CN110850869A - Precise positioning method and device for AGV transferring part - Google Patents
Precise positioning method and device for AGV transferring part Download PDFInfo
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- CN110850869A CN110850869A CN201910971130.2A CN201910971130A CN110850869A CN 110850869 A CN110850869 A CN 110850869A CN 201910971130 A CN201910971130 A CN 201910971130A CN 110850869 A CN110850869 A CN 110850869A
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- 238000009434 installation Methods 0.000 claims abstract description 12
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 238000012986 modification Methods 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
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- 230000009286 beneficial effect Effects 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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Abstract
The invention belongs to the technical field of aircraft assembly and relates to an accurate positioning method and device for an AGV transferring part, wherein the accurate positioning method comprises the steps of pre-positioning the transferring part of AGV equipment through a guide device, and then accurately positioning the transferring part of the AGV equipment by using a zero positioner; the accurate positioning device includes: the system comprises AGV equipment, a zero point positioner group, a positioning support, a modular positioning tool, an installation platform, a positioning magnetic stripe and a guiding device for connecting and positioning the installation platform and the modular positioning tool; connecting and positioning the mounting platform and the modular positioning tool through a zero positioner group; the design method is stable and feasible, effectively solves the problem caused by low positioning precision of the AGV as the logistics transfer equipment, can solve the problem of collision and damage of the zero point positioner caused by one-time accurate positioning, greatly improves the utilization efficiency of the AGV equipment, and provides technical support for realizing automatic logistics operation of an aircraft assembly production line.
Description
Technical Field
The invention belongs to the technical field of aircraft assembly and relates to an accurate positioning method and device for an AGV transferring part.
Background
The traditional fixed frame tool assembly method is mainly used in the domestic helicopter body structure assembly technology, along with the updating and upgrading of helicopter equipment, the assembly speed, the assembly precision and the assembly automation requirements of the helicopter body structure are continuously improved, the fixed frame tool assembly method cannot effectively solve the problem of assembly deviation caused by weak rigidity of the body structure, at present, helicopter body components are gradually developed and applied through a movable modular tool assembly technology, the assembly precision of the weak rigidity structure of the helicopter is effectively improved, and the AGV is generally adopted for transferring and positioning due to the reasons that the movable modular tool is large in mass, the positioning space is not opened and the like.
The AGV is generally used for product transportation in the industrial manufacturing process, and because the self positioning accuracy of the equipment is low, the accurate positioning of the transported products is difficult to realize, the AGV is used as a key bottleneck for realizing automatic logistics of a helicopter assembly production line, and the problem that a zero point positioner is damaged due to collision possibly when the AGV is positioned once is solved.
Disclosure of Invention
The purpose of the invention is: the method and the device for accurately positioning the AGV transferring part are provided to solve the technical problems that automatic positioning cannot be realized in transferring and positioning operation, the precision is low, the period is long and the like, and effectively control the problem that collision is caused due to the fact that a module chemical assembling and positioning space is not opened. The modular tooling for AGV transfer is automatic, accurate, rapid and positioned, and on the basis, automatic logistics of a helicopter based on AGV partial assembly production line are realized.
In order to solve the technical problem, the technical scheme of the invention is as follows:
on one hand, the invention provides an accurate positioning method of an AGV transferring part, which is a method for pre-positioning the transferring part of the AGV equipment through a guide device and then accurately positioning the transferring part of the AGV equipment by using a zero positioner. The zero positioner can be effectively protected by adopting a guide device guided by machinery to preposition the AGV equipment.
In another aspect, the present invention provides an apparatus for accurately positioning an AGV transport component, including: the system comprises AGV equipment 01, a zero point positioner group, a positioning support 02, a modular positioning tool 03, an installation platform 10, a positioning magnetic strip 11 and a guiding device for connecting and positioning the installation platform 10 and the modular positioning tool 03;
the positioning support 02 is arranged on a jacking platform of the AGV equipment 01, and the modular positioning tool 03 is connected through a positioning interface at the upper part of the positioning support 02; the mounting platforms 10 are divided into a left group and a right group, are arranged on two sides of the AGV equipment 01, and are respectively connected and positioned with the modular positioning tool 03 through a zero positioner group; a guide device is arranged near the zero positioner group; the positioning magnetic strips 11 are adhered to the middle positions of the left and right groups of the mounting platform 10.
The number of the guide devices is one or two.
The zero positioner group consists of a zero positioner A and a zero positioner B and is arranged at the diagonal position of the modular positioning tool 03.
The positioning pin A06 of the zero point positioner A and the positioning pin B08 of the zero point positioner B are installed at diagonal positions on the modular positioning tool 03, and the base A07 of the zero point positioner A and the base B09 of the zero point positioner B are installed on the installation platform 10 at positions corresponding to the positions on the modular positioning tool 03.
The guiding device is composed of a guiding column 04 and a guiding seat 05, the guiding column 04 is installed on the modularized positioning tool 03, and the guiding seat 05 is installed on the installation platform 10.
The positioning support 02 and the modular positioning tool 03 are matched through a hole shaft, and the fit clearance of the positioning support is smaller than that of the guide column 04 and the guide seat 05.
The fit clearance value of the guide column 04 and the guide seat 05 is larger than the effective adjustment range of the zero positioner.
The modular positioning tool 03 is a frame structure welded as a whole.
AGV equipment matches the shopping with the frock part of transporting, and zero point locator matches the shopping with the frock part that will fix a position.
The invention has the beneficial effects that: the automatic positioning system effectively solves the technical bottleneck that positioning of components of the helicopter cannot meet the positioning precision requirement by AGV transfer, realizes automatic transportation and positioning of the AGV, greatly improves the production efficiency and stability, and provides a technical basis for realizing automatic logistics operation of a helicopter assembly production line.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the embodiment of the present invention will be briefly explained. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.
FIG. 1: an accurate positioning schematic diagram of a helicopter component transferring tool by an AGV;
FIG. 2: the structure schematic diagram of the zero locator;
FIG. 3: a schematic view of a guide;
the device comprises 01-AGV equipment, 02-a positioning support, 03-a modular positioning tool, 04-a guide column, 05-a guide seat, 06-zero point positioner positioning pins A, 07-zero point positioner base A, 08-zero point positioner positioning pins B, 09-zero point positioner base B, 10-an installation platform and 11-a positioning magnetic strip.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Features of various aspects of embodiments of the invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without these specific details. The following description of the embodiments is merely intended to better understand the present invention by illustrating examples thereof. The present invention is not limited to any particular arrangement or method provided below, but rather covers all product structures, any modifications, alterations, etc. of the method covered without departing from the spirit of the invention.
In the drawings and the following description, well-known structures and techniques are not shown to avoid unnecessarily obscuring the present invention. According to the technical scheme, the AGV transferring modular tool is provided with the guiding device which is used for mechanical positioning and is combined with the zero positioner and the guiding device, so that the whole process control of transportation and positioning of the AGV transferring modular tool is completed. The specific content comprises the following steps: the device comprises AGV equipment 01, a positioning support 02, a modular positioning tool 03, a guide column 04, a guide seat 05, a zero locator positioning pin A06, a zero locator base A07, a zero locator positioning pin B08, a zero locator base B09, a positioning magnetic strip 11 and an installation platform 10, wherein the positioning support 02 is installed on a jacking platform of the AGV equipment 01, and a positioning interface of the device is reserved in the modular positioning tool 03; the guide post 04, the zero locator positioning pin 06 and the zero locator positioning pin 08 are installed in the modular positioning tool 03; the guide seat 05, the zero locator base 07, the zero locator base 09 are installed in the installation platform 10; the positioning magnetic strip 11 is adhered to the central axis of the mounting platform 10. The positioning support 02 and the modular positioning tool 03 are matched by a hole shaft, and the fit clearance is smaller than that of the guide column 04 and the guide seat 05.
The accurate positioning method for the AGV transferring helicopter component tool is based on the accurate assembly and adjustment of each component structure, and the assembly and adjustment method specifically comprises the following steps:
1) establishing a reference coordinate system by using the reference point of the mounting platform 10 through a laser tracker;
2) the positions of the guide seat 05, the zero locator base 07 and the zero locator base 09 are accurately adjusted;
3) the AGV equipment 01 is positioned on the mounting platform 10, and the position of the positioning magnetic strip 11 is marked;
4) accurately adjusting the position of the positioning support 02 on the AGV equipment 01;
5) the modular positioning tool 03 is positioned by a positioning support 02 on the AGV equipment 01, and is guided to be transferred to the mounting platform 10 according to a positioning magnetic strip 11;
6) the positions of the guide seat 05, the zero locator base 07 and the zero locator base 09 are accurately adjusted;
7) the primary positioning of the modular positioning tool 03 is completed through the alignment and matching of the guide column 04 and the guide seat 05;
8) locking the two zero locators to complete final positioning of the modular positioning tool 03;
9) and checking the positioning accuracy of the modularized positioning tool 03.
The precise positioning device for the AGV transferring part comprises the following specific positioning processes:
The precise positioning device for the AGV transferring part is well applied to an SA type machine assembly production line.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (9)
1. An accurate positioning method for an AGV transferring part is characterized in that: the precise positioning method comprises the steps of firstly pre-positioning the transfer part of the AGV equipment through the guide device, and then precisely positioning the transfer part of the AGV equipment by using the zero positioner.
2. An accurate positioning device for an AGV transport component, which uses the accurate positioning method for an AGV transport component according to claim 1, characterized in that: the accurate positioning device includes: the system comprises AGV equipment (01), a zero point positioner group, a positioning support (02), a modular positioning tool (03), an installation platform (10), a positioning magnetic strip (11) and a guiding device for connecting and positioning the installation platform (10) and the modular positioning tool (03);
the positioning support (02) is installed on a jacking platform of the AGV equipment (01), and the modular positioning tool (03) is connected through a positioning interface at the upper part of the positioning support (02); the mounting platforms (10) are divided into a left group and a right group, are arranged on two sides of the AGV equipment (01), and are respectively connected and positioned with the modular positioning tool (03) through a zero positioner group; a guide device is arranged near the zero positioner group; the positioning magnetic strips (11) are adhered to the middle positions of the left and right groups of the mounting platform (10).
3. The AGV transfer component accurate positioning apparatus of claim 2, wherein: the number of the guide devices is one or two.
4. The AGV transfer component accurate positioning apparatus of claim 2, wherein: the zero positioner group consists of a zero positioner A and a zero positioner B and is arranged at the diagonal position of the modular positioning tool (03).
5. The AGV transfer component accurate positioning apparatus of claim 4, wherein: the positioning device is characterized in that a positioning pin A (06) of the zero point positioner A and a positioning pin B (08) of the zero point positioner B are arranged at diagonal positions on the modular positioning tool (03), and a base A (07) of the zero point positioner A and a base B (09) of the zero point positioner B are arranged on the mounting platform (10) at positions corresponding to the positions on the modular positioning tool (03).
6. The AGV transfer component accurate positioning apparatus of claim 2, wherein: the guiding device is composed of a guiding column (04) and a guiding seat (05), the guiding column (04) is installed on the modular positioning tool (03), and the guiding seat (05) is installed on the installation platform (10).
7. The AGV transfer component accurate positioning apparatus of claim 6, wherein: the positioning support (02) and the modular positioning tool (03) are matched by a hole shaft, and the matching clearance of the positioning support is smaller than that of the guide column (04) and the guide seat (05).
8. The AGV transfer component accurate positioning apparatus of claim 6, wherein: the fit clearance value of the guide post (04) and the guide seat (05) is larger than the effective adjusting range of the zero positioner.
9. The AGV transfer component accurate positioning apparatus of claim 2, wherein: the modularized positioning tool (03) is a frame structure which is welded into a whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910971130.2A CN110850869A (en) | 2019-10-12 | 2019-10-12 | Precise positioning method and device for AGV transferring part |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910971130.2A CN110850869A (en) | 2019-10-12 | 2019-10-12 | Precise positioning method and device for AGV transferring part |
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| CN110850869A true CN110850869A (en) | 2020-02-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390858A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Semi-automatic positioning mechanism capable of realizing rapid high-precision positioning of workbench |
| CN112373717A (en) * | 2020-10-30 | 2021-02-19 | 哈尔滨飞机工业集团有限责任公司 | Assembly method for variable-curvature welding part structure of airplane |
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| CN109263753A (en) * | 2018-10-15 | 2019-01-25 | 上海交大智邦科技有限公司 | Using AGV as the fixture method for automatically exchanging of delivery vehicle |
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2019
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Patent Citations (5)
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| CN102950482A (en) * | 2012-11-12 | 2013-03-06 | 铜陵恒盛轨道装备有限责任公司 | Central positioning platform |
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| CN207938486U (en) * | 2018-01-03 | 2018-10-02 | 宁夏力成电气集团有限公司 | A kind of pole feeding system based on robot assisted |
| CN208256884U (en) * | 2018-03-08 | 2018-12-18 | 广东通宇通讯股份有限公司 | A kind of assembly positioning structure connected for blindmate between equipment and equipment |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111390858A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Semi-automatic positioning mechanism capable of realizing rapid high-precision positioning of workbench |
| CN112373717A (en) * | 2020-10-30 | 2021-02-19 | 哈尔滨飞机工业集团有限责任公司 | Assembly method for variable-curvature welding part structure of airplane |
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Application publication date: 20200228 |