly line Download PDFInfo
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- CN1125674A CN1125674A CN 94112733 CN94112733A CN1125674A CN 1125674 A CN1125674 A CN 1125674A CN 94112733 CN94112733 CN 94112733 CN 94112733 A CN94112733 A CN 94112733A CN 1125674 A CN1125674 A CN 1125674A
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Abstract
The automatized apparatus is mainly composed of mechanical body, hydraulic drive system and electric control system and features that said mechanical body has such 4 freedoms in rectangular coordinate system that arm moving horizontally (X axle), arm extending (Y axle), arm lifting (Z axle) and carriage lifting (H axle), all of which are driven hydraulically and controlled by programmable controller. It features continuous dynamic operation, high precision and small floor area.
Description
The present invention relates to the auto assembly line, a kind of automation device for vehicle main assembly line is provided especially.
The automobile rotationally hanging device is a requisite visual plant on the car production general assembly line.The employing that past home and abroad car body turns linked to is manually lifted by crane car body and is turned linked to (the Jetta car as the Changchun motor plant turns linked to); It is to adopt continuously that fixed point turns linked to (more representational is the Toyota Motor originating firm) that the interrupted fixed point of the employing that has turns linked to (the domestic more advanced representative loose distant motor plant that is) state-of-the-art.Interrupted fixed point turns linked to mode: when car body runs to a fixed position with the plate chain, and plate chain and stretched wire stop motion.Rotationally hanging device is raised to certain altitude with holding up on the car body slave plate chain at this moment, car body is turned linked to on the suspender that stops at the fixed position go.Plate chain and stretched wire continue beginning again with a certain speed operation then.Fixed point turns linked to mode continuously: when car body turned linked to, plate chain and stretched wire were still with the same habitually in the past speed operation.Its method is can move fast with one section transition chain (about 20～30 meters) this section transition chain is set in plate chain and stretched wire.Rotationally hanging device turns linked on this transition chain.When car body moved on the transition chain with the plate chain, the transition chain was transported to car body on the desired fixed position of rotationally hanging device apace, and the transition chain is out of service, and rotationally hanging device holds up and rise to certain altitude with car body from the fixed position of transition chain.Car body is turned linked on the stretched wire transition chain that stops.Stretched wire transition chain begins the at high speed operation then, and the stretched wire that car body is transported to operation as usual gets on.The continuous fixed point of finishing car body turns linked to.It is low that interrupted fixed point turns linked to production efficiency, plate chain and stretched wire frequent starting, stops, and fragile equipment reduces equipment life, and it is not high to turn linked to precision.Though fixed point turns linked to than higher production efficiency continuously, by what the middle transition chain is set, and has widened the factory building usable floor area, has strengthened equipment investment.
The object of the present invention is to provide a kind of production efficiency height, turn linked to the precision height, improve loading siding service life, equipment investment is few, the car body rotationally hanging device that degree of automation is high.
The invention provides a kind of automation device for vehicle main assembly line, mainly by basic machine, fluid power system, electric-control system is formed, and it is characterized in that: this device for mechanical body is a Cartesian coordinate type, has arm translation (X-axis), arm stretches (Y-axis), arm lifting (Z axle), carriage 4 degree of freedom such as (H axles) that rise and fall, and each degree of freedom is by hydraulic-driven, by Controlled by Programmable Controller, realize dynamically turning linked to continuously of car body; Wherein
Basic machine is made up of Rack Body, transverse arm, lifting arm, telescopic boom, 5 parts of carriage; Arm translation (X-axis), transverse arm top is tiltedly to take turns for flat wheel, bottom, and tiltedly the gradient of wheel is consistent with force direction, and transverse arm translation guide rail is installed on the frame, adopts bolt detachably to connect, and lower guideway is a cylindrical guide; Flexible two degree of freedom of (Y-axis) and arm lifting (Z axle) of arm all adopt flat wheel and channel-section steel guide rail; Carriage (H axle) adopts scissors link side mechanism, and preceding stand-off has the inclined-plane location structure, and back stand-off is roller type location structure A.
Hydraulic efficiency pressure system all adopts reciprocating oil cylinder to drive to 4 degree of freedom of basic machine; Arm stretches (Y-axis) and carriage rises and falls, and (H axle) is electromagnetic valve-cylinder system, adopts the oil return line throttling governing, switching value control; Arm translation (X-axis) and arm lifting (Z axle) are electro-hydraulic seryo system, are controlled by analog quantity.
Electric-control system is a core with Programmable Logic Controller SYSMACC40-P and expanding element C40PI/OUNIT thereof, comprises interface board, D/A plate, manual control box Hall element, infrared pickoff and travel switch; Interface circuit comprises code-disc, input interface circuit (2 tunnel), on-off signal interface circuit (4 tunnel), servo-drive circuit (2 tunnel), switch interface circuit (13 tunnel), infrared pickoff interface circuit (5 tunnel).
This device has the various functions that realize that car body dynamically turns linked to.Have automatic and manual two kinds of modes.Under automatic control mode, can detect the rate of following of the X-axis of the running velocity of main line and this device automatically;
By the infrared pickoff signal, can be automatically to the plate chain movement apart from counting, determine the Y-axis arm and stretch out time and arm rise time, and H shaft tray rise time, will hold up on the car body slave plate chain like clockwork;
By a pair of infrared pickoff signal, write down the relative position of stretched wire automatically, determine carriage lowering time and X-axis tracking time automatically.Make of the motion of this device by suspender on the required velocity tracking stretched wire;
By a pair of reflection infrared sensor signal, determine to put the car time, car body is placed on the stretched wire suspender holder point that moves with certain speed exactly.
By embodiment in detail the present invention is described in detail below in conjunction with accompanying drawing
Accompanying drawing 1 turns linked to the automated installation system chart for car body;
Accompanying drawing 2 turns linked to automated installation mechanics front view for car body;
Accompanying drawing 3 turns linked to automated installation mechanics birds-eye view for car body;
Accompanying drawing 4 turns linked to automated installation mechanics hydraulic system principle figure for car body;
Accompanying drawing 5 turns linked to automated installation mechanics electrical control system structure figure for car body;
Accompanying drawing 6 is near switching value input circuit figure;
Accompanying drawing 7 is infrared pickoff signal input circuit figure;
Accompanying drawing 8,9 is manual control capsule circuit diagram;
Accompanying drawing 10 is code-disc amount input circuit figure;
Accompanying drawing 11 is switching value input circuit figure;
Accompanying drawing 12 is driving circuit of servo valve figure;
Accompanying drawing 13 is solenoid-driven and interlocking signal;
Accompanying drawing 14 turns linked to the automated installation working plan for car body;
Accompanying drawing 15 is a flow chart;
Accompanying drawing 17 is the carrier structure birds-eye view.
Among the figure: 1. frame; 2. transverse arm is flat takes turns; 3.Z shafting oil cylinder; 4. transversum; 5. transverse arm is tiltedly taken turns; 6. lifting arm; 7. carriage; 8. telescopic boom; 9.Y shafting oil cylinder; 10.X shafting oil cylinder; 71. square frame on the carriage; 72. square frame under the carriage; 73. stand-off detent mechanism before the carriage; 74. carriage shear coupking shaft; 75. carriage shear; 76.H shafting oil cylinder; 77. carriage shear wheel; 78. stand-off detent mechanism behind the carriage;
K
1---Y-axis anti-collision warning travel switch;
K
2---H axle limitation travel switch;
K
3, K
4---H axle holder car starts travel switch;
K
X0---the X-axis initial position is near switch;
K
X1---X-axis is followed the tracks of the final position near switch;
K
Xf---X-axis off-limit alarm position is near switch;
K
Yo---the Y-axis initial position is near switch;
K
Yf---the Y-axis final position is near switch;
K
Z0---Z axle initial position is near switch;
K
Z1, K
Z2---Z axle terminal point is spacing near switch;
K
Zf---the off-limit alarm of Z axle terminal point is near switch;
K
H0---H axle initial position is near switch;
K
H1---the H axle raised position first time is near switch;
K
H2---the H axle raised position second time is near switch;
K
Hf---H axle final position is near switch;
J
1---car body position measurement starting point infrared pickoff;
J
2---spreader position is measured the starting point infrared pickoff;
J
3, J
4---car signal infrared pickoff falls;
J
5---car body off-limit alarm infrared pickoff.
Embodiment
As shown in Figure 1, structure of the present invention is by basic machine, hydraulic efficiency pressure system, and electric-control system is formed, and assisting has power supply, water supply system.
Shown in Fig. 2,3:
Mechanical device of the present invention: form by Rack Body, transverse arm, lifting arm, telescopic boom and 5 parts of carriage.Transverse arm mainly detachably connects institute by formed steel construction spare employing bolt and forms.Transverse arm laterally moves along the guide rail on the frame, i.e. arm translation freedoms (X-axis), and two flat wheels are equipped with on transverse arm top, and two tiltedly wheels are equipped with in the bottom.Tiltedly the gradient of wheel is consistent with force direction, and rack-mounted upper and lower two guide rails adopt bolt detachably to connect, and also can adjust the position of guide rail easily, guarantee the levelness and the squareness of guide rail.Upper rail is to be the level gauge of guide pass by the channel-section steel inside face, is contained in the top of Rack Body.Lower guideway is a garden post guide rail, is installed in the middle part of Rack Body.Cylindrical guide and transverse arm tiltedly have bigger area of contact between the wheel, have reduced the compression effort of garden post guide rail with oblique wheel surface.
Telescopic boom mainly adopts the weldering of U-steel framing member dress to form.On two sides about the transverse arm body, 4 flat wheels are housed.Do fore and aft motion along two level gauges that are contained in lifting arm transverse arm body, i.e. the flexible degree of freedom (Y-axis) of arm.Its level gauge that is to say two sides of the lifting arm transverse arm body of being made up of channel-section steel, makees guide pass with the inside face of channel-section steel.
Lifting arm is made up of the straight-arm body on top and the transverse arm body of bottom.Straight-arm body and transverse arm body adopt the dress weldering to form by formed steel construction spare.Two sides of straight-arm body are made by channel-section steel, and the bottom of two sides is formed lifting arm with two block plates that are welded on transverse arm body dual-side middle part with Bolt Connection.4 flat wheels are housed on two sides of lifting arm straight-arm body, move up and down i.e. arm lifting degree of freedom (Z axle) with the guide rail that is contained in two vertical direction on the transverse arm.Its two guide rail that is to say two sides of being made up of channel-section steel of transverse arm.With the channel-section steel inside face is guide pass.
Carriage adopts scissor connecting rod mechanism, sees that accompanying drawing 15 can have less elemental height and realize bigger stroke.Carriage by 4 shears and up and down two square frame bodies formed.In 4 shears, an end of two shears and last square frame are connected with axle, and the other end is equipped with two flat wheels, and flat the wheel moved in two guide rails of lower frame body, and two guide rails of lower frame body promptly are two sides of the lower frame body made with channel-section steel.Two shears are connected with axle with the below framework in addition.The other end is equipped with two flat wheels.Flat wheel moves in two guide rails of upper frame body, and two guide rails of upper frame body promptly are two sides of the upper frame body made with channel-section steel.Lower frame body is fixed by bolts to an end of two sides of telescopic boom, and upper frame body is done the motion of rising and falling of rising and descending, and is the carriage degree of freedom (H axle) that rises and falls.
Rack Body is to be formed by the weldering of formed steel construction spare dress, draws strong its support body rigidity with lacing wire, and the base anchor that four fillet welding of support body have four steel plates to make uses the lower margin screw retention on mattess.
As shown in Figure 4:
Fluid power system of the present invention: adopt closed oil tank, by the thick oil filter of manual controllable capacity pump warp, check valve, smart oil filter is to the hydraulic efficiency pressure system fuel feeding.Each degree of freedom all adopts reciprocating oil cylinder to drive, and arm translation freedoms and arm lifting degree of freedom are electro-hydraulic seryo system, are controlled by analog quantity.In the hydraulic control circuit of arm lifting (Z axle), the double hydraulic control check valve is housed, to prevent servovalve fault or unexpected whereabouts of causing the arm body out of control, on the valve plate of 4 controllers of X-axis and Z axle, 4 plug-in shutoff valves are set, with avoid overhauling and when changing valve the fluid of high-order oil cylinder and pipeline overflow, in the fuel feeding road of X-axis and Z axle, the secondary precision filter is housed, guarantees the degree of settling accounts of fluid.Arm stretches (Y-axis) and carriage rises and falls, and (H axle) is electromagnetic valve-cylinder system, is switching value control, adopts the meter out speed governing.In the hydraulic efficiency pressure system working connection pressure adjustment relief valve is housed.And be provided with by pressure relay control two-position two-way solenoid valve-by pass valve overload protection loop.Between main fuel feeding road and oil return line, be equipped with and unload pressure cutoff valve.In the hydraulic efficiency pressure system oil return line cooling vessel being housed is cooled off by tap water.
As shown in Figure 5:
Electric-control system is to be core with Programmable Logic Controller SYSMACC40-P and expanding element C40PI/OUNIT thereof.Comprise interface board, D/A plate, hand chamber box, Hall element, infrared pickoff and travel switch.Interface circuit comprises: code-disc input interface circuit (2 tunnel), on-off signal interface circuit (4 tunnel) servo-drive circuit (2 tunnel) is near switch interface circuit (13 tunnel) infrared pickoff interface circuit (5 tunnel).
1. Hall element switching value input circuit (see figure 6)
Do position detecting element with Hall element near switch, in X rail Y-axis, the Z axle, the starting point of H axle, Hall element has been installed near switch in terminal point and other appropriate location, has 13 the tunnel altogether, detects the position of each with what.For example Y-axis provides switching value near switch near switch in starting point and two of terminal point installations when Y-axis reaches terminal point, sends into C40P, and C40P makes the Y-axis stop motion, is parked in the final position.When should Y-axis being withdrawn into starting point, also provide switching value near switch, send into C40P, C40P makes Y-axis stop at start position.
The Hall element switching value is also delivered to panel in input C40P, be used to control light-emitting diode.Corresponding Hall element has 13 road indicator lamps near switch one.The bright respective shaft that shows of which lamp is in the position of bright lamp indication.
2. the infrared pickoff signal is imported (see figure 7)
Infrared pickoff one has 5 the tunnel, is used for detecting the tailstock, suspender, suspender holder angle (two tunnel) respectively, and crosses limit and report to the police.
The wherein tailstock, suspender and cross limit and report to the police that what adopt is the transmission-type infrared pickoff, what adopted at the holder angle is reflection infrared sensor.When the tailstock shortly past tailstock infrared pickoff moment, infrared pickoff provides switching value, show that car body arrives, this amount is sent into C40P, as the signal of sending a car, be that the car body position is accurately detected in essence, the infrared pickoff at other position detects spreader position respectively, suspender Tuo Jiao position and car body front position.
These signals are sent into C40P respectively, are used for the control program operation.
3. manual control capsule (see Fig. 8, see Fig. 9)
Manually the control capsule function is
1) manually automaticallyes switch;
2) can provide 5 grades of speed V1, V2 ... V5 goes to control X-axis respectively, the positive negative sense speed of Z axle;
3) can provide Y, H axle, positive negative sense control signal;
Be taken in when providing certain retaining speed at circuit, other grade speed is fallen clearly automatically.
4. the input (see figure 10) of code-disc amount
Two code-discs are arranged, be respectively applied for stretched wire, the plate chain speed of detecting, when fixedly starting point is counted, get final product the detection position, these two code-discs are respectively applied for and test the speed and survey square;
5. on-off signal input (seeing Figure 11)
There are four travel switch K1 K2 K3 and K4 to be loaded on the basic machine;
K1 is used for the anti-collision insurance
K3 K4 is used for the cycling start signal
K2 is used for program and makes zero.
6. servovalve drives (seeing Figure 12)
By C40P output double switch amount, every Lu Bawei as digital quantity output, is used to change X-axis, Z axle servovalve size of current, control X-axis, the speed of Z axle.
The D/A conversion is arranged, driver stage and vibrator on the circuit;
Oscillator is used to eliminate the servovalve dead band.
7. solenoid-driven and interlocking signal (seeing Figure 13)
H axle, Y-axis electromagnetic valve are by C40P mouth direct drive.The rotationally hanging device alerting signal is directly provided by C40P and delivers to master control room.The breakdown signal of main control room is directly delivered to the C40P input end.
Job procedure of the present invention such as Figure 14
Operation is divided into automatically and manual two kinds
1. operation automatically
Under automatic running state, the car body of desiring to turn linked to moves to headstock and blocks J on the plate chain
1Signal begins after 50 seconds (or car body from the rotationally hanging device rotary lifting beginning after 50 seconds), control system automatically to stretched wire motion test the speed, the time of testing the speed is 10 seconds, to determine running velocity grade (0-5 level).When the tailstock passes through J
1, when signal was " 1 ", system began plate chain code-disc is counted automatically, so that determine following three data:
A. hydraulic efficiency pressure system pressurization constant S
n(relevant) with speed
The B.Y axle begins to stretch out constant S
y(irrelevant) with speed
The C.H axle rises constant S for the second time
1(relevant) with speed.
After counting down to Sn, to hydraulic efficiency pressure system pressurization (10MPa), carry out self test the speed (to the X-axis) of device at once, so that determine rate of following.When counting down to SY, Y-axis begins to stretch out.When the telescopic boom of Y-axis reaches terminal point K
YrThe time, the H axle lifts for the first time, and when counting down to S, the carriage of H axle continues to lift so that hold up car body for the second time.When car body rests on the rotationally hanging device fully, be pressed onto travel switch K
1, K
zThe time (K
1, K
2When being " 1 " entirely), Z axle and H axle be upward movement simultaneously, rises to vertex until car body, and this moment, rotationally hanging device was in wait state.Suspender butt foot lever on stretched wire blocks J
2During sensor, system counts the stretched wire code-disc, so that determine following three constants:
The D.H axle drops to K
H1Actuation point S
H1
E.X axle pursuit initial point S ";
F.X axle off-limit alarm point S " ";
When counting down to S
HrIn-time, the H axle drops to K
H1, so that make car body near suspender holder point, the impact when reducing to turn linked to, raising turns linked to precision.When counting down to S " time, X-axis begins to do forward with pursuit movement (kinematic velocity serve as theme kinematic velocity 80%).In tracing process, if J
3Signal is " 1 ", just car body is turned linked on the suspender.After car body was put on the suspender fully, rotationally hanging device automatically reset.Resetting finishes, and hydraulic efficiency pressure system unloads automatically, has finished once to turn linked to operating process, waits for the arrival of next car body.When counting down to S " ", also do not receive J
3Signal, system just provides alerting signal, stops to follow the tracks of.
For device is moved more accurately, device is before each trailer, i.e. the waiting period, X-axis is one section fixed range of no-load run in advance, measures the X-axis kinematic velocity, finds out and give the deviate of given speed, revises zero of servovalve voluntarily and wafts with zero partially.
2. M/C
Under manual state, the operator can move respectively with 4 axles of manual control box direct control rotationally hanging device.
When meeting down " Y+ " continuously when strong, Y-axis is done positive movement, unclamps this key, then stop motion immediately;
When pressing " Y-" continuously when strong, Y-axis is done negative movement, unclamps this key, then stop motion immediately;
When pressing " H+ " key continuously, the H axle is done positive movement, unclamps the then stop motion immediately of this key;
When pressing " H-" key continuously, the H axle is done negative movement, unclamps this key, then stop motion immediately;
Above-mentioned diaxon has only direction by the motion of switching value control electromagnetic valve, does not have size (the kinematic velocity size is by the flow regulating valve adjustment, once having transferred, just no longer changes).
X-axis and Z axle are that existing direction has size again by electricity-hydraulic servo control.Under manual state, be divided into Pyatyi speed.Thereby want to make X-axis and the motion of Z axle, except pressing the directionkeys, also must set speed class (V in advance
1To V
5).V
1To V
5Can only select a speed key in the individual key, if press two speed keys, it is invalid then to select.Effectively the choosing be over a speed class key V1=(1=1,2,3,4,5) afterwards, carry out following operation again:
When pressing " X-" key continuously, X-axis is then done positive movement with V1 speed;
When pressing " X+ " key continuously, X-axis is then done negative movement with V1 speed;
When pressing " Z+ " key continuously, the Z axle is then done positive movement with V1 speed;
When pressing " Z-" key continuously, the Z axle is then done negative movement with V1 speed;
Implement the flow chart of above-mentioned mode of operation and see 15.
In a word, the present invention can realize automatically that the continuous kinetic energy of car body turns linked to, and dynamically turns linked to continuously, promptly be in plate chain and the continuous operational process of stretched wire, automatically rotationally hanging device is by the program that sets, and the holder point position of alignment sheets chain upper body holds up and rise to certain altitude with the plate chain of car body from motion.Stretched wire in the pursuit movement then.With the stand-off of suspender on the aligning of the hoisting point position on the car body stretched wire, accurate sulphur does not inerrably have to impact reposefully car body to be turned linked on the stretched wire and goes.This rotationally hanging device is reasonable in design, and the production efficiency height turns linked to the precision height, turns linked to steadily reliably, and floor area is little, saves the general assembly line investment and can realize continuous automatic production.
Claims (3)
1. automation device for vehicle main assembly line, mainly by basic machine, fluid power system, electric-control system is formed, and it is characterized in that: this device for mechanical body is a Cartesian coordinate type, has arm translation (X-axis), arm stretch (Y-axis), arm lifting (Z axle) carriage 4 degree of freedom such as (H axles) that rise and fall, each degree of freedom is by hydraulic-driven, by Controlled by Programmable Controller; Wherein
Basic machine is flexible by Rack Body, transverse arm lifting, arm, 5 parts of arm carriage are formed; Arm translation (X-axis), transverse arm top is tiltedly to take turns for flat wheel, bottom, and tiltedly the gradient of wheel is consistent with force direction, and transverse arm translation guide rail is installed on the frame, adopts bolt detachably to connect, and lower guideway is a cylindrical guide; Flexible two degree of freedom of (Y-axis) and arm lifting (Z axle) of arm all adopt flat wheel and channel-section steel guide rail; Carriage (H axle) adopts scissor connecting rod mechanism, and preceding stand-off has the inclined-plane location structure, and back stand-off is the roller type location structure;
Hydraulic efficiency pressure system all adopts reciprocating oil cylinder to drive to 4 degree of freedom of basic machine; Arm stretches (Y-axis) and carriage rises and falls, and (H axle) is electromagnetic valve-cylinder system, adopts the oil return line throttling governing, switching value control, and arm translation (X-axis) and arm lifting (Z axle) they are electro-hydraulic seryo system, are controlled by analog quantity;
Electric-control system is a core with Programmable Logic Controller SYSMACC40-P and expanding element C40PI/OUNIT thereof, comprises interface board, D/A plate, manual control box, Hall element, infrared pickoff and travel switch; Interface circuit comprises code-disc input interface circuit (2 tunnel), on-off signal interface circuit (4 tunnel), servo-drive circuit (2 tunnel), near switch interface circuit (13 tunnel), infrared pickoff interface circuit (5 tunnel), have automatically and manual two kinds of modes, under automatic control mode, can detect the rate of following of the X-axis of the running velocity of main line and this device automatically;
By the infrared pickoff signal, can be automatically to the plate chain movement apart from counting, determine the X-axis arm and stretch out time and arm rise time, and H shaft tray rise time, will hold up on the car body slave plate chain like clockwork;
By a pair of infrared pickoff signal, write down the relative position of stretched wire automatically, determine to reach together when carriage falls the X-axis tracking time automatically.Make of the motion of this device by suspender on the required velocity tracking stretched wire;
By a pair of reflection infrared sensor signal, determine to put the car time, car body is placed on the stretched wire suspender holder point that moves with certain speed exactly.
2. by the described automation device for vehicle main assembly line of claim 1, it is characterized in that: in the hydraulic control circuit of arm lifting (Z axle), the double hydraulic control check valve is housed, on the valve plate of 4 controls of X-axis and Z axle mouthful, 4 plug-in shutoff valves is set.
3. according to the described automation device for vehicle main assembly line of claim 1, it is characterized in that: the waiting period that device before each trailer being, X-axis is one section fixed range of no-load run in advance, measure the X-axis kinematic velocity, find out predetermined velocity deviation value, revise zero of servovalve voluntarily and waft with zero partially.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94112733 CN1125674A (en) | 1994-12-28 | 1994-12-28 | Automation device for vehicle main assembly line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 94112733 CN1125674A (en) | 1994-12-28 | 1994-12-28 | Automation device for vehicle main assembly line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1125674A true CN1125674A (en) | 1996-07-03 |
Family
ID=5036402
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 94112733 Pending CN1125674A (en) | 1994-12-28 | 1994-12-28 | Automation device for vehicle main assembly line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1125674A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100469518C (en) * | 2004-02-12 | 2009-03-18 | 本田技研工业株式会社 | Component positioning method and device thereof |
| CN101850325A (en) * | 2010-06-01 | 2010-10-06 | 东莞丰卓机电设备有限公司 | Rotationally hanging device for small spraying equipment |
| CN102261240A (en) * | 2010-08-23 | 2011-11-30 | 鞍钢集团矿业公司 | Device and method for accurately monitoring drilling depth of rotary drill |
| CN103551830A (en) * | 2013-09-29 | 2014-02-05 | 韦文新 | Full-automatic offline framing system for side walls |
| US11797950B2 (en) * | 2018-08-27 | 2023-10-24 | Basf Corporation | Method and system to digitally track and monitor an automotive refinish repair process |
-
1994
- 1994-12-28 CN CN 94112733 patent/CN1125674A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100469518C (en) * | 2004-02-12 | 2009-03-18 | 本田技研工业株式会社 | Component positioning method and device thereof |
| CN101850325A (en) * | 2010-06-01 | 2010-10-06 | 东莞丰卓机电设备有限公司 | Rotationally hanging device for small spraying equipment |
| CN101850325B (en) * | 2010-06-01 | 2012-04-18 | 东莞丰卓机电设备有限公司 | Rotating and hanging device of small piece spraying equipment |
| CN102261240A (en) * | 2010-08-23 | 2011-11-30 | 鞍钢集团矿业公司 | Device and method for accurately monitoring drilling depth of rotary drill |
| CN102261240B (en) * | 2010-08-23 | 2013-06-05 | 鞍钢集团矿业公司 | Device and method for accurately monitoring drilling depth of rotary drill |
| CN103551830A (en) * | 2013-09-29 | 2014-02-05 | 韦文新 | Full-automatic offline framing system for side walls |
| CN103551830B (en) * | 2013-09-29 | 2017-01-25 | 韦文新 | Full-automatic offline framing system for side walls |
| US11797950B2 (en) * | 2018-08-27 | 2023-10-24 | Basf Corporation | Method and system to digitally track and monitor an automotive refinish repair process |
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