Precise docking and transferring device and method for AGV and assembly station

Abstract

The invention relates to a precise butting and transferring device for an AGV (automatic guided vehicle) and an assembly station, which comprises the AGV (4) and the assembly station (6), and is characterized by further comprising a product support frame (2), a posture adjusting bracket (3) and a transferring mechanism (5), wherein the product support frame (2) at least comprises two brackets (21), two bracket mounting plates (22), two bracket connecting beams (23), a support frame zero-point locking pin (24) and a roller (25); the invention is designed according to the transfer and transfer requirements of aerospace products, can realize precise butt joint of the AGV and an assembly station within 0.3 mm, realizes transfer of the products from the AGV to the assembly station, can ensure the moving precision of 0.03 mm / m of the products on the assembly station, solves the problems that the hoisting quality and safety risk of large cabin type products are high, the precision cannot be kept after transfer and the like, and improves the production efficiency. The structure is simple and the economy is good.

Description

Technical Field

[0001] The invention discloses a precise docking and transferring device and method for an AGV and an assembly station, and relates to the field of automation. Background Art

[0002] In the assembly and production of aerospace products, AGV (Automated Guided Vehicle, AGV for short) is often used for product transfer. The assembly workstation is loaded with materials through cranes and other means, and cabin docking and assembly are performed at the assembly workstation. The hoisting process requires the collaboration of multiple people, and the hoisting quality and safety risks of large cabin products are high. It is a safe and convenient way to transfer materials to directly dock with the assembly workstation through AGV and transfer the product from AGV to the assembly station. However, since AGV can only achieve a repeatable positioning accuracy of ±5mm, it cannot meet the precision docking requirements of the guide rail level, and cannot achieve precise docking between AGV and assembly station and product transfer. Summary of the invention

[0003] The purpose of the present invention is to provide a device and method for precise docking and transfer between AGV and assembly station, so as to realize precise docking between AGV and assembly station at guide rail level, and realize the transfer of products from AGV to assembly workstation, so as to ensure the moving accuracy of products on assembly workstation.

[0004] A precision docking and transfer device for an AGV and an assembly station, comprising an AGV 4 and an assembly station 6, characterized in that it also comprises a product support frame 2, a posture adjustment bracket 3 and a transfer mechanism 5;

[0005] The product support frame 2 includes at least two supports 21, two support mounting plates 22, two support connecting beams 23, a support frame zero-point locking pin 24 and a roller 25; wherein the two sides of the two support connecting beams 23 are respectively mounted on the support mounting plates 22, and the upper surfaces of the two support mounting plates 22 are respectively connected to a support 21; the middle position of the end surface of the support mounting plate 22 close to the assembly station 6 is threadedly mounted with a support frame zero-point locking pin 24, and a plurality of rollers 25 are arranged on the lower side of the support mounting plate 22;

[0006] The posture adjustment bracket 3 includes a blocking block 31, a posture adjustment bracket V-shaped guide rail 32, a posture adjustment bracket guide rail mounting plate 33, a posture adjustment bracket zero point locking pin 34, a wire rope vibration isolator 35, an adjustment locking pin 36, a guide rail connecting beam 37 and a vibration isolator mounting plate 38; the blocking block 31 is an L-shaped structure, which is connected to the posture adjustment bracket guide rail mounting plate 33 by screws; a posture adjustment bracket V-shaped guide rail 32 is provided on each of the upper surfaces of the two sides of the posture adjustment bracket guide rail mounting plate 33; the posture adjustment bracket V The guide rail 32 and the multiple groups of rollers 25 under the support mounting plate 22 are used in conjunction with each other; the two attitude adjustment bracket guide rail mounting plates 33 are connected together through the guide rail connecting beam 37 and the vibration isolator mounting plate 38; the attitude adjustment bracket zero point locking pin 34 and the adjustment locking pin 36 are respectively installed at the middle position of the two attitude adjustment bracket guide rail mounting plates 33 close to the assembly station 6; the wire rope vibration isolator 35 is installed on the lower side of the vibration isolator mounting plate 38 by screws; the wire rope vibration isolator 35 is threadedly connected to the upper surface of the AGV 4;

[0007] The transfer mechanism 5 includes a transfer mechanism zero point locator 51, a transfer frame 52, a linear module 53 and a transfer mechanism proximity switch 54; the transfer frame 52 is connected to the slider of the linear module 53 by screws; the transfer mechanism zero point locator 51 is connected to one end of the transfer frame 52 close to the AGV 4; the linear module 53 is fixed to the assembly station 6 by supports on both sides; the transfer mechanism zero point locator 51 is used in conjunction with the zero point locking pin 24;

[0008] The assembly station 6 includes an assembly station zero point locator 61, an assembly station proximity switch 62, an assembly station V-shaped guide rail 63, an assembly station guide rail mounting plate 64, a blocking block 65, a carriage body 66 and a carriage support leg 67; the carriage body 66 is provided with a carriage support leg 67 on its lower surface, the carriage body 66 is provided with an assembly station guide rail mounting plate 64 on its upper surface, the assembly station V-shaped guide rail 63 is mounted on the assembly station guide rail mounting plate 64, and one end of the two assembly station guide rail mounting plates 64 close to the AGV 4 is provided with an assembly station zero point locator 61; the assembly station guide rail mounting plate 64 close to the AGV 4 is also provided with an assembly station proximity switch 62; the assembly station V-shaped guide rail 63 can be used in conjunction with the roller 25, and the spacing of the assembly station V-shaped guide rail 63 is consistent with the spacing of the posture adjustment bracket V-shaped guide rail 32; the transfer mechanism 5 is screwed with the upper surface of the assembly station 6 between the two assembly station V-shaped guide rails 63 through its upper linear module 53; the assembly station zero point positioner 61 can cooperate with the posture adjustment bracket zero point locking pin 34 to connect the assembly station V-shaped guide rail 63 with the posture adjustment bracket V-shaped guide rail 32, so that the product support frame 2 can run back and forth on both the assembly station V-shaped guide rail 63 and the posture adjustment bracket V-shaped guide rail 32;

[0009] AGV4 is docked with the assembly station 6 by connecting the support frame zero-point locking pin 24 with the transfer mechanism zero-point locator 51, the posture adjustment bracket zero-point locking pin 34, and the adjustment locking pin 36 with the assembly station zero-point locator 61 on the assembly station 6; when working, the product 1 to be processed is installed on the product support frame 2; the posture adjustment bracket V-shaped guide rail 32 is connected to the assembly station V-shaped guide rail 63.

[0010] The bracket connecting beam 23 is formed by welding a steel pipe to ensure the overall rigidity of the bracket connecting beam 23 .

[0011] The wire rope vibration isolator 37 can enable the product 1 and the product support frame 2 to move freely.

[0012] The transmission method uses the V-shaped guide rail 32, the assembly station V-shaped guide rail 63 and the roller 25 to facilitate the transfer of products from the AGV to the assembly workstation, while ensuring the movement accuracy of the products on the assembly workstation.

[0013] A method for docking and transferring products using a precision docking and transferring device for an AGV and an assembly station according to claim 1, characterized in that it comprises the following steps:

[0014] Step 1: The control system controls the AGV 4 to move to a predetermined position close to the assembly station 6 according to the instruction through navigation and positioning;

[0015] Step 2: The control system controls the AGV 4 to move forward slowly, and uses the six-degree-of-freedom characteristics of the wire rope vibration isolator 37 between the AGV 4 and the posture adjustment bracket 3 to insert the two posture adjustment bracket zero point locking pins 34 and the adjustment locking pins 36 at the AGV end into the two assembly station zero point locators 61 holes at the assembly station 6 end respectively;

[0016] Step 3: After the assembly station proximity switch 62 at the assembly station 6 end determines that the distance between the AGV 4 and the assembly station 6 meets the requirements, it sends a positioning signal to the control system, and the control system cuts off the air source of the assembly station zero point positioner 61 to lock the zero point locking pin 34 and the adjustment locking pin 36 of the posture adjustment bracket, so as to achieve precise docking between the AGV and the assembly station guide rail;

[0017] Step 4: The control system controls the transfer mechanism 5 to move toward the side of the AGV 4, driving the transfer mechanism zero point locator 51 to move toward the AGV 4 end, so that the zero point locking pin 24 at the AGV 4 end is inserted into the hole of the transfer mechanism zero point locator 51;

[0018] Step 5. After the proximity switch 54 on the transfer mechanism 5 determines that the distance between the transfer mechanism 5 and the product support frame 2 meets the requirements, it sends a positioning signal to the control system. The control system cuts off the air source of the transfer mechanism zero point positioner 51 to lock the zero point locking pin 24, thereby achieving the fixed connection between the product support frame 2 and the product 1 and the transfer mechanism 5.

[0019] Step 6: The control system controls the transfer mechanism 5 to move in the reverse direction, driving the product support frame 2 and the product 1 to move on the V-shaped guide rail 32 of the posture adjustment bracket 3 and the V-shaped guide rail 63 of the assembly station, and stops after reaching the designated position, thus realizing the transfer of the product from the AGV 4 to the assembly station;

[0020] Step 7: The control system controls the connection of the air source of the zero point positioner 61 of the assembly station, the zero point locking pin 34 of the posture adjustment bracket and the adjustment locking pin 36 are unlocked, and the AGV4 drives away from the assembly station according to the instruction.

[0021] The navigation and positioning method of step one is implemented using a QR code.

[0022] Beneficial effects:

[0023] The present invention is designed to meet the needs of aerospace product transportation and transfer. It can achieve precise docking of AGV and assembly station within 0.3mm, and realize the transfer of products from AGV to assembly workstation, which can ensure the moving accuracy of products on the assembly workstation to be 0.03mm / m, and solve the problems of high quality and safety risks in the lifting of large cabin products, and the inability to maintain accuracy after transfer. It has a simple structure and good economy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 , is a process diagram of the docking and transfer steps of the present invention;

[0025] Figure 2 , is a schematic diagram of the structure before docking of the present invention;

[0026] Figure 3 , is a schematic diagram of the structure of the AGV of the present invention after docking with the assembly station 6 and transferring the product;

[0027] Figure 4 , is a structural schematic diagram of a product support frame 2 of the present invention;

[0028] Figure 5 , is a schematic diagram of the structure of the posture adjustment bracket 3 of the present invention Figure 1 ;

[0029] Figure 6 , is a schematic diagram of the structure of the posture adjustment bracket 3 of the present invention Figure 2 ;

[0030] Figure 7 , is a schematic structural diagram of the transfer mechanism 5 of the present invention;

[0031] Figure 8 , is a schematic structural diagram of the assembly station 6 of the present invention.

[0032] Among them, product 1, product support frame 2, posture adjustment bracket 3, AGV 4, transfer mechanism 5, assembly station 6, support 21, support mounting plate 22, bracket connecting beam 23, support frame zero point locking pin 24, roller 25; block 31, posture adjustment bracket V-shaped guide rail 32, posture adjustment bracket guide rail mounting plate 33, posture adjustment bracket zero point locking pin 34, wire rope isolator 35, adjustment locking pin 36, guide rail connecting beam 37, isolator mounting plate 38; transfer mechanism zero point locator 51, transfer frame 52, linear module 53 and transfer mechanism proximity switch 54; assembly station zero point locator 61, assembly station proximity switch 62, assembly station V-shaped guide rail 63, assembly station guide rail mounting plate 64, block 65, trolley body 66, trolley support foot 67. DETAILED DESCRIPTION

[0033] This solution includes product 1, product support frame 2, posture adjustment bracket 3, AGV 4, transfer mechanism 5, and assembly station 6. Product 1 is placed on product support frame 2, and whether it needs to be fastened is determined based on product structure, weight and other factors; product support frame 2 is connected with posture adjustment bracket V-shaped guide rail 32 on posture adjustment bracket 3 through lower roller 25, and is connected with zero point locator 51 on transfer mechanism 5 through docking end face zero point locking pin 24 when AGV 4 and assembly station 6 are docked; posture adjustment bracket 3 is threadedly connected with AGV 4 through lower side wire rope vibration isolator 35, and is connected with zero point locator 61 on assembly station 6 through docking end face posture adjustment bracket zero point locking pin 34 and adjustment locking pin 36 when AGV 4 and assembly station 6 are docked. Transfer mechanism 5 is screwed with assembly station 6 through upper linear module 53. The use of wire rope vibration isolators to connect the posture adjustment bracket 3 and AGV 4 can play a role in shock absorption on the one hand, and on the other hand, the six-degree-of-freedom characteristics of the wire rope vibration isolators can be used to achieve precise docking under the rough positioning of the AGV. The use of roller guides as the transfer transmission method can solve the problem that the linear guide requires extremely high docking accuracy and its life is affected by the docking accuracy. It can ensure the transfer of products under a certain docking error. On the other hand, it can ensure the movement accuracy of the product after transfer, which is convenient for subsequent cabin docking and other operations.

[0034] The product support frame 2 includes a support 21, a support mounting plate 22, a bracket connecting beam 23, a zero-point locking pin 24, and a roller 25. One or two groups of supports 21 can be set according to the size and weight of the product. The support 21 adopts an aluminum alloy hollow structure, and the product mounting surface is designed according to the product structure and connected to the lower support mounting plate 22 by screws; the support mounting plate 22 is made of aluminum alloy material, and the side is connected to the bracket connecting beam 23 by screws. The support mounting plate 22 is threadedly installed with a zero-point locking pin 24 in the middle position of the side close to the assembly station 6, and two or four groups of rollers 25 are symmetrically installed on the lower side of the support mounting plate 22 according to the weight of the product; the bracket connecting beam 23 is formed by welding of steel pipes and is used to connect the product support to ensure the overall rigidity of the product support; the zero-point locking pin 24 is a mature commercial product, which is selected according to the matching of the zero-point positioner; the roller 25 and its installation accessories are mature commercial products, which are selected according to the load.

[0035] The posture adjustment bracket 3 includes a blocking block 31, a posture adjustment bracket V-shaped guide rail 32, a posture adjustment bracket guide rail mounting plate 33, a posture adjustment bracket zero point locking pin 34, a wire rope vibration isolator 35, an adjustment locking pin 36, a guide rail connecting beam 37, and a vibration isolator mounting plate 38. The blocking block 31 is made of steel plate material and has an L-shaped structure. It is connected to the attitude adjustment bracket guide rail mounting plate 33 by screws, one on each side of the guide rail to prevent the product from accidentally sliding out of the guide rail; the attitude adjustment bracket V-shaped guide rail 32 is a mature commercial product, used in conjunction with the roller 25, selected according to the product weight, and the length selected according to the product size, and installed on the attitude adjustment bracket guide rail mounting plate 33 by screws, one on each side symmetrically installed relative to the product axis, and can be installed vertically (V-shaped surface facing upward) or sideways (V-shaped surface facing sideways); the attitude adjustment bracket guide rail mounting plate 33 is made of aluminum alloy sheet material, symmetrically arranged on both sides of the product axis, the two guide rail mounting plates are welded and connected by a guide rail connecting beam 37 and a vibration isolator mounting plate 38, and the two guide rail mounting plates are respectively installed with the attitude adjustment bracket zero point by threads in the middle position near one side of the assembly station The locking pin 34 and the adjustment locking pin 36 are welded and formed, and the mounting surface of the V-shaped guide rail 32 of the attitude adjustment bracket is milled to ensure flatness and straightness, and the mounting threaded holes of the zero-point locking pin 34 and the adjustment locking pin 36 of the attitude adjustment bracket are processed to ensure the hole position accuracy; the zero-point locking pin 34 and the adjustment locking pin 36 of the attitude adjustment bracket are mature commercial products, and are selected according to the matching of the zero-point positioner, wherein the zero-point locking pin is a radial full-positioning pin, and the adjustment locking pin 36 is a radial one-way positioning pin, and the two pins are used together to prevent over-positioning; the guide rail connecting beam 37 adopts a square steel pipe, and the model and quantity are selected according to the product weight; the vibration isolator mounting plate 38 adopts a steel plate, and the size and quantity are selected according to the product weight, and the wire rope vibration isolator 35 is installed on the lower side by screws; the wire rope vibration isolator 35 is a mature commercial product, and the model and quantity are selected according to the load.

[0036] AGV 4 is a guided transport vehicle, a mature commercial product, which is selected according to product size and weight.

[0037] The transfer mechanism 5 includes a zero point locator 51, a transfer frame 52, a linear module 53, and a proximity switch 54. The zero point locator 51 is a mature commercial product, the model is selected according to the load, and it is used in conjunction with the zero point locking pin 24, and is connected to the side of the transfer frame 52 close to the AGV 4 by screws; the transfer frame 52 is made of aluminum alloy and is connected to the slider of the linear module 53 by screws; the linear module 53 is a mature commercial product, the model is selected according to the product load, the length is selected according to the product size, and it is fixed to the assembly station 6 through the supports on both sides; the proximity switch 54 is a mature commercial product, the model is selected according to the measurement distance, and a laser distance sensor or the like can also be selected, and it is installed to the side of the transfer frame 52 close to the AGV 4 by screwing.

[0038] The assembly station 6 includes a zero point locator 61 , an assembly station proximity switch 62 , an assembly station V-shaped guide rail 63 , an assembly station guide rail mounting plate 64 , a blocking block 65 , a carriage body 66 , and a carriage support leg 67 . The zero point locator 61 is a mature commercial product. The model is selected according to the load. It is used in conjunction with the zero point locking pin 34 of the posture adjustment bracket. It is connected to the assembly station guide rail mounting plate 64 close to the AGV 4 side by screws. A zero point locator is set on each of the two assembly station guide rail mounting plates 64; the assembly station proximity switch 62 is a mature commercial product. The model is selected according to the measurement distance. A laser distance measuring sensor or the like can also be selected. It is installed on the assembly station guide rail mounting plate 64 close to the AGV 4 side by screw connection; the assembly station V-shaped guide rail 63 is a mature commercial product. It is used in conjunction with the roller 25. The model is selected according to the product weight and the length is selected according to the product size. It is installed on the assembly station guide rail mounting plate 64 by screws. One on each side is installed symmetrically relative to the product axis. The guide rail spacing is consistent with the spacing of the V-shaped guide rail 32 of the posture adjustment bracket on one side of the AGV 4. It can be installed vertically (V-shaped side facing upward) or sideways (V-shaped side facing sideways). The installation method is the same as that of AGV 4. The installation method of the V-shaped guide rail 32 of the posture adjustment bracket on one side is consistent; the assembly station guide rail mounting plate 64 is made of steel plate, which is symmetrically arranged on both sides of the product axis and is connected to the upper side of the rack body 66 by welding. After welding, the mounting surface of the V-shaped guide rail 63 of the assembly station is milled to ensure flatness and straightness. The height and spacing are consistent with the guide rail mounting plate 33 of the posture adjustment bracket on one side of AGV 4. The threaded hole for installing the zero point locator 61 is processed, and the hole size is consistent with the spacing of the zero point locking pin 34 and the adjustment locking pin 36 of the posture adjustment bracket on one side of AGV 4; the blocking block 65 is made of steel plate material and L-shaped structure. It is connected to the assembly station guide rail mounting plate 64 by screws, one on each side of the guide rail to prevent the product from accidentally sliding out of the guide rail; the rack body 66 is welded and formed by square steel, and the size is determined according to the product load and size; the rack support foot 67 adopts a commercial mature foot cup product, the upper side is connected to the rack body by threads, which is used to adjust the overall height and posture of the rack, and the lower side is connected to the factory floor by anchor bolts to ensure that the rack body is fixed relative to the ground.

[0039] The precise docking and transfer steps between AGV and assembly station are as follows:

[0040] Step 1: AGV 4 moves to a predetermined position close to assembly station 6 according to the instruction, and the accuracy meets the requirement of ±5mm through QR code navigation and positioning.

[0041] Step 2: AGV 4 moves forward slowly, and using the six-degree-of-freedom characteristics of the wire rope vibration isolator 37 between AGV 4 and the posture adjustment bracket 3, the two posture adjustment bracket zero point locking pins 34 and the adjustment locking pins 36 at the AGV end are respectively inserted into the two zero point locator 61 holes at the assembly station 6 end.

[0042] Step 3: After the proximity switch 62 at the assembly station 6 determines that the distance between the AGV 4 and the assembly station 6 meets the requirements, it sends an in-position signal to the control system. The control system cuts off the air source of the zero point positioner 61 to lock the zero point locking pin 34 and the adjustment locking pin 36 of the posture adjustment bracket, so as to achieve precise docking between the AGV and the assembly station guide rail with an accuracy of less than 0.3mm.

[0043] Step 4: The control system controls the transfer mechanism 5 to move toward the side of the AGV 4, driving the zero point locator 51 to move toward the AGV end, so that the zero point locking pin 24 at the AGV end is inserted into the hole of the zero point locator 51.

[0044] Step 5: After the proximity switch 54 on the transfer mechanism 5 determines that the distance between the transfer device and the product support frame 2 meets the requirements, it sends a positioning signal to the control system. The control system cuts off the air source of the zero point positioner 51 to lock the zero point locking pin 24, thereby achieving a fixed connection between the product support frame and the product and the transfer mechanism.

[0045] Step 6: The control system controls the transfer mechanism 5 to move in the reverse direction, driving the product support frame and the product to move on the roller guide rail, and stops after reaching the specified position, thereby realizing the transfer of the product from the AGV to the assembly station.

[0046] Step 7: The control system controls the connection of the air source of the zero-point positioner 61, the zero-point locking pin 34 of the posture adjustment bracket and the adjustment locking pin 36 are unlocked, and the AGV drives away from the assembly station according to the command.

Claims

1. A precision docking and transfer device for an AGV and an assembly station, comprising an AGV (4) and an assembly station (6), characterized in that: It also includes a product support frame (2), a posture adjustment bracket (3) and a transfer mechanism (5); The product support frame (2) comprises at least two supports (21), two support mounting plates (22), two support connecting beams (23), a support frame zero-point locking pin (24) and a roller (25); wherein the two sides of the two support connecting beams (23) are respectively mounted on the support mounting plates (22), and the upper surfaces of the two support mounting plates (22) are respectively connected to a support (21); a support frame zero-point locking pin (24) is threadedly mounted at the middle position of the end surface of the support mounting plate (22) on the side close to the assembly station (6), and a plurality of rollers (25) are arranged on the lower side of the support mounting plate (22); The posture adjustment bracket (3) comprises a blocking block (31), a posture adjustment bracket V-shaped guide rail (32), a posture adjustment bracket guide rail mounting plate (33), a posture adjustment bracket zero point locking pin (34), a wire rope vibration isolator (35), an adjustment locking pin (36), a guide rail connecting beam (37) and a vibration isolator mounting plate (38); the blocking block (31) is an L-shaped structure and is connected to the posture adjustment bracket guide rail mounting plate (33) by screws; a posture adjustment bracket V-shaped guide rail (32) is respectively provided on the upper surfaces of both sides of the posture adjustment bracket guide rail mounting plate (33); the posture adjustment bracket V-shaped guide rail (32) and used in conjunction with a plurality of rollers (25) below the support mounting plate (22); two attitude adjustment bracket guide rail mounting plates (33) are connected together via a guide rail connecting beam (37) and a vibration isolator mounting plate (38); an attitude adjustment bracket zero point locking pin (34) and an adjustment locking pin (36) are respectively installed at the middle position of the two attitude adjustment bracket guide rail mounting plates (33) close to the assembly station (6); a wire rope vibration isolator (35) is installed on the lower side of the vibration isolator mounting plate (38) via screws; the wire rope vibration isolator (35) is threadedly connected to the upper surface of the AGV (4); The transfer mechanism (5) comprises a transfer mechanism zero point positioner (51), a transfer frame (52), a linear module (53) and a transfer mechanism proximity switch (54); the transfer frame (52) is connected to a slider of the linear module (53) by means of screws; the transfer mechanism zero point positioner (51) is connected to one end of the transfer frame (52) close to the AGV (4); the linear module (53) is fixed to the assembly station (6) by means of supports on both sides; the transfer mechanism zero point positioner (51) is used in conjunction with a zero point locking pin (24); The assembly station (6) comprises an assembly station zero point locator (61), an assembly station proximity switch (62), an assembly station V-shaped guide rail (63), an assembly station guide rail mounting plate (64), a blocking block (65), a carriage body (66) and a carriage support foot (67); the carriage support foot (67) is mounted on the lower surface of the carriage body (66), the assembly station guide rail mounting plate (64) is mounted on the upper surface of the carriage body (66), the assembly station V-shaped guide rail (63) is mounted on the assembly station guide rail mounting plate (64), and an assembly station zero point locator (61) is respectively arranged at one end of the two assembly station guide rail mounting plates (64) close to the AGV (4); the assembly station guide rail mounting plate (64) is mounted at one end of the AGV (4) An assembly station proximity switch (62) is also installed; the assembly station V-shaped guide rail (63) can be used in conjunction with the roller (25), and the spacing of the assembly station V-shaped guide rail (63) is consistent with the spacing of the posture adjustment bracket V-shaped guide rail (32); the transfer mechanism (5) is screwed to the upper surface of the assembly station (6) between the two assembly station V-shaped guide rails (63) through the linear module (53) on it; the assembly station zero point positioner (61) can cooperate with the posture adjustment bracket zero point locking pin (34) to connect the assembly station V-shaped guide rail (63) and the posture adjustment bracket V-shaped guide rail (32) together, so that the product support frame (2) can run back and forth on both the assembly station V-shaped guide rail (63) and the posture adjustment bracket V-shaped guide rail (32); The AGV (4) is connected to the assembly station (6) by means of a support frame zero point locking pin (24) being matched with a transfer mechanism zero point locator (51), a posture adjustment bracket zero point locking pin (34), and an adjustment locking pin (36) being matched with an assembly station zero point locator (61) on the assembly station (6); when working, the product (1) to be processed is mounted on the product support frame (2); and a posture adjustment bracket V-shaped guide rail (32) of the posture adjustment bracket (3) is connected to an assembly station V-shaped guide rail (63) of the assembly station (6).

2. The precise docking and transfer device for AGV and assembly station according to claim 1, characterized in that: The bracket connecting beam (23) is formed by welding a steel pipe to ensure the overall rigidity of the bracket connecting beam 23.

3. The precise docking and transfer device for AGV and assembly station according to claim 1, characterized in that: The steel wire rope vibration isolator (37) enables the product (1) and the product support frame (2) to move freely.

4. The precise docking and transfer device for AGV and assembly station according to claim 1, characterized in that: The transmission method uses the posture adjustment bracket V-shaped guide rail (32), the assembly station V-shaped guide rail (63) and the roller (25) to facilitate the transfer of products from the AGV (4) to the assembly workstation, while ensuring the movement accuracy of the products on the assembly workstation.

5. A method for docking and transferring products using the precision docking and transferring device of the AGV and the assembly station according to claim 1, characterized in that: The following steps are involved: Step 1: The control system controls the AGV (4) to move to a predetermined position close to the assembly station (6) according to instructions through navigation and positioning; Step 2: The control system controls the AGV (4) to move forward slowly, and utilizes the six-degree-of-freedom characteristics of the wire rope vibration isolator (37) between the AGV (4) and the posture adjustment bracket (3) to insert the two posture adjustment bracket zero point locking pins (34) and the adjustment locking pin (36) at the AGV end into the two assembly station zero point locator (61) holes at the assembly station (6) end respectively; Step 3: After the assembly station proximity switch (62) at the assembly station (6) end determines that the distance between the AGV (4) and the assembly station (6) meets the requirements, it sends a positioning signal to the control system, and the control system cuts off the air source of the assembly station zero point positioner (61) to lock the zero point locking pin (34) and the adjustment locking pin (36) of the posture adjustment bracket, thereby achieving precise docking between the AGV (4) and the assembly station guide rail; Step 4: The control system controls the transfer mechanism (5) to move toward one side of the AGV (4), driving the transfer mechanism zero point positioner (51) to move toward the end of the AGV (4), so that the zero point locking pin (24) at the end of the AGV (4) is inserted into the hole of the transfer mechanism zero point positioner (51); Step 5: After the proximity switch (54) on the transfer mechanism (5) determines that the distance between the transfer mechanism (5) and the product support frame (2) meets the requirements, it sends a positioning signal to the control system, and the control system cuts off the air source of the transfer mechanism zero point positioner (51), so that the zero point locking pin (24) is locked, thereby realizing the fixed connection between the product support frame (2) and the product (1) and the transfer mechanism (5). Step 6: The control system controls the transfer mechanism (5) to move in the reverse direction, driving the product support frame (2) and the product (1) to move on the posture adjustment bracket V-shaped guide rail (32) and the assembly station V-shaped guide rail (63), and stops after reaching the designated position, thereby realizing the transfer of the product from the AGV (4) to the assembly station (6); Step 7: The control system controls the connection of the air source of the zero point positioner (61) of the assembly station, the zero point locking pin (34) of the posture adjustment bracket and the adjustment locking pin (36) are unlocked, and the AGV (4) leaves the assembly station according to the instruction.

6. The method for precise docking and transfer between an AGV and an assembly station according to claim 5, characterized in that: The navigation and positioning method of step one is implemented using a QR code.

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