Automatic docking system and method for high-precision aero-engine final assembly

Abstract

The invention provides a high-precision aero-engine final assembly automatic docking system and method, and the method comprises the steps: transporting a unit body on one side of an aero-engine to a side hanging type platform through an AGV, manually installing the unit body on the side hanging type platform, and hoisting the unit body on the other side to an AGV type docking platform; the AGV type butt joint platform is close to the side hanging type platform, and the height of the side hanging type platform is roughly adjusted till the two unit bodies are horizontal; the 3D line laser camera scans the unit bodies on the two sides to obtain and calculate relative poses; according to the relative posture data, the six-degree-of-freedom parallel posture adjusting table adjusts the posture of the hoisting unit body to be coaxial with the other unit body; the AGV chassis moves to conduct butt joint, and meanwhile a force sensor monitors the butt joint state in real time to judge whether secondary posture adjustment is needed or not; and the butt joint is completed. According to the method, the defect that butt joint is conducted through manual experience judgment in the past is overcome, the butt joint precision and efficiency are effectively improved, manpower resource consumption is reduced, and butt joint assembly of various aero-engine unit bodies can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of aero-engines, and in particular to a high-precision aero-engine final assembly automatic docking system and method. Background Art

[0002] With the rapid development of the global aviation industry, aircraft engines, as the "heart" of aircraft, have continuously improved their quality requirements and production efficiency. Major aviation manufacturers have increasingly stringent requirements on product quality, and are also constantly pursuing more efficient methods in production management to increase output, improve quality, reduce safety risks, and reduce labor intensity and production costs. As a key link in aircraft engine production, aircraft engine assembly undertakes important assembly tasks, which directly affects the performance, quality and safety of the entire engine.

[0003] The traditional aircraft engine assembly process usually relies on human-machine collaboration, that is, combining semi-automatic equipment and manual operation to complete the lifting and assembly tasks. However, this method has many shortcomings. First, manual operation is prone to problems such as hole-shaft jamming and hole-shaft damage during the lifting process. These problems not only affect the assembly quality, but may also cause component damage and production delays. Secondly, due to errors in manual operation, the docking accuracy of assembly is often difficult to guarantee, resulting in low assembly accuracy, which in turn affects the quality of the final product. In addition, the traditional process is difficult to meet the requirements of production cycle control and docking accuracy, the labor intensity of workers is high, and there are high safety risks in the assembly process of some complex parts.

[0004] A patent document with publication number CN115320880A discloses an automatic attitude adjustment and docking method for an aircraft outer wing, comprising the steps of: S1, placing the outer wing on a rack; S2, AGV vehicle entering and lifting; S3, overall platform entering; S4, outer wing attitude adjustment and docking; S5, outer wing and attitude adjustment bracket separation; S6, AGV vehicle and overall platform evacuation; characterized in that: in step S1: when the outer wing is placed on a rack, the first bracket (113) is rotated until the upper surface of the wing bracket (114) is horizontal, and then the outer wing is placed on the wing bracket (114); in step S4: when the outer wing is adjusted and docked, the first bracket (113) is rotated until the upper surface of the wing bracket (114) is inclined, and the inclination angle matches the outer wing ear surface. The high labor intensity and high safety risks of workers are also problems that need to be improved in traditional processes. The assembly process of aircraft engines involves a large amount of hoisting and assembly work, which requires workers to maintain high concentration and physical exertion for a long time. At the same time, during the assembly process of certain complex components, workers also need to face high-risk links such as high-altitude work and heavy object handling, which increases the risk of safety accidents.

[0005] With the continuous advancement of aircraft engine design and manufacturing technology, the requirements for assembly accuracy are getting higher and higher. Traditional assembly methods can no longer meet the current high-precision and high-efficiency production needs of aircraft engines. Therefore, the market urgently needs a new assembly method that can improve the accuracy of aircraft engine assembly, reduce manual errors, improve production efficiency, and reduce safety hazards. Summary of the invention

[0006] In view of the defects in the prior art, the object of the present invention is to provide a high-precision aircraft engine assembly automatic docking system and method.

[0007] According to the present invention, an automatic docking system for high-precision aircraft engine assembly is provided, comprising a side-mounted platform, an AGV-type docking platform, a 3D line laser camera, a collaborative robot and a robot seventh axis;

[0008] The collaborative robot moves horizontally via the robot's seventh axis;

[0009] The AGV docking platform includes a six-degree-of-freedom parallel attitude adjustment platform, a six-axis force measurement platform, an annular fixed tooling, an AGV chassis and a laser radar;

[0010] The side-mounted platform can be lifted and lowered along the Z axis and rolled along the X axis, carrying the aircraft engine unit to complete the docking assembly action, and is equipped with a C-shaped ring frame and a double-head tooling to provide auxiliary support for the docking components after the docking is completed;

[0011] The six-degree-of-freedom parallel attitude adjustment platform is composed of six electric cylinders, six universal hinges on the upper and lower sides, and two upper and lower platforms. Through the telescopic movement of the electric cylinders, the upper platform can move in six degrees of freedom X, Y, Z, α, β, γ in space to simulate various spatial motion postures;

[0012] The six-axis force measurement platform is installed on the upper platform of the six-degree-of-freedom parallel posture adjustment platform, and consists of four three-axis force sensors placed in parallel, which can monitor the force data changes during the docking process in real time;

[0013] The AGV chassis is a four-steering wheel AGV chassis, which can move in all directions, can move forward in a straight line, backward, move horizontally, rotate in place and move in a curve. After reaching the designated assembly point, the four sets of steering wheels are immediately powered on, locked and lifted, and the assembly is fixed in position;

[0014] The laser radar is installed on the AGV chassis. The laser radar is used to scan feature points in the environment to generate a high-precision two-dimensional environment map in real time, which is used for real-time path trajectory planning of the AGV.

[0015] Preferably, the annular fixing fixture is installed on a platform of a six-degree-of-freedom parallel attitude adjustment platform and is used to fix the unit body.

[0016] Preferably, the 3D line laser camera is installed at the end of the collaborative robot.

[0017] Preferably, the collaborative robot has six degrees of freedom, and a guide rail is installed at the bottom of the robot as the seventh axis of the robot. The seventh axis is used to accurately move the collaborative robot in the horizontal direction to assist in high-precision positioning and operation during the docking process.

[0018] The present invention also provides an automatic docking method for high-precision aircraft engine assembly, the method using the above-mentioned automatic docking system for high-precision aircraft engine assembly, the method comprising the following steps:

[0019] Step S1: Use AGV to transport the unit body on one side of the aircraft engine to the side-mounted platform and install it manually, and hoist the unit body on the other side to the AGV docking platform;

[0020] Step S2: the AGV docking platform approaches the side-mounted platform, and the side-mounted platform roughly adjusts its height;

[0021] Step S3: Use a 3D line laser camera to scan the unit cells on both sides to obtain and calculate the relative pose;

[0022] Step S4: According to the relative posture data, the six-degree-of-freedom parallel posture adjustment platform adjusts the posture of the hoisting unit body to be coaxial with the other unit body;

[0023] Step S5: the AGV chassis moves to dock, and the six-axis force measurement platform monitors the docking status in real time;

[0024] Step S6: After the docking is completed, manually install the docking fasteners;

[0025] Step S7: Install the auxiliary lifting support on the side-mounted platform, remove the annular fixing tooling on the AGV docking platform, and evacuate the AGV docking platform.

[0026] Preferably, in step S2: in the process of the AGV docking platform approaching the side-mounted platform, a 2D environment map generated based on lidar data is used to perform real-time path trajectory planning through SLAM technology, and after reaching the designated position, the position states in three directions are separated and corrected for docking.

[0027] Preferably, the separation correction includes correction of the X-axis position, correction of the Y-axis position and correction of the yaw angle, so as to reach the designated docking position.

[0028] Preferably, in step S3: when a 3D line laser camera is used to scan the unit bodies on both sides, the camera feeds back an image with depth information for calculating the 6D pose of the unit body.

[0029] Preferably, in step S5: during the docking process, the six-axis force measuring platform monitors the docking force data in real time, and if the docking position deviates, the six-degree-of-freedom parallel attitude adjustment platform performs secondary attitude adjustment until the two unit bodies are docked coaxially.

[0030] Preferably, the six-axis force measuring platform in step S5 can output the contact forces on the three translation axes and can also calculate the torque values ​​on the three rotation axes by calculating the three-dimensional force values ​​output by the four force sensors.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The present invention adopts a high-precision automatic docking system, which combines advanced technologies such as collaborative robots, 3D line laser cameras and six-degree-of-freedom parallel attitude adjustment platforms. The application of these technologies has greatly improved the docking accuracy between the various units of the aircraft engine. Compared with traditional manual operations, the automation and precise control of the system significantly reduce human errors, thereby ensuring the precise docking of each component and effectively reducing assembly errors.

[0033] 2. The automatic docking method for aircraft engine assembly provided by the present invention greatly reduces the reliance on manual operation; this not only shortens the production cycle, but also speeds up the assembly process of aircraft engines; compared with the traditional manual operation method, the present invention can significantly improve the overall production efficiency and output, and help aviation companies respond to market demand more quickly;

[0034] 3. The automatic docking system of the present invention is equipped with an AGV-type docking platform and a six-axis force measuring platform; these platforms can monitor the data changes of the six-axis force during the docking process in real time, and determine whether secondary posture adjustment is required as needed; this function effectively avoids the occurrence of problems such as hole-shaft jamming and hole-shaft damage, thereby reducing component loss and maintenance costs; at the same time, it can also ensure stability and accuracy during the docking process, further improving the assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0036] Figure 1 It is a schematic diagram of the process block of the present invention;

[0037] Figure 2 A schematic diagram of an automatic docking system for aircraft engine final assembly according to the present invention;

[0038] Figure 3 It is a side view of the side-mounted platform and a schematic diagram of the translation axis and the rotation axis;

[0039] Figure 4 It is a top view of the side-mounted platform;

[0040] Figure 5 Schematic diagram of using a 3D line laser camera to photograph the end face of a unit body for a collaborative robot;

[0041] Figure 6 This is a schematic diagram after the docking is completed.

[0042] in:

[0043] Side-mounted platform 1 AGV chassis 24

[0044] C-shaped ring frame 11 laser radar 25

[0045] Double head tooling 12 Support electric cylinder 26

[0046] AGV docking platform 2 steering wheel 27

[0047] 6-DOF parallel attitude adjustment platform 21 3D line laser camera 3

[0048] Six-axis force measurement platform 22 Collaborative robot 4

[0049] Annular fixture 23 Robot seventh axis 5 DETAILED DESCRIPTION

[0050] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] Embodiment 1:

[0052] Reference Figure 1 and Figure 2According to the present invention, an automatic docking system for high-precision aircraft engine assembly is provided, comprising a side-mounted platform, an AGV-type docking platform, a 3D line laser camera, a collaborative robot and the robot's seventh axis; the collaborative robot moves horizontally through the robot's seventh axis; the AGV-type docking platform comprises a six-degree-of-freedom parallel attitude adjustment platform, a six-axis force measuring platform, an annular fixed tooling, an AGV chassis and a laser radar; the side-mounted platform can be lifted and lowered along the Z axis and rolled along the X axis, carrying the aircraft engine unit to complete the coordinated docking assembly action, and is equipped with a C-shaped ring frame and a double-head tooling to provide auxiliary support for the docking components after the docking is completed; the six-degree-of-freedom parallel attitude adjustment platform consists of six electric cylinders, six universal hinges on the upper and lower sides, and two upper and lower platforms, which are connected by electric cylinders The telescopic movement of the upper platform is used to obtain the movement of the six degrees of freedom X, Y, Z, α, β, and γ in space, simulating various spatial motion postures; the six-axis force measuring platform is installed on the upper platform of the six-degree-of-freedom parallel attitude adjustment platform, and consists of four three-axis force sensors placed in parallel, which can monitor the changes in force data during the docking process in real time; the AGV chassis is a four-steering wheel AGV chassis, which can move in all directions, can move forward in a straight line, backward, move horizontally, rotate in place, and move in a curve, and after reaching the designated assembly point, the four sets of steering wheels are immediately powered on, locked and lifted, and the assembly is fixed in position; the laser radar is installed on the AGV chassis, and the laser radar is used to scan the feature points in the environment to generate a high-precision two-dimensional environmental map in real time, and is used for real-time path trajectory planning of the AGV.

[0053] The annular fixture is installed on the platform of the six-degree-of-freedom parallel posture adjustment table to fix the unit body. The 3D line laser camera is installed at the end of the collaborative robot. The collaborative robot has six degrees of freedom, and a guide rail is installed at its bottom as the seventh axis of the robot. The seventh axis is used to accurately move the collaborative robot in the horizontal direction to assist in high-precision positioning and operation during the docking process.

[0054] The present invention also provides an automatic docking method for high-precision aircraft engine assembly, the method using the above-mentioned automatic docking system for high-precision aircraft engine assembly, the method comprising the following steps:

[0055] Step S1: Use AGV to transport the unit body on one side of the aircraft engine to the side-mounted platform and install it manually, and hoist the unit body on the other side to the AGV docking platform;

[0056] Step S2: The AGV docking platform approaches the side-mounted platform, and the side-mounted platform roughly adjusts its height; in the process of the AGV docking platform approaching the side-mounted platform, the 2D environment map generated based on the laser radar data is used to perform real-time path trajectory planning through SLAM technology, and after reaching the designated position, the three-directional position states are separated and corrected for docking. Separation correction includes correction of the X-axis position, correction of the Y-axis position, and correction of the yaw angle, so as to reach the designated docking position.

[0057] Step S3: Use a 3D line laser camera to scan the unit bodies on both sides to obtain and calculate the relative posture; when using the 3D line laser camera to scan the unit bodies on both sides, the camera feeds back an image with depth information for calculating the 6D posture of the unit body.

[0058] Step S4: According to the relative posture data, the six-degree-of-freedom parallel posture adjustment platform adjusts the posture of the hoisting unit body to be coaxial with the other unit body;

[0059] Step S5: The AGV chassis moves to dock, and the six-axis force measuring platform monitors the docking status in real time; during the docking process, the six-axis force measuring platform monitors the docking force data in real time. If the docking position deviates, the six-degree-of-freedom parallel attitude adjustment platform performs secondary attitude adjustment until the two units are docked coaxially. The six-axis force measuring platform can output the contact force on the three translation axes and the torque value on the three rotation axes by solving the three-dimensional force values ​​output by the four force sensors.

[0060] Step S6: After the docking is completed, manually install the docking fasteners;

[0061] Step S7: Install the auxiliary lifting support on the side-mounted platform, remove the annular fixing tooling on the AGV docking platform, and evacuate the AGV docking platform.

[0062] Embodiment 2:

[0063] like Figure 1 As shown, the present invention provides an automatic docking method for aircraft engine assembly, comprising the following steps:

[0064] S1. One side unit of the aircraft engine is transported to the side-mounted platform by AGV, and the unit is manually installed on the side-mounted platform, and the other side unit is hoisted to the AGV docking platform;

[0065] S2. The AGV docking platform approaches the side-mounted platform, and the side-mounted platform roughly adjusts its height to the level of the two units;

[0066] S3, 3D line laser camera scans the units on both sides to obtain and calculate the relative posture;

[0067] S4. According to the relative posture data, the six-degree-of-freedom parallel posture adjustment platform adjusts the posture of the hoisting unit to be coaxial with the other unit;

[0068] S5. The AGV chassis moves for docking, and the six-axis force measurement platform monitors the docking status in real time to determine whether secondary posture adjustment is required;

[0069] S6. After the docking is completed, the docking fasteners are installed manually using a power arm and a semi-automatic tightening machine;

[0070] S7. Install the auxiliary lifting support of the AGV docking platform unit on the side-mounted platform, manually remove the annular fixed tooling on the AGV docking platform, evacuate the AGV docking platform, and the docking is completed.

[0071] like Figure 2 As shown, the present invention provides an automatic docking system for high-precision aircraft engine assembly, including a side-mounted platform, an AGV docking platform, a 3D line laser camera, a collaborative robot, and a robot seventh axis. The collaborative robot moves horizontally through the robot seventh axis to achieve collaboration and precise operation with other system components. The AGV docking platform includes: a six-degree-of-freedom parallel attitude adjustment platform, a six-axis force measurement platform, a ring-shaped fixed tooling, an AGV chassis, and a laser radar.

[0072] The side-mounted platform has the function of lifting and lowering along the Z axis and rolling along the X axis, and can carry the aircraft engine unit to complete the docking assembly action. The side-mounted platform is equipped with a C-shaped ring frame, matched with a double-head tooling, and has auxiliary hanging points on it, which can provide auxiliary support for the docking components after the docking is completed to prevent the engine from overturning. The side-mounted platform can also carry the lifting and rolling of the aircraft engine to cooperate with the manual assembly of the external pipelines of the whole machine; the six-degree-of-freedom parallel attitude adjustment platform is composed of six electric cylinders, six universal hinges on the upper and lower platforms, and the lower platform is fixed on the AGV-type assembly platform. The six-degree-of-freedom parallel attitude adjustment platform can complete the movement of the upper platform in six degrees of freedom (X, Y, Z, α, β, γ) in space with the help of the telescopic movement of six electric cylinders, thereby simulating various spatial motion postures; the six-axis force measuring platform is installed on the upper platform of the six-degree-of-freedom parallel attitude adjustment platform, and the force measuring platform consists of four three-axis force sensors placed in parallel; the annular fixing tool is installed on the upper platform of the six-degree-of-freedom parallel attitude adjustment platform to fix the unit body; the AGV chassis is a four-steering wheel AGV chassis with the ability to move in all directions, and can realize straight forward, backward, left and right lateral movement, in-situ rotation movement and curved movement. After the AGV chassis reaches the designated assembly point, the four sets of steering wheels are immediately powered on and locked in place, and at the same time, the four supporting electric cylinders are enabled to rise and lift the steering wheels off the ground. In this state, the position of the carrier AGV is fixed, and the next assembly unit posture adjustment and docking process is carried out; the laser radar is installed on the AGV chassis, and the laser radar is used to scan the feature points in the environment to generate a high-precision two-dimensional environment map in real time; the collaborative robot has six degrees of freedom, and a guide rail is installed at the bottom as the robot's seventh axis. The seventh axis is used to achieve precise horizontal movement of the collaborative robot to assist high-precision positioning and operation during the docking process; the 3D line laser camera is installed at the end of the collaborative robot.

[0073] like Figure 3As shown, specifically, after the unit body on one side of the aircraft engine is transported to the side-mounted platform by the AGV, the unit body is manually installed on the side-mounted platform, and the unit body on the other side is manually fixed on the AGV docking platform by a ring-shaped fixing tool. The AGV docking platform moves close to the side-mounted platform, and the side-mounted platform is roughly adjusted to make the installed unit body roughly level with the unit body hoisted on the AGV docking platform. The collaborative robot moves through the seventh axis, and uses a 3D line laser camera to take pictures of the pin holes, pins and other feature points on the end faces of the units on both sides and the overall end faces. The relative position data of the units is calculated based on the photographed data on both sides and transmitted to the six-freedom parallel attitude adjustment platform. The six-degree-of-freedom parallel attitude adjustment platform adjusts the posture according to the relative posture data to make the hoisting unit coaxial with the unit on the side-mounted platform. The AGV docking platform performs mobile docking, and the six-axis force measuring platform monitors the docking force data in real time and determines whether it is coaxial. If the docking position deviates, the six-degree-of-freedom parallel attitude adjustment platform performs secondary attitude adjustment to ensure the coaxial docking of the two units. After the docking is completed, the fasteners at the docking are installed manually using a power arm and a semi-automatic tightening machine. The auxiliary hoisting support of the unit on the AGV docking platform is installed on the side-mounted platform. The annular fixed tooling on the AGV docking platform is manually removed, the AGV docking platform is evacuated, and the docking is completed.

[0074] Those skilled in the art may understand this embodiment as a more specific description of Embodiment 1.

[0075] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0076] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. An automatic docking system for high-precision aircraft engine assembly, characterized in that: Including side-mounted platform, AGV docking platform, 3D line laser camera, collaborative robot and robot seventh axis; The collaborative robot moves horizontally via the robot's seventh axis; The AGV docking platform includes a six-degree-of-freedom parallel attitude adjustment platform, a six-axis force measurement platform, an annular fixed tooling, an AGV chassis and a laser radar; The side-mounted platform can be lifted and lowered along the Z axis and rolled along the X axis, carrying the aircraft engine unit to complete the docking assembly action, and is equipped with a C-shaped ring frame and a double-head tooling to provide auxiliary support for the docking components after the docking is completed; The six-degree-of-freedom parallel attitude adjustment platform is composed of six electric cylinders, six universal hinges on the upper and lower sides, and two upper and lower platforms. Through the telescopic movement of the electric cylinders, the upper platform can move in six degrees of freedom X, Y, Z, α, β, γ in space to simulate various spatial motion postures; The six-axis force measurement platform is installed on the upper platform of the six-degree-of-freedom parallel posture adjustment platform, and consists of four three-axis force sensors placed in parallel, which can monitor the force data changes during the docking process in real time; The AGV chassis is a four-steering wheel AGV chassis, which can move in all directions, can move forward in a straight line, backward, move horizontally, rotate in place and move in a curve. After reaching the designated assembly point, the four sets of steering wheels are immediately powered on, locked and lifted, and the assembly is performed in a fixed position; The laser radar is installed on the AGV chassis. The laser radar is used to scan feature points in the environment to generate a high-precision two-dimensional environment map in real time, which is used for real-time path trajectory planning of the AGV.

2. The automatic docking system for high-precision aircraft engine assembly according to claim 1, characterized in that: The annular fixing fixture is installed on the platform of the six-degree-of-freedom parallel attitude adjustment platform and is used to fix the unit body.

3. The automatic docking system for high-precision aircraft engine assembly according to claim 1, characterized in that: The 3D line laser camera is installed at the end of the collaborative robot.

4. The automatic docking system for high-precision aircraft engine assembly according to claim 1, characterized in that: The collaborative robot has six degrees of freedom and a guide rail is installed at the bottom of the robot, which serves as the seventh axis of the robot. The seventh axis is used to accurately move the collaborative robot in the horizontal direction to assist in high-precision positioning and operation during the docking process.

5. An automatic docking method for high-precision aircraft engine assembly, characterized in that: The method uses the automatic docking system for high-precision aircraft engine assembly according to any one of claims 1 to 4, and the method comprises the following steps: Step S1: Use AGV to transport the unit body on one side of the aircraft engine to the side-mounted platform and install it manually, and hoist the unit body on the other side to the AGV docking platform; Step S2: the AGV docking platform approaches the side-mounted platform, and the side-mounted platform roughly adjusts its height; Step S3: Use a 3D line laser camera to scan the unit cells on both sides to obtain and calculate the relative pose; Step S4: According to the relative posture data, the six-degree-of-freedom parallel posture adjustment platform adjusts the posture of the hoisting unit body to be coaxial with the other unit body; Step S5: the AGV chassis moves to dock, and the six-axis force measurement platform monitors the docking status in real time; Step S6: After the docking is completed, manually install the docking fasteners; Step S7: Install the auxiliary lifting support on the side-mounted platform, remove the annular fixing tooling on the AGV docking platform, and evacuate the AGV docking platform.

6. The automatic docking method for high-precision aircraft engine assembly according to claim 5, characterized in that: In step S2: when the AGV docking platform approaches the side-mounted platform, a 2D environment map generated based on lidar data is used to perform real-time path trajectory planning through SLAM technology, and after reaching the designated position, the position states in three directions are separated and corrected for docking.

7. The automatic docking method for high-precision aircraft engine assembly according to claim 6, characterized in that: The separation correction includes correction of the X-axis position, correction of the Y-axis position and correction of the yaw angle, so as to reach the designated docking position.

8. The automatic docking method for high-precision aircraft engine assembly according to claim 5, characterized in that: In the step S3: when the unit bodies on both sides are scanned using a 3D line laser camera, the camera feeds back an image with depth information for calculating the 6D pose of the unit body.

9. The automatic docking method for high-precision aircraft engine assembly according to claim 5, characterized in that: In step S5: during the docking process, the six-axis force measuring platform monitors the docking force data in real time. If the docking position deviates, the six-degree-of-freedom parallel attitude adjustment platform performs secondary attitude adjustment until the two unit bodies are docked coaxially.

10. The automatic docking method for high-precision aircraft engine assembly according to claim 5, characterized in that: The six-axis force measuring platform in step S5 can calculate the torque values ​​on the three rotation axes in addition to the contact forces on the three translation axes by calculating the three-dimensional force values ​​output by the four force sensors.

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