WO2020078334A1 - Procédé de commutation de pince automatique utilisant un vga comme outil de transport - Google Patents

Procédé de commutation de pince automatique utilisant un vga comme outil de transport Download PDF

Info

Publication number
WO2020078334A1
WO2020078334A1 PCT/CN2019/111126 CN2019111126W WO2020078334A1 WO 2020078334 A1 WO2020078334 A1 WO 2020078334A1 CN 2019111126 W CN2019111126 W CN 2019111126W WO 2020078334 A1 WO2020078334 A1 WO 2020078334A1
Authority
WO
WIPO (PCT)
Prior art keywords
agv
fixture
carrier
new
position information
Prior art date
Application number
PCT/CN2019/111126
Other languages
English (en)
Chinese (zh)
Inventor
凌卫国
张继昌
陈坤
Original Assignee
上海交大智邦科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海交大智邦科技有限公司 filed Critical 上海交大智邦科技有限公司
Publication of WO2020078334A1 publication Critical patent/WO2020078334A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • the invention relates to the field of industrial automation production lines, in particular to an automatic exchange method for fixtures using AGV as a vehicle.
  • the factory mainly adopts the method of manually replacing the fixture, suspending the fixture with a truss and putting it into the warehouse, and then taking the new fixture into the fixture location.
  • This method is very time-consuming and labor-intensive, and it takes a lot of time to adjust the accuracy.
  • the current factory production lines are committed to achieving intelligent and unmanned development. Replacing fixtures by manpower is bound to be disproportionate to this trend.
  • the AGV is used to carry the jigs, but the current AGV positioning is a rough positioning, the accuracy is not high, and the guide device is needed to assist the AGV positioning, which further increases the cost.
  • the object of the present invention is to provide an automatic method for automatically changing fixtures using AGV as a vehicle.
  • the present invention provides an automatic exchange method of a fixture using AGV as a carrier, including the following steps: S1, the AGV carrier removes the old fixture from the device;
  • the AGV carrier takes out the new fixture and returns to the equipment
  • the AGV carrier installs the new fixture to the equipment.
  • the AGV vehicle returns to the device through the navigation system to achieve initial positioning.
  • S3 includes:
  • the AGV carrier installs the new fixture to the equipment.
  • S3.1 includes:
  • the AGV carrier obtains the position information of the new fixture relative to the spatial position of the equipment
  • the AGV vehicle obtains the position information of the reference position through the positioning system
  • the AGV carrier adjusts the new fixture according to the position information of the new fixture relative to the spatial position of the device and the position information of the reference position, and performs repositioning;
  • the reference position is the position where the fixture is first installed on the device.
  • S3.2 includes:
  • the AGV carrier obtains the position information of the angular position of the new fixture relative to the equipment
  • the AGV carrier adjusts the new fixture according to the position information of the new fixture relative to the angular position of the device, and performs accurate positioning.
  • the AGV carrier obtains the position information of the angular position of the new fixture relative to the device through the sensor.
  • the AGV carrier adjusts the new fixture according to the position information of the angular position of the new fixture with respect to the device through the A-axis swing member to perform accurate positioning.
  • step S0 which includes:
  • an identification piece is provided on the device to record the position information of the reference position;
  • the identification piece corresponds to the reference position.
  • the identification member is an image identification code
  • the navigation system is any one or any combination of laser navigation, magnetic navigation, optical navigation, and inertial navigation.
  • the present invention has the following advantages:
  • the present invention can realize the automatic installation and disassembly of the fixture, with a high degree of automation, can improve efficiency, save manpower and material resources;
  • the zero-point positioning system cooperates with the positioning of the hole pin.
  • the zero-point positioning system feeds back errors in real time and makes adjustments to improve accuracy, which can meet the requirements of matching accuracy during the installation of the fixture;
  • AGV can go back and forth at the processing point of each process, can realize one-to-many fixture exchange, without having to install a corresponding exchange workbench for each equipment, which can reduce costs;
  • the AGV can move around in the workshop, and can be transferred when needed, and can be transferred without it, which realizes the maximum utilization rate of the equipment.
  • FIG. 1 is a flow chart of a method for automatic exchange of fixtures using AGV as a carrier in the present invention
  • FIG. 2 is a schematic diagram of the automatic exchange method of a fixture using AGV as a vehicle in the present invention.
  • the technical solution of the present invention mainly utilizes the mechanical positioning and calibration records of the AGV carrier 1, the navigation and positioning of the AGV carrier 1, the positioning of the fixture zero point calibration system 2, and the coordinated positioning of the fixture hole pins to implement the installation of the fixture 3.
  • the navigation system can be various navigation methods such as laser navigation, magnetic navigation, optical navigation, inertial navigation and so on.
  • the AGV vehicle 1 can automatically complete the initial positioning in front of the device 4 along the fixed trajectory by means of the navigation system.
  • the mechanical positioning of the AGV carrier 1 means that the precise position of the fixture 3 on the device 4 is adjusted by purely mechanical means before the exchange, and the image identification code 6 is installed in a specific place, and the zero point calibration on the AGV carrier 1 is used
  • the system 2 records the position where the image identification code 6 is installed as the reference position of the fixture 3, and also as the zero point of each numerical control axis of the four-axis numerical control unit.
  • the position of the AGV carrier 1 and the numerical control unit and supporting mechanism on the AGV carrier 1 The position of 7 is also their reference point, and the electronic control system records all the above reference point information as the position reference point for subsequent exchange.
  • the positioning of the calibration system 2 can determine the position deviation of the fixture 3 by photographing and process the calculation with the control system of the numerical control unit, and then control the four numerical control axes to move corresponding positions to realize the repositioning of the fixture 3.
  • the fixture hole pins are positioned in coordination, the fixture 3 has positioning holes, the fixture mounting block has guide pins and fine positioning pins 5, and during the fall of the fixture 3, the positioning holes cooperate with the guide pins. Then the oblique angle sensor on the clamp support mechanism 7 can transmit the inclination of the fork and the horizontal plane to the control system.
  • the control system uses the A-axis swinging member to adjust the angle of the fork plane and the horizontal plane to make the precise positioning hole pin cooperate. Precise positioning on the mounting block.
  • the jig 3 falls on the support mechanism 7 along with the guide rail of the CNC four-axis unit along the front and back movement of the bracket under the drive of the oil cylinder, so that the jig support mechanism 7 and the jig 3 are separated, and the jig 3 is installed in the jig installation 4 on the positioning and assembly.
  • the AGV vehicle 1 is withdrawn along a fixed trajectory under the action of the navigation system and returns to a specific position.
  • the action S of removing the fixture 3 for the AGV carrier 1 is basically the same as the S during installation. The difference is that after completing the positioning of the navigation positioning and calibration system 2, the AGV carrier 1 moves the oil cylinder up and down to drive the CNC four-axis unit
  • the jig support mechanism 7 moves up, and the jig 3 is removed from below.
  • the support mechanism 7 continues to rise, the clamp 3 and the device 4 are disengaged, and the AGV carrier 1 with the clamp 3 leaves the device 4.
  • the present invention uses AGV as a means of automatic exchange of fixtures to implement automatic installation of fixtures 3 in industrial production, specifically divided into mechanical positioning and calibration records of AGV carrier 1 and AGV carrier 1 Navigation and positioning, positioning of fixture zero point calibration system 2, positioning of fixture hole pins, installation of fixture 3, etc.
  • the AGV carrier 1 takes out the fixture 3 from the library, and completes the initial positioning in front of the machine tool or testing equipment 4 along the fixed trajectory according to the vehicle navigation system;
  • the oil cylinder moves up and down, so that the support mechanism 7 can penetrate into the device 4 at a suitable position;
  • the calibration system 2 of the fixture 3 transmits the position deviation information to the vehicle navigation and numerical control unit control electronic equipment, vehicle navigation and numerical control unit control
  • the electronic device controls the CNC unit to make the fixture 3 complete the positioning on the fixture mounting block; then the CNC four-axis unit bracket continues to fall, and the thick guide hole pin cooperates;
  • the oblique angle sensor detects the tilt angle of the fork at this time and transmits it to the control system, the control system controls
  • a The shaft swing piece is the level of the fork; the CNC four units continue to fall,

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

La présente invention concerne un procédé de commutation de pince automatique utilisant un VGA comme outil de transport. Le procédé comprend les étapes consistant : S1, à détacher, par le VGA de transport (1), une ancienne pince d'un appareil (4) ; S2, à prendre, par le VGA de transport (1), une nouvelle pince et son retour à l'appareil (4) ; et S3, à monter, par le VGA de transport (1), la nouvelle pince sur l'appareil (4). À l'aide du VGA de transport, l'assemblage et le désassemblage entièrement automatiques des pinces peuvent être effectués, ce qui permet d'atteindre un degré élevé d'automatisation, d'améliorer l'efficacité, et d'économiser la main-d'œuvre et les ressources matérielles. Le VGA de transport est positionné par navigation, ce qui permet d'effectuer un positionnement précis. Un système de positionnement à point zéro est ajusté par montage en conjonction avec une broche de trou. Le système de positionnement à point zéro renvoie une erreur en temps réel, et effectue des réglages pour améliorer la précision, étant ainsi capable de satisfaire l'exigence de précision d'appariement dans un procédé de montage de pince. Le VGA peut aller vers l'arrière et vers l'avant aux points d'usinage de diverses procédures de travail pour effectuer une à plusieurs commutations de pince, au lieu d'installer un établi de commutation correspondant pour chaque appareil, ce qui permet de réduire les coûts. Le VGA peut se déplacer au sein d'un atelier, et peut être appelé ou instruit de repartir selon les besoins, ce qui permet d'atteindre le taux d'utilisation maximal de l'appareil.
PCT/CN2019/111126 2018-10-15 2019-10-15 Procédé de commutation de pince automatique utilisant un vga comme outil de transport WO2020078334A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811198115.0 2018-10-15
CN201811198115.0A CN109263753A (zh) 2018-10-15 2018-10-15 利用agv作为运载工具的夹具自动交换方法

Publications (1)

Publication Number Publication Date
WO2020078334A1 true WO2020078334A1 (fr) 2020-04-23

Family

ID=65196814

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/111126 WO2020078334A1 (fr) 2018-10-15 2019-10-15 Procédé de commutation de pince automatique utilisant un vga comme outil de transport

Country Status (2)

Country Link
CN (1) CN109263753A (fr)
WO (1) WO2020078334A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109263753A (zh) * 2018-10-15 2019-01-25 上海交大智邦科技有限公司 利用agv作为运载工具的夹具自动交换方法
CN110850869A (zh) * 2019-10-12 2020-02-28 哈尔滨飞机工业集团有限责任公司 一种agv转运部件的精准定位方法及装置
CN111442774A (zh) * 2020-03-24 2020-07-24 上海交大智邦科技有限公司 利用agv的智能移换平台实现自动交换的方法及***
CN114147732A (zh) * 2021-10-27 2022-03-08 北京星航机电装备有限公司 一种agv自动导航、定位和对接装夹***及控制方法
CN113909945B (zh) * 2021-11-03 2024-06-11 东华大学 一种主动寻位安装托板单元及其加工质量控制方法

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04365799A (ja) * 1991-06-11 1992-12-17 Nippon Yusoki Co Ltd リフトトラックの走行安全制御方法およびその装置
EP2939798A1 (fr) * 2014-05-02 2015-11-04 OpiFlex Automation AB Système d'automatisation et procédé pour entretenir un système de production
CN205870513U (zh) * 2016-07-19 2017-01-11 广州明珞汽车装备有限公司 一种智能移动机械手
CN107344678A (zh) * 2016-05-05 2017-11-14 沈阳新松机器人自动化股份有限公司 一种机器人柔性运输及上下料装置
CN107745960A (zh) * 2017-09-11 2018-03-02 大族激光科技产业集团股份有限公司 物料输送设备及物料输送方法
CN108526980A (zh) * 2018-06-13 2018-09-14 上海交大智邦科技有限公司 可移动式工件夹具交换装置
CN108594822A (zh) * 2018-05-10 2018-09-28 哈工大机器人（昆山）有限公司 基于二维码的机器人定位方法、机器人充电方法及***
CN108655804A (zh) * 2018-06-13 2018-10-16 上海交大智邦科技有限公司 一种全自动快速切换工装夹具***
CN208358381U (zh) * 2018-06-13 2019-01-11 上海交大智邦科技有限公司 一种全自动快速切换工装夹具***
CN109204605A (zh) * 2018-10-15 2019-01-15 上海交大智邦科技有限公司 利用agv作为运载工具的夹具自动交换装置
CN109263753A (zh) * 2018-10-15 2019-01-25 上海交大智邦科技有限公司 利用agv作为运载工具的夹具自动交换方法
CN109333130A (zh) * 2018-11-20 2019-02-15 上海交大智邦科技有限公司 利用agv作为运载器的自动换刀装置

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103302426B (zh) * 2013-06-17 2015-04-22 四川成焊宝玛焊接装备工程有限公司 多车型机器人柔性焊接的车身定位夹具自动更换***
DE102016114842B4 (de) * 2016-08-10 2019-07-04 Asm Assembly Systems Gmbh & Co. Kg Bauelement-Haltevorrichtung, Verfahren und Computerprogramm zum Bestücken eines Bauelementeträgers, Bestückautomat
CN206321266U (zh) * 2016-12-26 2017-07-11 海克斯康测量技术(青岛)有限公司 一种实时在线测量装置
CN208409322U (zh) * 2018-06-13 2019-01-22 上海交大智邦科技有限公司 可移动式工件夹具交换装置

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04365799A (ja) * 1991-06-11 1992-12-17 Nippon Yusoki Co Ltd リフトトラックの走行安全制御方法およびその装置
EP2939798A1 (fr) * 2014-05-02 2015-11-04 OpiFlex Automation AB Système d'automatisation et procédé pour entretenir un système de production
CN107344678A (zh) * 2016-05-05 2017-11-14 沈阳新松机器人自动化股份有限公司 一种机器人柔性运输及上下料装置
CN205870513U (zh) * 2016-07-19 2017-01-11 广州明珞汽车装备有限公司 一种智能移动机械手
CN107745960A (zh) * 2017-09-11 2018-03-02 大族激光科技产业集团股份有限公司 物料输送设备及物料输送方法
CN108594822A (zh) * 2018-05-10 2018-09-28 哈工大机器人（昆山）有限公司 基于二维码的机器人定位方法、机器人充电方法及***
CN108526980A (zh) * 2018-06-13 2018-09-14 上海交大智邦科技有限公司 可移动式工件夹具交换装置
CN108655804A (zh) * 2018-06-13 2018-10-16 上海交大智邦科技有限公司 一种全自动快速切换工装夹具***
CN208358381U (zh) * 2018-06-13 2019-01-11 上海交大智邦科技有限公司 一种全自动快速切换工装夹具***
CN109204605A (zh) * 2018-10-15 2019-01-15 上海交大智邦科技有限公司 利用agv作为运载工具的夹具自动交换装置
CN109263753A (zh) * 2018-10-15 2019-01-25 上海交大智邦科技有限公司 利用agv作为运载工具的夹具自动交换方法
CN109333130A (zh) * 2018-11-20 2019-02-15 上海交大智邦科技有限公司 利用agv作为运载器的自动换刀装置

Also Published As

Publication number Publication date
CN109263753A (zh) 2019-01-25

Similar Documents

Publication Publication Date Title
WO2020078334A1 (fr) Procédé de commutation de pince automatique utilisant un vga comme outil de transport
WO2020078335A1 (fr) Appareil d'échange automatique d'accessoire qui utilise un vag comme outil de transport
CN108981677B (zh) 一种基于激光定位的飞机部件的安装方法
WO2020103808A1 (fr) Procédé d'échange d'outil automatique faisant intervenir un vga en tant qu'outil de transport
CN107707822B (zh) 一种在线式摄像模组主动调焦设备及方法
CN209258287U (zh) 利用agv作为运载工具的夹具自动交换装置
CN103612202B (zh) 一种离子束抛光设备中工件夹具的定位装置
CN112720458B (zh) 一种在线实时校正机器人工具坐标系的***及方法
CN113399685B (zh) 一种双摆动金刚石刀具切削装置和切削方法
CN204054652U (zh) 一种贯流风叶焊接机器人
CN108858218A (zh) 一种适应自动物流的机械臂制孔装置及制孔方法
CN111442774A (zh) 利用agv的智能移换平台实现自动交换的方法及***
CN208938952U (zh) 晶元圆周视觉定位及旋转装置
CN110561400A (zh) 圆周均匀分布零件的高效精准定位***及定位方法
CN116079502A (zh) 一种基于数字孪生的智能制造装配生产线
CN205968335U (zh) 曲轴前端部加工专用新型夹装装置
CN102357815B (zh) 惯性平台台体的数控加工方法及专用加工夹具
CN209477831U (zh) 一种自动化产线工件的姿态矫正装置
CN202517215U (zh) 异型法兰管路装焊工装
CN112705745A (zh) 一种卧式加工中心b轴标定找正***及其工作方法
CA2885111C (fr) Methode d'usinage d'une piece
CN221185677U (zh) 一种线下找正工件中心的筛选装置
CN214816291U (zh) 一种用于智能装配拧紧工作站的装配工装
CN214114166U (zh) 一种用于视觉传感器辅助机器人的吸盘纠偏装置
CN203526990U (zh) 一种制造全电动注塑机用自带工作台的夹具主体

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19873319

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19873319

Country of ref document: EP

Kind code of ref document: A1