Automatic docking system and method based on omnidirectional vehicle and assembling station

Abstract

The invention relates to an automatic docking system and method based on an omnidirectional vehicle and an assembling station and belongs to the automatic logistics and assembling technology field. The method is advantaged in that 1), a laser displacement sensor is employed to measure vehicle body front attitude in real time, automatic docking is accomplished through continuously adjusting vehicle body movement, high-precision docking can be realized, precision and an offset value is controlled within 0.5mm, and the method is more stable and reliable compared with other docking schemes; 2), compared with manual docking, the automatic docking time is short, efficiency is high, the zero load docking time is shorter than 1 minute, and the full load butt joint docking time is shorter than 2 minutes; 3), low cost, small size and convenient mounting are realized; and 4), the method is applied to automatic assembling production, the automation level and efficiency are improved, and the labor time is reduced.

Description

technical field [0001] The invention relates to the technical field of automated logistics and assembly, in particular to an automatic docking system and method based on an omnidirectional vehicle and an assembly station. Background technique [0002] The general assembly and assembly line of the domestic aerospace product workshop is in its infancy, and the transfer of products and parts is still mainly manual, such as the transfer of trolleys and cranes, which require multiple people to operate and are dangerous. With the development of automated assembly and logistics technology With the continuous development of the industry, intelligent logistics transfer has become an important part of automated assembly. It no longer requires multiple people to coordinate transfer, and product parts are automatically transferred between different factories and different stations. Therefore, the development of automated assembly technology is the most important part of intelligent manu...

AI Technical Summary

Problems solved by technology

[0003] At present, the AGV autonomous transfer technology is relatively mature, but there is no mature case of the technology that is applied in the assembly production and can automatically dock with the station with high precision and low cost

There are currently several solutions for the automatic docking of the AGV carrying bracket and the station. The first solution is to use mechanical guidance for automatic docking. A guide block is installed at the bottom of the AGV, a guide hole is installed on the ground, and two guide pins are installed at the front end. The navigation auxiliary control makes the guide block of the AGV car enter the guide hole. The disadvantage of this solution is that the construction is difficult, and the control accuracy depends on the mechanical guidance, which cannot ensure the alignment of the front guide rail of the car body and the station guide rail.

The second solution uses high-precision measuring equipment such as laser trackers or high-speed visual measurement for automatic docking, and its accuracy meets the docking requirements, but the disadvantages are high cost and complicated measurement

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