CN113110427A - AGV-based flexible positioning device and method for main starting fairing attitude adjusting platform - Google Patents
AGV-based flexible positioning device and method for main starting fairing attitude adjusting platform Download PDFInfo
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- CN113110427A CN113110427A CN202110342110.6A CN202110342110A CN113110427A CN 113110427 A CN113110427 A CN 113110427A CN 202110342110 A CN202110342110 A CN 202110342110A CN 113110427 A CN113110427 A CN 113110427A
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- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 5
- 238000003032 molecular docking Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000011084 recovery Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
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- 230000032258 transport Effects 0.000 description 3
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- 230000007246 mechanism Effects 0.000 description 2
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- 238000012423 maintenance Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a flexible positioning device and a flexible positioning method for a main starting fairing attitude adjusting platform based on an AGV, wherein the device comprises an AGV frame, and a driving system, a jacking system, a control system, a navigation system and a safety system which are arranged on the AGV frame; the driving system comprises a driving wheel set arranged at the lower part of the AGV frame; the jacking system comprises a plurality of jacking air bags arranged at the upper part of the AGV frame and is used for lifting and descending the fairing posture adjusting platform into position; the control system is used for controlling the driving system and the jacking system so as to realize the straight movement, the turning movement, the oblique movement and the pivot rotation movement of the driving wheel set and the lifting movement of the lifting air bag; the navigation system is electrically connected with the control system and used for optimizing the path in real time and sending the optimized path to the control system so as to realize that the driving system moves according to the path planning of the navigation system. The invention has reliable structure and strong practicability and can realize flexible positioning of the posture adjusting platform.
Description
Technical Field
The invention belongs to the field of airplane digital assembly, and particularly relates to a flexible positioning device and method for a main starting fairing attitude adjusting platform based on an AGV.
Background
Agv (automated Guided vehicle) is a transport vehicle equipped with an electromagnetic or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. The AGV has quite wide application in the fields of factory logistics automation, automatic assembly line and the like.
The AGV platform is generally divided into one-way walking, two-way walking and omnidirectional walking according to the walking mode. Compared with a traditional conveying roller way or a traditional conveying belt, the AGV system conveying line has the advantages of being simple in construction, flexible in path, free of space occupation, good in mobility, soft and the like. Therefore, the AGV intelligent navigation transportation system can greatly save labor cost, improve the operation safety of a workshop, improve the working environment of the workshop, improve the transportation efficiency and prevent safety accidents.
For example, chinese patent publication No. CN110550118A discloses an extended-range transfer docking AGV device, which includes a semi-trailer platform and an omnidirectional moving platform based on mecanum wheels; the power generation device also comprises a scissor lifting platform, an automatic butt joint device, a vehicle-mounted generator set and a power source of the device, wherein the automatic butt joint device controls the lifting platform to move to a butt joint position in the vertical direction.
Chinese patent publication No. CN210707694U discloses an AGV transfer vehicle, wherein the lifting structure comprises a fixing latch, a lifting plate, and a driving mechanism, the lifting plate is fixed on a slide rail set of the vehicle body, a set of symmetrical fixing latches are mounted on the lifting plate, and the driving mechanism drives the fixing latches to move vertically to the lifting plate to clamp the object to be lifted.
However, the existing guidance route of the AGV is not an optimal solution, the travel is not accurate enough, the system maintenance cost is high, and the application of the AGV is hindered. And the jacking system of current AGV platform can't realize the flexibility when assembling work and go into the position, and it is great to lead to installing to assault when going into the position.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a flexible positioning device and a flexible positioning method for a main starting fairing posture adjusting platform based on an AGV, which are used for moving and transporting the main starting fairing and the device.
A flexible positioning device of a main starting fairing posture adjusting platform based on an AGV comprises the AGV frame, and a driving system, a jacking system, a control system, a navigation system and a safety system which are arranged on the AGV frame;
the driving system comprises a driving wheel set and a supporting wheel set which are arranged at the lower part of the AGV frame and are used for driving the overall movement of the AGV frame;
the jacking system comprises a plurality of jacking air bags arranged at the upper part of the AGV frame and is used for lifting and descending the fairing posture adjusting platform into position;
the control system is used for controlling the driving system and the jacking system so as to realize the omnidirectional movement of the driving wheel set and the lifting movement of the lifting air bag;
the navigation system is electrically connected with the control system and used for optimizing the path in real time and sending the optimized path to the control system so as to realize that the driving system moves according to the path planning of the navigation system;
the safety system is arranged on the upper part or the peripheral side wall of the AGV frame and used for realizing the emergency stop and the quick recovery of the driving system.
Furthermore, the driving wheel set comprises a driving wheel, a servo motor, a high-torque precision speed reducer and an independent suspension system;
the servo motor, the high-torque precision speed reducer and the independent suspension system are arranged at the lower part of the AGV body, an output shaft of the servo motor is in transmission connection with the high-torque precision speed reducer through a coupler, and an output shaft of the high-torque precision speed reducer penetrates through the independent suspension system and then is connected with a driving wheel; the servo motor is electrically connected with the control system and is controlled by the control system.
Each driving wheel set is designed to be independently suspended, so that the adaptability to the ground can be enhanced. The multi-wheel combination can realize the function of moving in any direction in a two-dimensional plane, and the multi-wheel combination comprises all-directional moving forms such as forward moving, backward moving, left-right transverse moving, oblique moving, center rotating, any curve moving and the like.
Preferably, the driving wheel is a Mecanum wheel.
Furthermore, a cylindrical air bag cover is arranged outside the jacking air bag, and the air bag cover is connected with the air bag through bolts. When the jacking air bag is in the jacking position, the air bag cover assists in increasing the rigidity of the air bag.
Further, the AGV frame on be equipped with electric power system, electric power system include battery, dc-to-ac converter and charging device, battery and dc-to-ac converter install inside the AGV frame, charging device's charging socket structure is reserved to the side of AGV automobile body.
The navigation system adopts a visual navigation mode, so that the AGV has a self-guidance function. The navigation system consists of a camera, a lens, a light source, a processing system and a navigation ribbon, and can realize ribbon guidance and two-dimensional code positioning and self-guidance driving of the equipment. And the transportation of the main lifting fairing and the integrated adjusting system is realized according to a fixed path. Through the two-dimensional code, can set up AGV's speed reduction position and stop position for increase AGV's positioning accuracy.
Furthermore, the safety system comprises an acousto-optic warning lamp, an emergency stop switch, a safety touch edge and a scanner; acousto-optic warning light, scram switch, safe touch limit and scanner all install around the AGV frame or upper portion.
The invention also provides a flexible positioning method of the main starting fairing posture adjusting platform based on the AGV, and the flexible positioning device of the main starting fairing posture adjusting platform based on the AGV comprises the following steps:
(1) the AGV moves to the lower part of the attitude adjusting platform, the jacking system starts to work, the jacking air bag rises to the maximum extension height,
(2) the jacking air bag jacks up the posture adjusting platform to be separated from the ground, and the control system controls the driving system through a path planned by the navigation system, so that the flexible positioning device is loaded with the posture adjusting platform to run to a positioning point and then stops running;
(3) the jacking system starts to work, the plurality of jacking air bags start to deflate synchronously, and the jacking air bags start to descend synchronously from the maximum extension height; the rigidity of the jacking air bag is reduced in the deflation and descending process, the air bag has certain flexibility when the air is insufficient, and the impact of the matching of the positioning pin of the posture adjusting platform base and the positioning base is reduced, so that the posture adjusting platform is flexibly positioned.
Compared with the prior art, the invention has the following beneficial effects:
1. the lifting and descending of the integral base are realized by the jacking air bag, and when the posture adjusting platform needs to be flexibly positioned, the air bag needs to be deflated and descended. The air bag has certain flexibility when the air is insufficient, is softer, and can adapt to the flexible positioning of the posture adjusting platform unit;
2. each wheel set is provided with an independent suspension, so that the adaptability to the ground can be enhanced, and the slipping phenomenon can be avoided. The multi-wheel combination can realize the function of moving in any direction in a two-dimensional plane, and comprises omnidirectional moving forms such as forward moving, backward moving, left-right transverse moving, oblique moving, center revolving, any curve moving and the like;
drawings
FIG. 1 is a schematic overall structure diagram of a flexible positioning device of a main starting fairing attitude adjusting platform based on an AGV, according to the present invention;
FIG. 2 is a schematic structural diagram of a driving wheel set according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a jacking system in an embodiment of the invention.
In the figure: 1-an AGV frame; 2-mecanum wheels; 3-independent suspension system; 4-high torque precision speed reducer; 5-a servo motor; 6-jacking system; 61-jacking the air bag; 62-an airbag housing; 7-safe edge touching; 8-a security scanner; 9-acousto-optic warning lamp.
Detailed Description
The invention will be described in further detail below with reference to the drawings and examples, which are intended to facilitate the understanding of the invention without limiting it in any way.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" may be intended to include the plural forms as well, and the terms "comprising," "including," "containing," and "having" are intended to be inclusive and therefore specify the stated features, steps, operations, elements, and/or combinations thereof, unless the context clearly indicates otherwise. The method steps and operations described herein are not to be construed as necessarily requiring their performance in the order in which the features are described or illustrated, unless such order is explicitly stated, it being understood that additional or alternative steps may be employed.
Although the terms first, second, third, etc. may be used to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Terms such as "first," "second," and the like, when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer and/or section discussed below could be termed a second element, component, region, layer and/or section without departing from the teachings of the example embodiments.
As shown in FIGS. 1-3, the flexible positioning device of the main starting fairing posture adjusting platform based on the AGV comprises an AGV frame 1, and a driving system, a jacking system 6, a control system, a navigation system and a safety system which are arranged on the AGV frame 1.
The driving system comprises a driving wheel set and a supporting wheel set which are arranged at the lower part of the AGV frame and used for driving the overall motion of the AGV frame.
In this embodiment, there are four driving wheel sets and four supporting wheel sets. As shown in fig. 2, the drive wheel set includes mecanum wheels 2, an independent suspension system 3, a high-torque precision reduction gear 4, and a servo motor 5. The driving wheel set is fixed below the AGV frame 1 through an independent suspension mounting system. An output shaft of the servo motor 5 is in transmission connection with the high-torque precision speed reducer 4 through a gear, and an output shaft of the high-torque precision speed reducer 4 penetrates through the independent suspension system 3 and then is connected with the Mecanum wheel 2.
Correspondingly, the supporting wheel set comprises supporting wheels and an independent suspension system, and the supporting wheels are installed on the lower portion of the AGV frame through the independent suspension system.
In the drive wheelset and the support wheelset, all design for independently hanging, can strengthen the adaptability to ground, avoid the phenomenon of skidding. The multi-wheel combination can realize the function of moving in any direction in a two-dimensional plane, and the multi-wheel combination comprises all-directional moving forms such as forward moving, backward moving, left-right transverse moving, oblique moving, center rotating, any curve moving and the like. And the AGV transport vechicle possesses the parking braking function, can automatic parking during parking state.
As shown in fig. 3, the jacking system 6 is composed of a jacking air bag 61 and an air bag cover 62, and the jacking air bag 61 is used for lifting and lowering the whole base into position. In this embodiment, six jacking airbags 61 are arranged on the AGV frame, and the jacking airbags 61 are fixedly connected with the AGV frame 1 through bolts. The bottom of the base unit is provided with a groove at the joint of the jacking air bag 61, and the jacking air bag 61 and the base unit have no friction. When the air bag is installed, the lifting stroke of the fairing adjusting system is set to be 110 mm. When the base is lifted to reach the stroke of 110mm, the air bag is at the highest extension height, and the air bag of the air pressure foot has stronger rigidity. When the AGV transports the fairing adjustment system, the air bag needs to be in a maximum stroke state. When the air bag is deflated and descends, the air pressure in the air bag is reduced, and the air in the air bag is insufficient, so that the flexible posture adjusting platform unit has certain flexibility and is softer, and the flexible positioning of the posture adjusting platform unit can be realized.
Still be equipped with electric power system on the AGV frame, electric power system includes battery, dc-to-ac converter and charging device, and battery and dc-to-ac converter are installed inside the AGV frame, and charging device's charging socket structure is reserved to the side of AGV automobile body.
The storage battery can adopt a lithium iron phosphate storage battery pack and is used for providing power for the AGV. The battery pack adopts a modular design, and can be quickly disassembled and replaced. And a BMS system is provided, and the battery management function is provided. And the inverter inverts the direct-current power supply into an alternating-current three-phase 380V to supply power for the AGV motor driver. The power system adopts a charging device with a protection function, a charging socket structure is reserved on the side edge of the vehicle body, and a 4-meter-long cable reel device is arranged in the vehicle body so as to realize reliable storage and assembly of cables. The pipe coiling device, the charger and the battery on the vehicle body are all arranged in a built-in mode.
In this embodiment, the control system is a motion control system of SIEMENS, germany, and has functions of a voltage regulator, leakage protection, power-off protection, and overload protection. And a servo driving system of Germany SIEMENS company is adopted, the motion control of each axis of the equipment is realized based on a Profinet field bus, and the AGV is provided with a navigation system, so that the traveling is stable, and the AGV has the functions of starting, slowing and stopping. The walking is smooth and stable, and the steering is flexible; the device can realize the straight running, turning, inclined running and in-situ rotation of the vehicle body, has an automatic navigation function, a cooperative motion function and a bearing real-time monitoring function. And the AGV platform is provided with a handheld operation unit, and has the functions of system omnidirectional movement, speed and gear control. The AGV has the advantages that the working platform can move according to an appointed path in an automatic navigation mode, and meanwhile, the AGV can be manually controlled to move forwards and backwards, move transversely and rotate leftwards and rightwards through remote control.
The navigation system of the present embodiment employs a visual navigation mode, and thus the entire AGV has a self-guidance function. The navigation system consists of a camera, a lens, a light source, a processing system and a navigation ribbon, can realize ribbon guidance and two-dimensional code positioning, can realize transportation of a main lifting fairing and an integrated adjustment system according to a fixed path after a motion path is optimized, and realizes self-guidance driving of equipment. Through the two-dimensional code, can set up AGV's speed reduction position and stop position for increase AGV's positioning accuracy.
The safety system consists of a safety contact edge 7, a safety scanner 8 and an acousto-optic warning lamp 9. The three-color status indicator lamp is installed at the diagonal angle of the vehicle body, continuous sound and light warning effects are achieved in the starting and running processes, the warning volume is loud, and the operating personnel can be guaranteed to be clear and recognizable. Emergency stop switches are arranged on four corners of the vehicle body and the handheld remote controller, and equipment can stop acting by pressing the emergency stop switches in emergency. The safety contact edge 7 is arranged around the vehicle body, and can output signals after being blocked, forcibly stop the vehicle and send out an alarm. The opposite corners of the vehicle body are provided with non-contact obstacle avoidance sensors, 360-degree all-dimensional coverage detection can be realized, and the shape of the region can be set arbitrarily, so that the vehicle body can automatically detect obstacles, automatically decelerate and brake in the movement process, the safety distance of 0.5m is ensured, and the safety of the vehicle body is ensured.
Utilize above-mentioned AGV based main process that rises fairing and transfers flexible income position device of appearance platform, including following step:
(1) the AGV moves to the lower part of the attitude adjusting platform, the jacking system starts to work, the jacking air bag rises to the maximum extension height,
(2) the jacking air bag jacks up the posture adjusting platform to be separated from the ground, and the control system controls the driving system through a path planned by the navigation system, so that the flexible positioning device is loaded with the posture adjusting platform to run to a positioning point and then stops running;
(3) the jacking system starts to work, the plurality of jacking air bags start to deflate synchronously, and the jacking air bags start to descend synchronously from the maximum extension height; the rigidity of the jacking air bag is reduced in the deflation and descending process, the air bag has certain flexibility when the air is insufficient, and the impact of the matching of the positioning pin of the posture adjusting platform base and the positioning base is reduced, so that the posture adjusting platform is flexibly positioned.
The embodiments described above are intended to illustrate the technical solutions and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the present invention, and any modifications, additions and equivalents made within the scope of the principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. A flexible positioning device of a main starting fairing posture adjusting platform based on an AGV is characterized by comprising an AGV frame, and a driving system, a jacking system, a control system, a navigation system and a safety system which are arranged on the AGV frame;
the driving system comprises a driving wheel set arranged at the lower part of the AGV frame and is used for driving the overall movement of the AGV frame;
the jacking system comprises a plurality of jacking air bags arranged at the upper part of the AGV frame and is used for lifting and descending the fairing posture adjusting platform into position;
the control system is used for controlling the driving system and the jacking system so as to realize the omnidirectional movement of the driving wheel set and the lifting movement of the lifting air bag;
the navigation system is electrically connected with the control system and used for optimizing the path in real time and sending the optimized path to the control system so as to realize that the driving system moves according to the path planning of the navigation system;
the safety system is arranged on the upper part or the peripheral side wall of the AGV frame and used for realizing the emergency stop and the quick recovery of the driving system.
2. The AGV based flexible positioning device for the main fairing attitude adjusting platform of claim 1, wherein the driving wheel set comprises driving wheels, a servo motor, a high-torque precision speed reducer and an independent suspension system;
the servo motor, the high-torque precision speed reducer and the independent suspension system are arranged at the lower part of the AGV body, an output shaft of the servo motor is in transmission connection with the high-torque precision speed reducer through a gear, and an output shaft of the high-torque precision speed reducer penetrates through the independent suspension system and then is connected with a driving wheel; the servo motor is electrically connected with the control system and is controlled by the control system.
3. The AGV based flexible docking device of claim 2 wherein the drive wheels are Mecanum wheels.
4. The AGV based main fairing flexible docking device of claim 1 wherein the jacking airbag is externally provided with a cylindrical airbag housing, the airbag housing and the airbag are bolted together.
5. The AGV based main fairing flexible docking device of claim 4 wherein the airbag housing assists in increasing the rigidity of the airbag when the jacking airbag is in the jacking position.
6. The AGV-based main fairing attitude adjusting platform flexible positioning device of claim 1 is characterized in that an electric power system is arranged on the AGV frame, the electric power system comprises a storage battery, an inverter and a charging device, the storage battery and the inverter are arranged inside the AGV frame, and a charging socket structure of the charging device is reserved at the side edge of the AGV body.
7. The AGV based flexible positioning device for the main starting fairing attitude adjusting platform of claim 1, wherein the safety system comprises an acousto-optic warning lamp, an emergency stop switch, a safety contact edge and a safety scanner; acousto-optic warning light, scram switch, safe touch limit and safety scanner install around the AGV frame or upper portion.
8. A flexible positioning method of a main starting fairing posture adjusting platform based on an AGV is characterized in that any one of claims 1-7 is adopted, and the flexible positioning device of the main starting fairing posture adjusting platform based on the AGV comprises the following steps:
(1) the AGV moves to the lower part of the attitude adjusting platform, the jacking system starts to work, the jacking air bag rises to the maximum extension height,
(2) the jacking air bag jacks up the posture adjusting platform to be separated from the ground, and the control system controls the driving system through a path planned by the navigation system, so that the flexible positioning device is loaded with the posture adjusting platform to run to a positioning point and then stops running;
(3) the jacking system starts to work, the plurality of jacking air bags start to deflate synchronously, and the jacking air bags start to descend synchronously from the maximum extension height; the rigidity of the jacking air bag is reduced in the deflation and descending process, the air bag has certain flexibility when the air is insufficient, and the impact of the matching of the positioning pin of the posture adjusting platform base and the positioning base is reduced, so that the posture adjusting platform is flexibly positioned.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110562879A (en) * | 2019-09-18 | 2019-12-13 | 武汉理工大学 | A gasbag formula lifting devices for AGV dolly |
| CN111409056A (en) * | 2020-04-29 | 2020-07-14 | 天津航天机电设备研究所 | Omnidirectional mobile robot |
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| CN114313724A (en) * | 2021-11-25 | 2022-04-12 | 北京特种机械研究所 | AGV jacking positioning system is transported in storage |
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Application publication date: 20210713 |
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| RJ01 | Rejection of invention patent application after publication |