WO2020078334A1

WO2020078334A1 - Automatic clamp switching method using agv as carrying tool

Info

Publication number: WO2020078334A1
Application number: PCT/CN2019/111126
Authority: WO
Inventors: 凌卫国; 张继昌; 陈坤
Original assignee: 上海交大智邦科技有限公司
Priority date: 2018-10-15
Filing date: 2019-10-15
Publication date: 2020-04-23
Also published as: CN109263753A

Abstract

An automatic clamp switching method using an AGV as a carrying tool. The method comprising the following steps: S1, an AGV carrier (1) detaching an old clamp from an apparatus (4); S2, the AGV carrier (1) taking out a new clamp and returning to the apparatus (4); and S3, the AGV carrier (1) mounting the new clamp onto the apparatus (4). Through the AGV carrier, full-automatic assembly and disassembly of clamps can be realized, thereby achieving a high degree of automation, improving efficiency, and saving on manpower and material resources. The AGV carrier is positioned using navigation, thus realizing precise positioning. A zero-point positioning system is in location fit with a hole pin. The zero-point positioning system feeds back an error in real time, and makes adjustments to improve the precision, thus being able to meet the requirement of matching precision in a clamp mounting process. The AGV can go back and forth at machining points of various working procedures to realize one-to-multiple clamp switching, instead of installing a corresponding switching workbench for each apparatus, thereby reducing costs. The AGV can move around in a workshop, and can be called over when needed and can be sent away when not needed, thereby realizing the maximum utilization rate of the apparatus.

Description

Automatic exchange method of fixtures using AGV as a carrier

Technical field

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.

Background technique

With the continuous deepening of China's industrialization, the manufacture of products is developing towards precision, efficiency and intelligence. The processing and measurement of products are inseparable from the fixation and positioning of the fixture. The use of fixtures first needs to be installed and positioned on the equipment. Different parts adapt to different fixtures. Therefore, when the parts that need to be processed or measured on the equipment are replaced, the fixtures of the parts need to be replaced first. This involves the removal of the last workpiece fixture and the installation of this part. As a fixed original and positioning reference for part processing and measurement, the fixture is of great significance for the precise processing and accurate measurement of parts.

At present, in order to solve the problem of fixture installation or disassembly, 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.

In order to solve the above technical problems, a method of improving equipment is adopted in the market, specifically, an exchange worktable is installed on the corresponding process processing point on the equipment, and the fixture is replaced through the exchange worktable, but the exchange worktable itself needs to be installed In the equipment, and the processing equipment of each process will be installed with a corresponding exchange table, which will cause the equipment to be huge and costly, and it is not easy to maintain.

In addition, in order to cooperate with the exchange table, 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.

Summary of the invention

In view of the defects in the prior art, the object of the present invention is to provide an automatic method for automatically changing fixtures using AGV as a vehicle.

In order to solve the above technical problem, 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;

S2, the AGV carrier takes out the new fixture and returns to the equipment;

S3, the AGV carrier installs the new fixture to the equipment.

Preferably, in S2, the AGV vehicle returns to the device through the navigation system to achieve initial positioning.

Preferably, S3 includes:

S3.1, AGV carrier repositioning;

S3.2, AGV carrier for precise positioning;

S3.3, the AGV carrier installs the new fixture to the equipment.

Preferably, S3.1 includes:

S3.1.1, the AGV carrier obtains the position information of the new fixture relative to the spatial position of the equipment;

S3.1.2, the AGV vehicle obtains the position information of the reference position through the positioning system;

S3.1.3, 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.

Preferably, S3.2 includes:

S3.2.1, the AGV carrier obtains the position information of the angular position of the new fixture relative to the equipment;

S3.2.2, 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.

Preferably, in S3.2.1, the AGV carrier obtains the position information of the angular position of the new fixture relative to the device through the sensor.

Preferably, in S3.2.2, 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.

Preferably, it further includes step S0, which includes:

S0.1, for the first installation of the fixture, and obtain the reference position of the fixture relative to the device after the installation is completed;

S0.2, record the position information of the reference position.

Preferably, in S0.2, an identification piece is provided on the device to record the position information of the reference position; wherein

The identification piece corresponds to the reference position.

Preferably, 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.

Compared with the prior art, the present invention has the following advantages:

1) 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;

2) Use navigation and positioning to achieve precise positioning;

3) 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;

4) 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;

5) 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.

BRIEF DESCRIPTION

The other characteristic objects and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings.

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.

In the picture:

1-AGV Carrier 2- Calibration System 2- Calibration System 3- Fixture

4-equipment 5-positioning pin 5-positioning pin 6-image identification code

7-Support mechanism

detailed description

The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, those of ordinary skill in the art can make several changes and modifications without departing from the concept of 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. At this time, 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 installation of the jig 3, 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.

Subsequently, 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. There are guide pins and fine positioning pins 5 on the jig support mechanism 7. During the ascent of the support mechanism 7, the guide pins on the jig support mechanism 7 and the pin holes on the jig 3 cooperate, and then the fine positioning hole pins cooperate. 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.

As shown in FIGS. 1 and 2, 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.

Before working, first adjust the precise position of the fixture 3 on the fixture installation device 4 in a purely mechanical manner, set an image identification code 6 at the precise position, and record this position as the reference position of the fixture 3 with the zero calibration system 2. When working, 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, the pin holes are precisely positioned, the fork is withdrawn, and the installation is complete.

The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

An automatic exchange method for fixtures using AGV as a vehicle is characterized by the following steps:

S1, the AGV carrier removes the old fixture from the equipment;

S2, the AGV carrier takes out the new fixture and returns to the equipment;

S3, the AGV carrier installs the new fixture to the equipment.
The automatic exchange method of a fixture using AGV as a carrier according to claim 1, wherein in S2, the AGV carrier returns to the device through the navigation system to achieve initial positioning.
The automatic exchange method for a fixture using AGV as a carrier according to claim 2, wherein S3 includes:

S3.1, AGV carrier repositioning;

S3.2, AGV carrier for precise positioning;

S3.3, the AGV carrier installs the new fixture to the equipment.
The automatic exchange method for a fixture using AGV as a carrier according to claim 3, wherein S3.1 includes:

S3.1.1, the AGV carrier obtains the position information of the new fixture relative to the spatial position of the equipment;

S3.1.2, the AGV vehicle obtains the position information of the reference position through the positioning system;

S3.1.3, 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.
The automatic exchange method for a fixture using AGV as a carrier according to claim 3, wherein S3.2 includes:

S3.2.1, the AGV carrier obtains the position information of the angular position of the new fixture relative to the equipment;

S3.2.2, 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 automatic exchange method of a fixture using AGV as a carrier according to claim 5, characterized in that, in S3.2.1, the AGV carrier obtains position information of the angular position of the new fixture relative to the device through a sensor.
The automatic exchange method of a fixture using AGV as a carrier according to claim 5, characterized in that, in S3.2.2, the AGV carrier adjusts the new fixture according to the position information of the angular position of the new fixture relative to the device through the A-axis swing member For precise positioning.
The method for automatically changing fixtures using AGV as a carrier according to claim 2, further comprising step S0, which includes:

S0.1, for the first installation of the fixture, and obtain the reference position of the fixture relative to the device after the installation is completed;

S0.2, record the position information of the reference position.
The automatic exchange method of a fixture using AGV as a carrier according to claim 8, characterized in that, in S0.2, an identification member is provided on the device to record the position information of the reference position;

The identification piece corresponds to the reference position.
The automatic exchange method of a fixture using AGV as a carrier according to claim 9, wherein the identification part is an image identification code; the navigation system is any one or more of laser navigation, magnetic navigation, optical navigation and inertial navigation Kinds of combinations.