High-precision transferring and docking device for automatic guided vehicle and control method of high-precision transferring and docking device

Abstract

The invention discloses a high-precision transferring and docking device for an automatic guided vehicle and a control method of the high-precision transferring and docking device. The high-precision transferring and docking device comprises a lifting assembly, a telescopic fork assembly, a transverse moving assembly, a rotating assembly, a secondary telescopic assembly, a transverse moving decoupling assembly and a forward moving decoupling assembly. The lifting assembly is installed on a frame body of the automatic guided vehicle, and four lifting guide rails are arranged at the four corners of the lifting assembly and matched with four sets of sliding blocks on the frame body. The telescopic fork assembly is fixed on the lifting assembly; two transverse moving guide rails are fixed on the transverse moving assembly and are matched with two groups of sliding blocks on the telescopic fork assembly to form a sliding block pair; the rotating assembly is fixed to the upper portion of the transverse moving assembly. Two second-stage telescopic guide rails are fixed on the second-stage telescopic assembly and are matched with two groups of sliding blocks at the upper part of the transverse moving assembly to form a sliding block pair; the transverse movement decoupling assemblies are fixed to the telescopic fork assembly, and the two transverse movement decoupling assemblies are symmetrically arranged on the two sides of the transverse movement assembly. The forward-moving decoupling assembly is installed above the second-stage telescopic assembly and matched with an upper ejector rod of the second-stage telescopic assembly.

Description

Technical Field

[0001] The invention relates to the field of intelligent industrial logistics, and is a high-precision transfer and docking device for an automatic guided vehicle and a control method thereof. Background Art

[0002] In the aerospace manufacturing, machinery manufacturing and other industrial fields, it is very common to use automatic guided vehicles (AGVs) to perform high-precision, large-load transfer and docking operations of materials. Since some special application scenarios require high precision in material docking, and the AGV positioning accuracy is lower than the docking accuracy required by the material, the AGV is required to be equipped with a high-precision transfer and docking device to eliminate the impact of AGV positioning deviation. In some special working conditions, such as materials with heavy weight in the upper and lower parts of the machining center, manual clamping is still used, which has low work efficiency, great safety risks and seriously occupies too many human resources. Summary of the invention

[0003] In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a transfer and docking device that relies on multi-directional floating decoupling of a mechanical structure to achieve high-precision transfer and docking of materials. At the same time, this method can reduce the difficulty of manual clamping of materials, improve the safety of manual clamping and the overall work efficiency of the workshop, and reduce production costs.

[0004] The technical solution provided by this application is: A high-precision transfer and docking device for an automatic guided vehicle, the transfer and docking device comprising a lifting assembly, a telescopic fork assembly, a lateral movement assembly, a slewing assembly, a secondary telescopic assembly, a lateral movement decoupling assembly, and a forward movement decoupling assembly; Wherein, the lifting assembly is installed on the frame of the automatic guided vehicle, the telescopic fork assembly is fixed on the upper part of the lifting assembly, and the telescopic fork is longitudinally telescoped over a long distance by installing a reduction motor; Two transverse guide rails are fixed at both ends of the transverse moving assembly, which cooperate with two sets of transverse moving sliders in the telescopic fork assembly to form a transverse moving slider pair; A slewing bearing and a slewing motor are fixed in the middle of the transverse moving assembly, which are used to drive the slewing assembly to perform the rotation function; the slewing assembly is fixed to the upper part of the slewing bearing on the transverse moving assembly, and a ball screw pair is fixed in the middle of the slewing assembly; A secondary telescopic motor is fixed at the end of the ball screw pair, which is used to drive the ball screw pair to rotate and drive the secondary telescopic assembly to telescope longitudinally for a short distance; a pneumatic clamp is fixed at the front of the secondary telescopic assembly, which is used to clamp the workpiece and fix the special chuck on the tooling; The lateral shift decoupling assembly is fixed on the telescopic fork assembly, and a lateral shift reset spring and a reset push rod are installed inside each set of lateral shift decoupling assemblies. The lateral shift assembly has a lateral deviation adjustment function, and at the same time, the lateral shift assembly is always located in the center position without external force. The forward decoupling assembly is installed above the secondary telescopic assembly. A screw nut is fixed in the middle of the forward decoupling assembly, which cooperates with the ball screw pair on the rotary assembly. Two forward return springs and a return push rod are installed in both directions of the forward decoupling assembly. The forward decoupling assembly is used to control the secondary telescopic assembly to have the ability to adjust the longitudinal deviation.

[0005] Furthermore, four lifting guide rails are arranged at the four corners of the lifting assembly, which cooperate with the sliders at the corresponding positions on the frame body; the lifting assembly is provided with a trapezoidal screw lift and a lifting motor to realize the lifting of the entire device.

[0006] Furthermore, the slewing assembly is fixed to the upper part of the slewing support on the transverse movement assembly.

[0007] Furthermore, two secondary telescopic guide rails are fixed on the secondary telescopic assembly, which cooperate with two groups of secondary telescopic sliders on the upper part of the rotary assembly to form a slider pair.

[0008] Furthermore, the transverse shift decoupling assembly includes two groups, and the two groups of transverse shift decoupling assemblies are symmetrically arranged on both sides of the transverse shift assembly.

[0009] Based on the above-mentioned high-precision transfer and docking device for an automated guided vehicle, the present application also provides a control method thereof, and the control method includes the following contents: The AGV automatically navigates to the docking position and stops. After secondary positioning, the lifting assembly is lifted to a predetermined height, and when the telescopic fork assembly extends forward to the docking position, the telescopic fork assembly stops. The secondary telescopic assembly continues to extend forward until the pneumatic clamping claw is docked and locked with the chuck of the workpiece fixing fixture on the workstation, and then the lifting assembly is lifted until the workpiece fixing fixture is separated from the docking station; The secondary telescopic assembly and the telescopic fork assembly retract backwards in sequence. After retracting into position, the rotary assembly is controlled to rotate clockwise to the set angle, and the workpiece fixing fixture is placed on the temporary storage station on the AGV. After confirming that the placement is completed, the components of the docking device return to their initial positions to complete the transfer and docking task.

[0010] Furthermore, the fixed tooling chuck is a columnar structure, including a head, a groove part and a rear part. The diameter of the head is smaller than that of the rear part, and the front end of the head is an arc surface, which is opposite to the docking part of the pneumatic clamp.

[0011] Furthermore, when the AGV stops, when the lateral deviation between the pneumatic gripper and the workpiece fixing fixture chuck on the workstation reaches a set distance, the pneumatic gripper continues to extend and dock forward, and uses the guide bevel to drive the lateral movement component to shift the set distance laterally until the workpiece fixing fixture docking is completed; After the lifting assembly is lifted to the workpiece fixing fixture to detach from the docking position, the lateral movement assembly automatically returns to the centering position under the pressure of the lateral movement return spring; When the AGV stops, when the longitudinal deviation between the pneumatic gripper and the special chuck of the workpiece fixing fixture on the workstation reaches the set distance, the pneumatic gripper retracts and docks forward according to the original fixed displacement instruction; when the pneumatic gripper does not extend forward far enough and no in-position signal is detected, the system again sends a fixed forward movement instruction of the set distance to detect the in-position signal of the pneumatic gripper; when the pneumatic gripper extends forward far beyond the actual demand, under the action of the forward reset spring of the forward decoupling assembly, the pneumatic gripper does not undergo rigid extrusion with the workpiece fixing fixture.

[0012] Compared with the existing workshop material transfer and docking method, the high-precision transfer and docking device for an automatic guided vehicle of the present invention has the following beneficial effects: The transfer and docking device provided by the present invention realizes multi-directional floating decoupling of the transfer and docking device through a purely mechanical structure, which can effectively eliminate the influence of precision deviations in multiple directions on the transfer and docking, and at the same time, the structure is relatively simpler.

[0013] At the same time, the use of a purely mechanical method to correct precision deviations greatly reduces the complexity of the docking device operation, avoids the extensive use of electrical components such as visual cameras and radio and television sensors, and increases the safety and reliability of the docking device.

[0014] At the same time, the transfer and docking device can complete the automatic transfer and docking of heavy materials, which can greatly reduce labor costs, improve workshop operation efficiency, and increase the safety of the material transfer and docking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the structural scheme of the present invention, the drawings required for use in the present invention will be briefly introduced below.

[0016] Figure 1 This is the axonometric view of the transfer and docking device; Figure 2 This is the axonometric view of the lifting assembly; Figure 3 It is an axonometric view of the telescopic fork assembly; Figure 4 This is the axonometric view of the traverse assembly; Figure 5 It is the axonometric view of the rotating component; Figure 6 This is the axonometric view of the secondary telescopic component; Figure 7 It is the axonometric view and sectional view of the lateral decoupling assembly; Figure 8 Axonometric and sectional views of the forward decoupling assembly; Fig. 9 Axonometric and sectional views of the pneumatic gripper and the chuck used for workpiece fixing. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Embodiment 1:

[0019] like Figure 1 As shown, a high-precision transfer and docking device for an automatic guided vehicle mainly includes a lifting assembly 100, a telescopic fork assembly 200, a lateral movement assembly 300, a rotation assembly 400, a secondary telescopic assembly 500, a lateral movement decoupling assembly 600, and a forward movement decoupling assembly 700.

[0020] Figure 2 It is a lifting component 100 for the transfer and docking device, which is installed on the AGV frame body through a support plate 102; four lifting guide rails 105 are arranged at the four corners of the lifting frame 101 on the lifting component, which cooperate with four sets of sliders on the frame body; by installing a trapezoidal screw lift 104 and a lifting motor 103 in the lifting component, the entire transfer and docking device can be lifted and lowered, and at the same time, it has a mechanical self-locking feature to ensure that after the transfer and docking device is lifted and lowered into place, no other fixing measures are required.

[0021] Figure 3 The telescopic fork assembly 200 for the transfer docking device is fixed on the upper part of the lifting assembly 100, and the telescopic fork 201 is longitudinally telescoped over a long distance by installing a reduction motor 203; two sets of transverse sliding blocks 202 are fixed on the upper part of the telescopic fork assembly 200.

[0022] Figure 4 The transverse moving assembly 300 of the transfer docking device is a transverse moving plate 302 of the main structure. Two transverse moving guide rails 303 are fixed at both ends of the transverse moving plate 302, which cooperate with the two sets of transverse moving sliders 202 on the telescopic fork assembly 200 to form a transverse moving slider pair; a slewing bearing 301 and a slewing motor 304 are fixed in the middle of the transverse moving assembly 300 to drive the slewing assembly 400 to perform the rotation function. After the AGV is parked for the second time, if there is a lateral positioning deviation between the pneumatic clamp 501 and the special chuck on the tooling, when the pneumatic clamp 501 is docked with the special chuck on the tooling, the transverse moving slider pair is used to passively adjust the lateral relative position of the pneumatic clamp 501 and the special chuck on the tooling to ensure that the pneumatic clamp 501 can correctly clamp the special chuck on the tooling.

[0023] Figure 5The transfer docking device swivel assembly 400 is fixed to the upper part of the swivel bearing 301 on the transverse assembly 300, and the main structural part is a swivel plate 402. A ball screw pair 403 is fixed in the middle of the swivel plate 402; a secondary telescopic motor 401 is fixed at the end of the ball screw pair 403, which is used to drive the ball screw pair 403 to rotate and drive the secondary telescopic assembly 500 to telescope longitudinally for a short distance. Two sets of secondary telescopic sliders 404 are fixed at the four corners of the swivel assembly 400. After the AGV is parked for the second positioning, if there is a longitudinal positioning deviation between the pneumatic clamp 501 and the special chuck on the tooling, when the pneumatic clamp 501 is docked with the special chuck on the tooling, the telescopic slider pair can be used to passively adjust the longitudinal relative position of the pneumatic clamp 501 and the special chuck on the tooling to ensure that the pneumatic clamp 501 can correctly clamp the special chuck on the tooling.

[0024] Figure 6 It is a secondary telescopic component 500 of the transfer and docking device, and a secondary telescopic plate 502 is a main structural part. Two secondary telescopic guide rails 503 are fixed on the secondary telescopic plate 502, which cooperate with two groups of secondary telescopic slide blocks 404 on the upper part of the transverse movement component to form a telescopic slide block pair; a pneumatic clamp 501 is fixed on the front part of the secondary telescopic component 500, which is used to clamp the special chuck on the workpiece fixing tooling.

[0025] Figure 7 The transverse shift decoupling assembly 600 of the transfer docking device is fixed on the telescopic fork assembly 200; it is composed of a transverse inner spring seat 604, a transverse outer spring seat 601, a transverse decoupling bracket 603, a reset push rod 602 and a transverse reset spring 605; the transverse reset spring 605 is placed between the transverse inner spring seat 604 and the transverse outer spring seat 601, the transverse outer spring seat 601 is fixed to the side of the transverse decoupling bracket 603, one end of the reset push rod 602 is against the transverse inner spring seat 604, and the other end is fitted with the transverse plate 302 by pre-stressing; two groups of transverse decoupling assemblies 600 are symmetrically arranged on both sides of the transverse assembly 300; the two groups of transverse decoupling assemblies 600 have the same pre-stress after installation, and the transverse reset springs 605 have sufficient compression margins, thereby ensuring that the transverse assembly 300 has sufficient lateral deviation adjustment capabilities, and at the same time, the transverse assembly 300 can always be located in the center position without external force.

[0026] Figure 8The forward decoupling assembly 700 of the transfer docking device is installed above the secondary telescopic assembly 500, and is composed of a forward outer spring seat 701, a forward decoupling bracket 702, a screw nut fixing plate 703, a push rod 704, a push rod fixing plate 705, a screw nut 706, a forward return spring 707, and a forward inner spring seat 708; the screw nut 706 is located in the middle position of the forward decoupling assembly 700, fixed on the screw nut fixing plate 703, and cooperates with the ball screw pair 403 on the rotary assembly 400; the two push rods 704 are fixed by the push rods The plate 705 is fixed on both sides of the screw nut fixing plate 703; the four end faces of the two push rods 704 are pressed against the inner side of the forward inner spring seat 708 by pre-compression, and the four forward return springs 707 are placed between the forward inner spring seat 708 and the forward outer spring seat 701; the four forward outer spring seats 701 are fixed on the sides of the two forward decoupling brackets 702; the four end faces of the two push rods 704 have the same pre-compression force, and the forward return springs 707 in both directions have sufficient compression margins, so as to ensure that the secondary telescopic assembly has sufficient longitudinal deviation adjustment ability. At the same time, it is ensured that the secondary telescopic assembly 500 can always be located at the initial program setting position without the action of external force in the longitudinal direction.

[0027] Embodiment 2:

[0028] Based on the above docking device, this embodiment provides a control method thereof, and the control method includes the following contents: The AGV automatically navigates to the docking position and stops. After secondary positioning, the lifting assembly is lifted to a predetermined height, and when the telescopic fork assembly extends forward to the docking position, the telescopic fork assembly stops. The secondary telescopic assembly continues to extend forward until the pneumatic clamping claw is docked and locked with the chuck of the workpiece fixing fixture on the workstation, and then the lifting assembly is lifted until the workpiece fixing fixture is separated from the docking station; The secondary telescopic assembly and the telescopic fork assembly retract backwards in sequence. After retracting into position, the rotary assembly is controlled to rotate clockwise to the set angle, and the workpiece fixing fixture is placed on the temporary storage station on the AGV. After confirming that the placement is completed, the components of the docking device return to their initial positions to complete the transfer and docking task.

[0029] Furthermore, the fixed tooling chuck is a columnar structure, including a head, a groove part and a rear part. The diameter of the head is smaller than that of the rear part, and the front end of the head is an arc surface, which is opposite to the docking part of the pneumatic clamp.

[0030] Furthermore, when the AGV stops, when the lateral deviation between the pneumatic gripper and the workpiece fixing fixture chuck on the workstation reaches a set distance, the pneumatic gripper continues to extend and dock forward, and uses the guide bevel to drive the lateral movement component to shift the set distance laterally until the workpiece fixing fixture docking is completed; After the lifting assembly is lifted to the workpiece fixing fixture to detach from the docking position, the lateral movement assembly automatically returns to the centering position under the pressure of the lateral movement return spring; When the AGV stops, when the longitudinal deviation between the pneumatic gripper and the special chuck of the workpiece fixing fixture on the workstation reaches the set distance, the pneumatic gripper retracts and docks forward according to the original fixed displacement instruction; when the pneumatic gripper does not extend forward far enough and no in-position signal is detected, the system again sends a fixed forward movement instruction of the set distance to detect the in-position signal of the pneumatic gripper; when the pneumatic gripper extends forward far beyond the actual demand, under the action of the forward reset spring of the forward decoupling assembly, the pneumatic gripper does not undergo rigid extrusion with the workpiece fixing fixture. When the AGV needs to perform the transfer and docking task, the AGV automatically navigates to the docking position and stops. After the secondary positioning, the lifting component 100 is lifted. After being lifted to a predetermined height, the telescopic fork assembly 200 extends forward. When it is extended to the precise docking position, the telescopic fork assembly 200 stops. At this time, the secondary telescopic assembly 500 continues to extend forward until the pneumatic clamp 501 is docked and locked with the special chuck of the workpiece fixing tool on the workstation. The lifting component 100 is lifted and lifted until the workpiece fixing tool is separated from the docking position. The secondary telescopic assembly 500 and the telescopic fork assembly 200 are retracted backwards in turn. After retracting into place, the rotary assembly 400 is controlled to rotate 90° clockwise to place the workpiece fixing tool on the temporary storage position on the AGV. After confirming that the placement is completed, the components of the docking device return to their initial positions to complete the transfer and docking task.

[0031] Fig. 9The figure is a schematic diagram of the docking of the pneumatic clamp 501 and the special chuck for the workpiece fixing tooling on the docking station. The docking hole on the pneumatic clamp 501 and the special chuck for the workpiece fixing tooling on the station are designed with guiding bevels. The maximum guiding diameter of the docking hole on the pneumatic clamp 501 is 42mm, and the minimum guiding diameter on the special chuck for the workpiece fixing tooling on the station is 20mm. The allowable docking deviation is ±11mm, and the AGV positioning accuracy is ±5mm, which is greater than the positioning deviation of the AGV. When the AGV stops, when the pneumatic clamp 501 and the special chuck for the workpiece fixing tooling on the station have a lateral deviation of 5mm, the pneumatic clamp 501 continues to extend and retract forward for docking, and uses the guiding bevel to drive the transverse shift assembly 300 to shift 5mm laterally until the docking of the workpiece fixing tooling is completed. After the lifting assembly 100 is lifted to the workpiece fixing tooling to detach from the docking station, the transverse shift assembly 300 automatically returns to the center position under the pressure of the transverse shift reset spring 605. When the AGV stops, if the longitudinal deviation between the pneumatic clamp 501 and the special clamping head of the workpiece fixing fixture on the workstation is 5mm, the pneumatic clamp 501 will be extended and docked forward according to the original fixed displacement instruction. When the pneumatic clamp 501 does not extend forward far enough and the in-position signal is not detected, the system will send a fixed forward movement instruction of 5mm again to detect the in-position signal of the pneumatic clamp 501. Due to the action of the forward return spring 707 of the forward decoupling component 700, the pneumatic clamp 501 will not be rigidly squeezed with the workpiece fixing fixture; when the pneumatic clamp 501 extends forward far beyond the actual demand, under the action of the forward return spring 707 of the forward decoupling component 700, the pneumatic clamp 501 will not be rigidly squeezed with the workpiece fixing fixture. This ensures the flexible docking of the entire process and increases the safety of the docking work.

[0032] The high-precision transfer and docking device provided by the present invention can realize the precise placement and clamping of workshop materials, effectively replace the manual clamping process, reduce the difficulty of high-precision loading and unloading of the transfer and docking device on the automatic guided vehicle, and improve the loading and unloading efficiency.

Claims

1. A high-precision transfer and docking device for an automated guided vehicle, characterized in that: The transplanting and docking device comprises a lifting assembly, a telescopic fork assembly, a lateral movement assembly, a slewing assembly, a secondary telescopic assembly, a lateral movement decoupling assembly, and a forward movement decoupling assembly; Wherein, the lifting assembly is installed on the frame of the automatic guided vehicle, the telescopic fork assembly is fixed on the upper part of the lifting assembly, and the telescopic fork is longitudinally telescoped over a long distance by installing a reduction motor; Two transverse guide rails are fixed at both ends of the transverse moving assembly, which cooperate with two sets of transverse moving sliders in the telescopic fork assembly to form a transverse moving slider pair; A slewing bearing and a slewing motor are fixed in the middle of the transverse moving assembly, which are used to drive the slewing assembly to perform the rotation function; the slewing assembly is fixed to the upper part of the slewing bearing on the transverse moving assembly, and a ball screw pair is fixed in the middle of the slewing assembly; A secondary telescopic motor is fixed at the end of the ball screw pair, which is used to drive the ball screw pair to rotate and drive the secondary telescopic assembly to telescope longitudinally for a short distance; a pneumatic clamp is fixed at the front of the secondary telescopic assembly, which is used to clamp the workpiece and fix the special chuck on the tooling; The lateral shift decoupling assembly is fixed on the telescopic fork assembly, and a lateral shift reset spring and a reset push rod are installed inside each set of lateral shift decoupling assemblies. The lateral shift assembly has a lateral deviation adjustment function, and at the same time, the lateral shift assembly is always located in the center position without external force. The forward decoupling assembly is installed above the secondary telescopic assembly. A screw nut is fixed in the middle of the forward decoupling assembly, which cooperates with the ball screw pair on the rotary assembly. Two forward return springs and a return push rod are installed in both directions of the forward decoupling assembly. The forward decoupling assembly is used to control the secondary telescopic assembly to have the ability to adjust the longitudinal deviation.

2. The high-precision transfer and docking device for an automated guided vehicle according to claim 1, characterized in that: Four lifting guide rails are arranged at the four corners of the lifting assembly, which cooperate with the sliders at the corresponding positions on the frame body; the lifting assembly is provided with a trapezoidal screw lift and a lifting motor to realize the lifting of the entire device.

3. The high-precision transfer and docking device for an automated guided vehicle according to claim 1, characterized in that: The slewing assembly is fixed to the upper part of the slewing support on the transverse movement assembly.

4. The high-precision transfer and docking device for an automated guided vehicle according to claim 1, characterized in that: Two secondary telescopic guide rails are fixed on the secondary telescopic assembly, and cooperate with two groups of secondary telescopic slide blocks on the upper part of the rotary assembly to form a slide block pair.

5. The high-precision transfer and docking device for an automated guided vehicle according to claim 1, characterized in that: The transverse shift decoupling assembly comprises two groups, and the two groups of transverse shift decoupling assemblies are symmetrically arranged on both sides of the transverse shift assembly.

6. The control method for a high-precision transfer and docking device for an automated guided vehicle according to claim 1, characterized in that: The control method includes the following contents: The AGV automatically navigates to the docking position and stops. After secondary positioning, the lifting assembly is lifted to a predetermined height, and when the telescopic fork assembly extends forward to the docking position, the telescopic fork assembly stops. The secondary telescopic assembly continues to extend forward until the pneumatic clamping claw is docked and locked with the chuck of the workpiece fixing fixture on the workstation, and then the lifting assembly is lifted until the workpiece fixing fixture is separated from the docking station; The secondary telescopic assembly and the telescopic fork assembly retract backwards in sequence. After retracting into position, the rotary assembly is controlled to rotate clockwise to the set angle, and the workpiece fixing fixture is placed on the temporary storage station on the AGV. After confirming that the placement is completed, the components of the docking device return to their initial positions to complete the transfer and docking task.

7. The control method according to claim 6, characterized in that: The fixed tooling chuck is a columnar structure, comprising a head, a groove and a rear part. The diameter of the head is smaller than the rear part, and the front end of the head is an arc surface, which is opposite to the docking part of the pneumatic clamp.

8. The control method according to claim 6, characterized in that: When the AGV stops, when the lateral deviation between the pneumatic gripper and the workpiece fixing fixture chuck on the workstation reaches the set distance, the pneumatic gripper continues to extend and dock forward, and uses the guide bevel to drive the lateral movement component to shift the set distance laterally until the workpiece fixing fixture docking is completed; After the lifting assembly is lifted to the workpiece fixing fixture to detach from the docking position, the lateral movement assembly automatically returns to the centering position under the pressure of the lateral movement return spring; When the AGV stops, when the longitudinal deviation between the pneumatic gripper and the special chuck of the workpiece fixing fixture on the workstation reaches the set distance, the pneumatic gripper retracts and docks forward according to the original fixed displacement instruction; when the pneumatic gripper does not extend forward far enough and no in-position signal is detected, the system again sends a fixed forward movement instruction of the set distance to detect the pneumatic gripper in-position signal; when the pneumatic gripper extends forward far beyond the actual demand, under the action of the forward reset spring of the forward decoupling assembly, the pneumatic gripper does not undergo rigid extrusion with the workpiece fixing fixture.

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