Automatic butt joint transfer system for cylinder section final assembly and final assembly method

Abstract

The invention discloses an automatic butt joint transfer system for cylinder section final assembly and a final assembly method, and relates to the field of equipment final assembly, the automatic butt joint transfer system comprises a power supply vehicle and at least two cylinder section module vehicles, the power supply vehicle is used for supplying power to and controlling one or more cylinder section module vehicles for assembly, and the cylinder section module vehicles are used for transferring and conveying cylinder sections. The problems of how to ensure the safety of the AGV battery of the explosion-proof plant, including long-term parking of the battery for charging and how to transfer the whole battery after butt joint of cylinder sections are solved.

Description

Technical Field

[0001] The present application belongs to the technical field of equipment assembly, and is applied to the automatic docking and transportation of barrel sections, partial section transportation, and whole barrel section transportation. It is an automatic docking and transportation system for barrel sections with high flexibility and high precision. Background Art

[0002] In explosion-proof workshops, it is dangerous to store AGVs with batteries for a long time. In the long assembly process, AGVs cannot be charged and may stop due to lack of power. After the cylinder section is assembled, several vehicles are often required to move together to drive the entire cylinder section. At present, if the vehicles are not mechanically connected when they are linked, it is easy to misalign the vehicles, causing damage to the cylinder section products they carry. Summary of the invention

[0003] The technical problem solved by the present application is: to overcome the deficiencies of the prior art, to provide a barrel section automatic docking and transfer system and assembly method, which is a highly efficient automated assembly system and assembly mode, which is adapted to multiple barrel sections through multi-vehicle linkage and unified power supply by a power supply vehicle, and solves two problems: how to ensure the safety of AGV batteries in explosion-proof workshops, including long-term parking and battery charging, and how to transport the barrel sections as a whole after docking.

[0004] The technical solutions provided by this application are as follows:

[0005] An automatic docking and transfer system for barrel segment final assembly comprises a power supply vehicle and at least two barrel segment module vehicles. The power supply vehicle is used to supply power to and control one or more barrel segment module vehicles for assembly, and the barrel segment module vehicles are used to transfer and transport barrel segments.

[0006] The power supply vehicle is docked, matched and communicated with any assembly barrel module vehicle. The power supply vehicle is provided with a navigation system, and each barrel module vehicle is provided with a control system. The navigation system sends instructions to each barrel module vehicle, and the control system controls the execution unit of the corresponding barrel module vehicle according to the instructions to move the barrel module vehicle.

[0007] Each of the barrel segment module vehicles comprises an AGV body and a posture adjustment mechanism, the posture adjustment mechanism is used to support the barrel segment; a plurality of electric lifting mechanisms are arranged at the bottom of each AGV body, the height of the electric lifting mechanisms is adjustable, so that the height, pitch angle and yaw angle of the barrel segment module vehicle can be adjusted.

[0008] The cylinder segment module vehicle is provided with a connecting mechanism, and the connecting mechanism is used to fix two adjacent cylinder segment module vehicles.

[0009] The power supply vehicle includes a power supply vehicle body, and a power battery, a three-phase power inverter and a power distribution box which are arranged on the power supply vehicle body and connected in sequence. The power distribution box is connected to a battery vehicle power supply socket. One end of the power cable is connected to the battery vehicle power supply socket and the other end is connected to the barrel module vehicle.

[0010] The AGV body is provided with a power receiving plug, a body control cabinet and a power distribution box. The power distribution box is provided with a distribution box main switch and a distribution box socket port. The power receiving plug and the body control cabinet are both connected to the power distribution box; the power receiving plug is connected to the power supply vehicle or the upper-level AGV body, and the incoming power is introduced through the power receiving plug. The incoming power passes through the main switch of the power distribution box and leads out in two ways: one is output to the body control cabinet of the current AGV body to provide power for the current AGV body, and the other is output to the socket port of the power distribution box, which serves as the interface of the power receiving plug of the next-level AGV body.

[0011] The barrel module vehicle is provided with a laser vision detection component, which is used to detect whether two adjacent barrel module vehicles are aligned; the laser vision detection component includes a set of two-dimensional code detection modules and three sets of laser displacement sensors, the two-dimensional code detection module includes a two-dimensional code and a detection device, the laser displacement sensor is installed at the front end of the AGV body, the two-dimensional code label is pasted on the tail of the docked AGV body, and the detection device is set opposite to another AGV vehicle; three sets of laser displacement sensors detect the yaw, pitch deviation angle and axial spacing of the docking surfaces of the two platforms; the detection device scans the image of the two-dimensional code to obtain the two-dimensional code detection roll angle, left and right and up and down movement difference and ID information of the docked mobile platform.

[0012] A method for automatic docking and transfer assembly of barrel sections, based on any of the above-mentioned automatic docking and transfer systems for barrel section assembly, comprises:

[0013] The barrel sections to be docked are a fixed section and a follower section. The fixed section is supported by the first barrel section module vehicle, which remains stationary. The power supply vehicle is connected to the second barrel section module vehicle and moves together. The second barrel section module vehicle supports the follower section through a posture adjustment mechanism.

[0014] The end alignment of the second barrel segment module car and the first barrel segment module car is detected by a laser vision detection component, and the posture of the second barrel segment module car is adjusted by an electric lifting mechanism until the second barrel segment module car moves to align with the end of the first barrel segment module car, and the first barrel segment module car and the second barrel segment module car are fixed by a connecting mechanism;

[0015] Afterwards, the following cabin is adjusted through the attitude adjustment mechanism, and the end alignment of the following cabin and the fixed cabin is detected in real time through the docking detection device, and the following cabin is driven to move through the attitude adjustment mechanism until the following cabin is inserted into the fixed cabin to complete the docking.

[0016] After the follower cabin segment is inserted into the fixed cabin segment to complete docking and fixation, the power supply vehicle is separated from the second barrel segment module vehicle, and then the power supply vehicle is connected to one or more barrel segment module vehicles supporting the next barrel segment to be docked. At this time, the fixed cabin segment and the follower cabin segment form a whole that is a fixed cabin segment, and the next barrel segment is the follower cabin segment. The above-mentioned docking steps of the fixed cabin segment and the follower cabin segment are repeated to complete the docking of the next barrel segment with the fixed cabin segment.

[0017] In summary, this application at least includes the following beneficial technical effects:

[0018] 1) An assembly system and assembly mode that takes into account the automatic docking function and transfer of barrel sections. A new mode of automatic assembly of barrel sections is developed by combining the use of automated docking and transfer equipment. The automatic docking of the car body ensures the realization of automatic docking of barrel sections. The car body can achieve automatic docking through the laser QR code mode, and the barrel section can achieve automatic docking through the visual inspection system and the posture adjustment mechanism. The combination of modular vehicles can realize the transfer of the entire barrel section.

[0019] 2) The power supply vehicle is used in combination with any module vehicle or several module vehicles to transfer the cylinder section or the entire cylinder section. After the transfer, the power supply vehicle is moved out of the factory. The entire system has no battery system, which can ensure safety.

[0020] 3) Standardized, modular and flexible system design. The body size and docking interface of each module car in the system are the same, and the modules in the system can be interchanged. Any one or several of the module cars can be used in combination at will, or combined with the non-powered car, to achieve the transportation and docking of various length sections. After being combined into a whole barrel section transportation combination car, any of the cars can also be withdrawn through the mechanism. The cars can also be replaced with each other in case of failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a diagram of the entire system;

[0022] Figure 2 It is a schematic diagram of the docking mode;

[0023] Figure 3 This is the structural diagram of the barrel module car;

[0024] Figure 4 Layout of power supply equipment for battery vehicles;

[0025] Figure 5 Layout of power supply equipment for the drum module vehicle (AGV vehicle);

[0026] Figure 6 The structural diagram of the power supply connection for multiple vehicles;

[0027] Figure 7 This is the schematic diagram of the vehicle body docking sensor.

[0028] Description of the accompanying drawings: 1. Power supply vehicle; 2. First cylinder section module vehicle; 3. Second cylinder section module vehicle; 4. Third cylinder section module vehicle; 5. Fourth cylinder section module vehicle;

[0029] 21. Attitude adjustment mechanism; 22. Fixed compartment; 23. Detection mechanism; 24. Follow-up compartment;

[0030] 201, frame; 202, driving wheel set; 206, electric lifting mechanism; 207, clamping claw; 208, positioning pin;

[0031] 11. Power battery; 12. Three-phase power inverter; 13. Power supply vehicle body; 14. Power distribution box; 15. Battery vehicle power supply socket;

[0032] 61. Power receiving plug; 62. Vehicle body control cabinet; 63. Power distribution box; 64. Distribution box main switch; 65. Distribution box socket; 66. AGV vehicle body;

[0033] 2-1, first-level section AGV power plug; 2-2, first-level section AGV power cable; 2-3, first-level section AGV power socket; 3-1, second-level section AGV power plug; 3-2, second-level section AGV power cable; 3-3, second-level section AGV power socket. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] The present application embodiment discloses a barrel section final assembly automatic docking transfer system and final assembly method, such as Figure 1 As shown, it includes a power supply vehicle 1 and multiple barrel segment module vehicles. The power supply vehicle is used to supply power and control one or more barrel segment module vehicles. The barrel segment module vehicle is used to transfer and transport barrel segments. It can realize the functions of transferring barrel segment sections, automated assembly docking of each section, and transferring of the entire barrel segment.

[0036] When the cylinder section to be transported is long and heavy, multiple cylinder section module vehicles are aligned for transport, such as Figure 1As shown, the power supply vehicle 1, the first barrel segment module vehicle 2, the second barrel segment module vehicle 3, the third barrel segment module vehicle 4, and the fourth barrel segment module vehicle 5 are connected in sequence, and the power supply vehicle 1 supplies power to the first barrel segment module vehicle 2, the second barrel segment module vehicle 3, the third barrel segment module vehicle 4, and the fourth barrel segment module vehicle 5, and the power supply vehicle 1 can be docked, matched, and communicated with any assembly barrel segment module vehicle, and realize the omnidirectional movement of the assembly sub-platform as a power source and main control platform. Specifically, the docking and matching method can be Bluetooth matching, the power supply vehicle is provided with a navigation system, and each barrel segment module vehicle is provided with a control system. The navigation system sends instructions to each barrel segment module vehicle, and the control system controls the execution unit such as the driving wheel group 202 of the corresponding barrel segment module vehicle according to the instructions.

[0037] like Figure 2 As shown, the first barrel section module car 2 supports the fixed cabin section 22 through the attitude adjustment mechanism 21, and the second barrel section module car 3 supports the follower cabin section 24 through the attitude adjustment mechanism 21. The position of the first barrel section module car 2 is fixed, the power supply car 1 is connected to the second barrel section module car 3, and the power supply car 1 and the second barrel section module car 3 move together. The end of the second barrel section module car 3 is adjusted to align with the first barrel section module car 2 through the electric lifting mechanism; when the second barrel section module car 3 moves to align with the end of the first barrel section module car 2, the first barrel section module car 2 and the second barrel section module car 3 are fixed by the connecting mechanism, and then the follower cabin section 24 is adjusted by the attitude adjustment mechanism 21, and the end alignment of the follower cabin section 24 and the fixed cabin section 22 is detected in real time by the docking detection device, and the follower cabin section 24 is driven to move by the attitude adjustment mechanism 21 until the follower cabin section 24 is inserted into the fixed cabin section 22 to complete the docking.

[0038] The barrel module vehicle itself is not equipped with batteries and can be parked for a long time in an explosion-proof environment. The barrel segments can be transported separately. After the sections are docked and assembled in sequence, the AGV bodies 66 can be rigidly connected, and multi-vehicle linkage control can be realized to transport the barrel segment products as a whole to the next workstation.

[0039] like Figure 3 As shown, each barrel module vehicle includes an AGV body 66 and a posture adjustment mechanism 21. The AGV body 66 is driven by a Mecanum wheel or a steering wheel, and can realize forward, backward, translation, turning and other actions. A single driving wheel group is equipped with an independent suspension system, which avoids the situation of wheel group suspension and unbalanced load caused by uneven floor surface through pressure and position detection.

[0040] The electric lifting mechanism includes four liftable legs connected to the AGV body 66. The height of the legs is adjusted to align the end faces of the barrel module vehicles.

[0041] The connecting mechanism includes a guiding mechanism and a clamping mechanism. The guiding mechanism includes a positioning pin and a docking pin hole. One end of the AGV body 66 is slidably connected with the positioning pin, and the other end is provided with a docking pin hole that cooperates with the positioning pin. The positioning pin is driven by a hydraulic cylinder; the clamping mechanism includes a clamping claw 207 and a slot. The clamping claw 207 is connected to one end of the AGV body 66, and the slot is provided at the other end of the AGV body 66. The clamping claw 207 is driven by the hydraulic cylinder to be clamped into the slot, thereby fixing the two adjacent barrel section module vehicles.

[0042] The rigid connection between the barrel module vehicles meets the requirements of overall assembly and transfer. The guide mechanism and the clamping mechanism are driven by hydraulic cylinders. When the barrel module vehicles are docked, one of the barrel module vehicles is parked in a fixed position, the electric lifting mechanism is leveled on the ground, and the two sets of parallel guide pins of the other module vehicle are extended. After the automatic navigation moves to the pre-docking position, the distance sensor and QR code sensor installed on the end face of the vehicle body are used to detect the position and distance in real time. The guide pin on the mobile platform vehicle is inserted into the docking pin hole. After the end faces are aligned, the docking is in place, the clamping mechanism hydraulic cylinder is activated, the clamping claw rotates into place, and the clamping connection is realized in the groove on the end face of the barrel module vehicle. It meets the multi-vehicle linkage control and realizes the overall transportation needs of the product.

[0043] The power supply vehicle 1 can guide any barrel section to be assembled with other barrel sections, realizing the automated transportation of barrel sections, wherein any section can be guided by the power supply vehicle 1 and moved to the task position, and any number of vehicles can be matched with the power supply vehicle 1 and transported as a whole. In a new trackless factory building, if the docking station is pre-planned in the factory building, the dispatching system can dispatch the power supply vehicle to navigate each module vehicle to the assembly station. When the length of the barrel section exceeds the length that a vehicle can carry, it can be transported in combination by two vehicles or two vehicles plus a non-powered vehicle. The use of power supply module vehicles can better meet the explosion-proof requirements in safe production. The power supply module vehicle adopts explosion-proof treatment and will not stay at the assembly station for a long time.

[0044] The layout of the power supply equipment of the power supply vehicle 1 is as follows: Figure 4 As shown, the power supply vehicle 1 includes a power supply vehicle body 13, and a power battery 11, a three-phase power inverter 12 and a power distribution box 14 which are arranged on the power supply vehicle body 13 and connected in sequence. The power distribution box 14 is connected to a battery vehicle power supply socket 15, and one end of the power cable is connected to the battery vehicle power supply socket 15 and the other end is connected to the barrel module vehicle. Since the workshop power distribution box provides three-phase AC 380V power supply, in order to facilitate equipment selection and unify voltage levels, the output voltage of the battery vehicle inverter is also determined to be three-phase AC 380V.

[0045] The layout of the power supply equipment of the AGV body 66 is as follows Figure 5As shown. The AGV body 66 is provided with a power receiving plug 61, a body control cabinet 62 and a power distribution box 63. The power distribution box 63 is provided with a distribution box main switch 64 and a distribution box socket 65. The distribution box main switch 64 is used to control the opening and closing of the power distribution box 63. The distribution box socket 65 is for the power cable to be plugged in. The other end of the power cable is connected to the next-level barrel module car. The power receiving plug 61 and the body control cabinet 62 are both connected to the power distribution box 63. The power line of the power distribution box 63 is a 1-in 2-out structure, one input is the power receiving plug 61, and the two outputs are the distribution box socket 65 and the body control cabinet 62. The incoming power receiving plug 61 is plugged into the power supply vehicle 1 or the front and the socket of the power distribution box 63 of the AGV body to provide power for the current body. The incoming power is led out in two ways through the main switch 64 of the power distribution box: one way is output to the body control cabinet 62 of the current vehicle body to provide power for the current vehicle body; the other way is output to the socket port of the power distribution box 63, which serves as the interface of the power receiving plug 61 of the subsequent AGV vehicle.

[0046] The specific power supply method after multiple vehicles are connected is as follows Figure 6 As shown, after the power supply vehicle 1, the first barrel section module vehicle 2 and the second barrel section module vehicle 3 are connected together, the power receiving plug 61 of the first barrel section module vehicle 2 is connected to the first section AGV power cable 2-2, the other end of the first section AGV power cable 2-2 is connected to the first section AGV power receiving plug 2-1, and the power distribution box 63 of the first barrel section module vehicle 2 is provided with a first section AGV power supply socket 2-3; the power receiving plug 61 of the second barrel section module vehicle 3 is connected to the second section AGV power cable 3-2, the other end of the second section AGV power cable 3-2 is connected to the second section AGV power receiving plug 3-1, and the power distribution box 63 of the second barrel section module vehicle 3 is provided with a second section AGV power supply socket 3-3. The first section AGV power receiving plug 2-1 is connected to the battery vehicle power supply socket 15 of the power supply vehicle 1, and the second section AGV power receiving plug 3-1 is connected to the first section AGV power supply socket 2-3.

[0047] After each car is powered on and started, it can move, adjust its posture, etc. In addition, if there is no battery car, the power plug of the first-level section AGV can be plugged into the workshop power distribution box through a drag cable. After obtaining power, the first and second-level section cars can move in a small range.

[0048] When performing automatic docking, the barrel module car is docked first, and the two barrel module cars are aligned through the laser vision detection component, and then the two barrel module cars are fixed after docking through the connection mechanism. After the two barrel module cars are docked, the docking detection device is used to detect whether the barrel end faces are aligned. Figure 7As shown, the laser vision detection component consists of 1 set of QR code detection modules and 3 sets of laser displacement sensors. The laser displacement sensor is installed at the front end of the AGV body 66. The QR code detection module includes a QR code and a detection device. The QR code label is affixed to the tail of the docked AGV body 66, and the detection device is set opposite to another AGV. Three sets of laser displacement sensors detect the yaw, pitch deviation angle and axial spacing of the docking surfaces of the two platforms; the image of the QR code is scanned by the detection device to obtain the QR code detection roll angle, left and right and up and down movement difference and ID information of the docked mobile platform. The controller of the docking mobile platform solves according to the six-axis posture collected by the sensor, and continuously adjusts the posture of the docking mobile platform by controlling the extension of the hydraulic suspension of the driving wheel group, so that the docking platform is coaxial and parallel to the docked platform, and then the docking platform gradually approaches the docked platform to achieve automatic docking of the two platforms.

[0049] When the double-barreled modular vehicle is docked, the positioning pin is first extended from the vehicle body by the hydraulic cylinder. At this time, the two vehicles are guided by the positioning pin and approach each other. Then the hydraulic cylinder drives the clamping claw to clamp the two vehicles to achieve a rigid connection. The guide mechanism and the clamping mechanism are fixed to the vehicle body through a bracket. When not in use, they can be retracted into the vehicle body through the control of the hydraulic cylinder, without occupying external space. The hydraulic system can simultaneously control the movement of two sets of clamping mechanisms and guide mechanisms, making the connection more secure.

[0050] This automatic docking mode improves docking efficiency, reduces the number of manual labor involved in assembly, and improves the automation and intelligence level of product assembly. After the car bodies are docked, each barrel section is docked through the posture adjustment mechanism.

[0051] After the parts of the barrel section of the whole system are combined and docked into a full barrel section, the modular vehicles are combined into a combined vehicle body to transport the whole barrel section. During this process, if docking or other operations are required, any of the vehicles can be withdrawn by releasing the hydraulic docking mechanism, leaving space for docking or other operations, so as to realize the flexibility of the entire system. The modular vehicles in the system mostly adopt standardized models to make them interchangeable. The body size and docking interface of each modular vehicle in the system are the same, so the modules in the system can be interchanged. When a vehicle is occupied or fails, in order to ensure production efficiency, it can be replaced by other vehicles.

[0052] The assembly platform is composed of multiple sub-module vehicles, including power supply module vehicles and assembly sub-module vehicles. Due to the long parking time of the assembly and the explosion-proof safety requirements of the assembly area, each assembly sub-platform vehicle does not integrate a battery power system, and is equipped with a power supply module vehicle to drive it to meet the product transportation needs. The battery-powered module vehicle is equipped with a power battery that can drive the power required for the overall movement of each assembly sub-platform module vehicle and the load, providing power for each assembly sub-module vehicle, and can be rigidly connected to each assembly sub-platform to achieve multi-vehicle omnidirectional linkage operation.

[0053] During the transfer in the factory, the barrel section can be transferred from the transfer room to the designated location by combining the battery car with each module car. The transfer mode is a navigation mode that uses the dispatching system in conjunction with the ribbon. The entire system is navigated and dispatched by the navigation system in the battery car that cooperates with the dispatching system. When the section is parked, the mass center of mass of the section can be measured by the mass center of mass measurement mechanism of the posture adjustment mechanism to improve efficiency.

[0054] During docking, a combination of multiple barrel section module vehicles can transfer the heaviest barrel to the designated workstation, support the electric lifting mechanism and level it. The barrel section module vehicle adjusts the position of the barrel section module vehicle through the laser QR code guidance system until the adjacent barrel section vehicles are aligned and the two barrel section module vehicles are fixed. Then the relative position of the two barrel sections is detected by the docking detection device, and the posture adjustment mechanism automatically docks the barrel sections. The barrel sections are docked in turn to achieve the docking of the entire barrel section. If any of the barrel section module vehicles needs to be withdrawn, the support can be rotated through the posture adjustment mechanism, the support can be lowered, and the vehicle can be withdrawn from the system. The entire barrel section can be moved together by multiple vehicles to achieve transportation.

[0055] After the assembly sub-module vehicle is rigidly connected, the battery-powered module vehicle is disengaged and leaves the assembly explosion-proof area, and product assembly-related work is carried out on the assembly module vehicle.

[0056] After the final assembly of the product is completed, the battery-powered module vehicle is put in place and docked with the assembly module vehicle according to the above-mentioned vehicle body docking process to complete the overall transfer of the product.

[0057] The contents not described in detail in this application specification belong to the common knowledge of those skilled in the art.

[0058] The present application is described in detail above in conjunction with specific implementation methods and exemplary examples, but these descriptions cannot be understood as limiting the present application. Those skilled in the art understand that, without departing from the spirit and scope of the present application, a variety of equivalent replacements, modifications or improvements can be made to the technical solution of the present application and its implementation methods, all of which fall within the scope of the present application. The scope of protection of the present application shall be subject to the attached claims.

Claims

1. An automatic docking and transfer system for barrel section assembly, characterized in that: It comprises a power supply vehicle (1) and at least two barrel segment module vehicles. The power supply vehicle (1) is used to supply power to and control one or more barrel segment module vehicles for assembly, and the barrel segment module vehicles are used to transfer and transport barrel segments.

2. The automatic docking and transfer system for barrel section final assembly according to claim 1 is characterized by: The power supply vehicle (1) is docked, matched and communicated with any assembly barrel module vehicle. The power supply vehicle is provided with a navigation system. Each barrel module vehicle is provided with a control system. The navigation system sends instructions to each barrel module vehicle. The control system controls the execution unit of the corresponding barrel module vehicle according to the instructions, so that the barrel module vehicle moves.

3. The automatic docking and transfer system for barrel section final assembly according to claim 1 is characterized by: Each of the barrel segment module vehicles comprises an AGV vehicle body (66) and a posture adjustment mechanism (21), wherein the posture adjustment mechanism (21) is used to support the barrel segment; a plurality of electric lifting mechanisms are arranged at the bottom of each AGV vehicle body (66), and the height of the electric lifting mechanisms is adjustable, so that the height, pitch angle and yaw angle of the barrel segment module vehicle can be adjusted.

4. The automatic docking and transfer system for barrel section final assembly according to claim 1 is characterized by: The cylinder segment module vehicle is provided with a connecting mechanism, and the connecting mechanism is used to fix two adjacent cylinder segment module vehicles.

5. The automatic docking and transfer system for barrel section final assembly according to claim 3 is characterized by: The power supply vehicle (1) comprises a power supply vehicle body (13), and a power battery (11), a three-phase power inverter (12) and a power distribution box (14) which are arranged on the power supply vehicle body (13) and connected in sequence, the power distribution box (14) being connected to a battery vehicle power supply socket (15), one end of a power cable being connected to the battery vehicle power supply socket (15), and the other end being connected to a barrel module vehicle.

6. The automatic docking and transfer system for barrel section final assembly according to claim 5 is characterized by: The AGV body (66) is provided with a power receiving plug (61), a body control cabinet (62) and a power distribution box (63); the power distribution box (63) is provided with a distribution box main switch (64) and a distribution box socket (65); the power receiving plug (61) and the body control cabinet (62) are both connected to the power distribution box (63); the power receiving plug (61) is connected to the power supply vehicle (1) or the upper AGV body (66); the incoming power is introduced through the power receiving plug (61); the incoming power is led out in two ways through the power distribution box main switch (64): one way is output to the body control cabinet (62) of the current AGV body (66) to provide power for the current AGV body (66); the other way is output to the socket of the power distribution box (63); the socket serves as an interface of the power receiving plug (61) of the next AGV body (66).

7. The automatic docking and transfer system for barrel section final assembly according to claim 1 is characterized by: The drum module vehicle is provided with a laser vision detection component, which is used to detect whether two adjacent drum module vehicles are aligned; the laser vision detection component includes a set of two-dimensional code detection modules and three sets of laser displacement sensors, the two-dimensional code detection module includes a two-dimensional code and a detection device, the laser displacement sensor is installed at the front end of the AGV body (66), the two-dimensional code label is attached to the rear of the docked AGV body (66), and the detection device is arranged directly opposite to the other AGV body (66); the three sets of laser displacement sensors detect the yaw and pitch deviation angles and axial spacing of the docking surfaces of the two platforms; the detection device scans the image of the two-dimensional code to obtain the two-dimensional code detection roll angle, left and right and up and down movement difference and ID information of the docked mobile platform.

8. A method for automatic docking and transfer assembly of barrel sections, characterized in that: The automatic docking and transfer system for the final assembly of barrel sections according to any one of claims 1 to 7 is used for final assembly, comprising: The barrel sections to be connected are a fixed cabin section (22) and a follower cabin section (24); the fixed cabin section (22) is supported by a first barrel section module vehicle (2); the first barrel section module vehicle (2) remains stationary; the power supply vehicle (1) is connected to the second barrel section module vehicle (3) and moves together; the second barrel section module vehicle (3) supports the follower cabin section (24) through a posture adjustment mechanism (21); The end alignment of the second barrel section module car (3) and the first barrel section module car (2) is detected by a laser vision detection component, and the posture of the second barrel section module car (3) is adjusted by an electric lifting mechanism until the second barrel section module car (3) moves to align with the end of the first barrel section module car (2), and the first barrel section module car (2) and the second barrel section module car (3) are fixed together by a connecting mechanism; Afterwards, the follower cabin section (24) is adjusted by the attitude adjustment mechanism (21), and the end alignment of the follower cabin section (24) and the fixed cabin section (22) is detected in real time by the docking detection device, and the follower cabin section (24) is driven to move by the attitude adjustment mechanism (21) until the follower cabin section (24) is inserted into the fixed cabin section (22) to complete the docking.

9. The method for automatic docking and transfer assembly of barrel sections according to claim 8, characterized in that: After the follower cabin segment (24) is inserted into the fixed cabin segment (22) to complete docking and fixation, the power supply vehicle (1) is separated from the second cylinder segment module vehicle (3), and then the power supply vehicle is connected to one or more cylinder segment module vehicles supporting the next cylinder segment to be docked. At this time, the fixed cabin segment (22) and the follower cabin segment (24) form a whole as a fixed cabin segment, and the next cylinder segment is the follower cabin segment. The above-mentioned docking steps of the fixed cabin segment (22) and the follower cabin segment (24) are repeated to complete the docking of the next cylinder segment with the fixed cabin segment.

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