CN112692798B - High-precision 13-degree-of-freedom automatic butt joint device and method - Google Patents
High-precision 13-degree-of-freedom automatic butt joint device and method Download PDFInfo
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- CN112692798B CN112692798B CN202011531816.9A CN202011531816A CN112692798B CN 112692798 B CN112692798 B CN 112692798B CN 202011531816 A CN202011531816 A CN 202011531816A CN 112692798 B CN112692798 B CN 112692798B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a high-precision 13-degree-of-freedom automatic butt joint device and a method, which realize accurate and stable module butt joint with high automation degree. The invention adjusts the position and posture relation between the butt-joint modules through the combined platform, the control system, the sensing system and the information feedback system on the high-precision 13-freedom-degree automatic butt-joint device, automatically shortens the butt-joint distance between 3 butt-joint modules on two auxiliary vehicle systems (each auxiliary vehicle has 5 degrees of freedom) and one main vehicle system (the main vehicle has three degrees of freedom) to a preset distance and a deflection angle, and finely adjusts the angle or displacement after manually confirming the deflection between a threaded hole and a through hole on a connecting lug of the module, thereby achieving the installation requirement of bolts between the modules and finally completing the automatic butt-joint of 3 modules on the main vehicle system.
Description
Technical Field
The invention belongs to the field of industrial automation, and particularly relates to a high-precision 13-degree-of-freedom automatic butt joint device and method.
Background
In order to realize high-precision docking between different modules, the docking modules are often placed on different bearing tables, so that all the docking modules cannot be placed on the same reference surface before docking. The docking device is used for accurately positioning and docking the docking surfaces of two or more docking modules. The docking process tends to be complex.
The invention content is as follows:
technical problem to be solved
The invention provides a high-precision 13-freedom automatic butt joint device and method, aiming at solving the problems of low efficiency of a butt joint process, positioning error between butt joint modules, complex structure and the like when modules requiring high precision are in butt joint.
(II) technical scheme
The invention provides a high-precision 13-freedom automatic butt joint device and a method thereof, aiming at solving the technical problem, and the whole structure of the device is shown in figure 1.
A high-precision 13-freedom automatic butt joint device and method are used for realizing precise, accurate and stable module butt joint and are characterized in that: the system comprises 1 main vehicle system and 2 auxiliary vehicle systems; the schematic structure of the components is shown in figure 2; the main vehicle system comprises a module tool, 1 high-precision electric lifting table, 2 high-precision electric linear displacement tables, a high-precision sensing system device, a motion control system and the like, and is used for controlling a butt joint module on the main vehicle to perform linear lifting motion along a Z axis and perform linear translation motion along an X, Y axis; each auxiliary vehicle system consists of a module tool, 2 high-precision electric linear displacement tables, 3 high-precision electric rotary tables, a high-precision sensing system device and a motion control system respectively, and is used for controlling the butt joint module on the auxiliary vehicle to perform linear translation motion along an X, Y axis and perform rotary motion around a X, Y, Z axis; the high-precision 13-freedom-degree automatic butt joint device realizes high-precision butt joint of the butt joint module on the main vehicle and the butt joint modules on the auxiliary vehicles on two sides by accurately detecting and controlling the positions and postures of the main vehicle and the auxiliary vehicles.
Preferably, the module tool in the main vehicle system is used for fixing the butt joint module on the main vehicle system, the high-precision electric lifting table is used for adjusting the position of the butt joint module along the Z-axis direction, the high-precision electric linear displacement table is used for adjusting the position of the butt joint module along the horizontal plane X, Y axis direction, the high-precision sensing system device realizes the installation of a double-shaft inclinometer, a high-precision 2D laser profile instrument, a profile instrument calibration block and a three-degree-of-freedom manual angular displacement table through a sensor fixing support on the tool, the real-time detection of the position and the posture of a main vehicle and an auxiliary vehicle in the butt joint process is realized, and the motion control system processes sensor data and realizes the full closed loop control of each servo motor.
Preferably, module frock is arranged in the auxiliary car system and is used for being fixed in the butt joint module on the main car system, and high accuracy electronic linear displacement platform is used for the horizontal plane X, Y axle direction of butt joint module to carry out position adjustment, and high accuracy electronic revolving stage is used for the butt joint module to carry out position adjustment around X, Y, Z axle, and high accuracy sensing system device realizes the installation of biax inclinometer, high accuracy 2D laser profile appearance, profilometer calibration block and three degrees of freedom manual angle displacement platforms through fixing the sensor support on the frock, realizes the real-time detection of main and auxiliary car position and gesture in the butt joint process, and motion control system handles sensor data and realizes the full closed loop control of each servo motor.
Preferably, the high-precision 13-degree-of-freedom automatic docking device is characterized in that:
the butt joint method of the main vehicle and the auxiliary vehicle comprises the following specific steps:
(1) the main vehicle and the two auxiliary vehicles are in a separated state, the main vehicle is pushed to a designated position, lifting feet are manually adjusted, so that a roller at the bottom of the main vehicle is lifted off, and floating bubbles of a circular level gauge on the top surface of the main vehicle are ensured to be stabilized in a circle center black spot area, so that the top surface of the main vehicle is in a horizontal state;
(2) moving one side auxiliary vehicle to be close to the main vehicle, guiding the side auxiliary vehicle to a specified position along a guide mechanism, lifting a foundation bolt, realizing that a bottom roller of the auxiliary vehicle is lifted off the ground, and ensuring that floating bubbles of a circular level gauge on the top surface of the auxiliary vehicle are stabilized in a circle center black spot area to enable the top surface of the auxiliary vehicle to be in a horizontal state; manually butting connecting bolts of the main vehicle and the auxiliary vehicle to lock the main vehicle and the auxiliary vehicle;
(3) the butt joint mode of the auxiliary vehicles on the other side is the same as that in the step (2), and at the moment, the two auxiliary vehicles and the main vehicle are leveled and locked with each other;
(4) using a forklift to sequentially install workpieces on a main vehicle and auxiliary vehicles on the left side and the right side, and connecting the workpieces with platforms of the main vehicle and the auxiliary vehicles through screws;
(5) lifting guide rails on which a laser range finder and a 2D contourgraph are arranged on the main vehicle and the auxiliary vehicle to limit positions, and locking the guide rails by using hand wheels;
(6) placing an auxiliary installation calibration block on a connecting platform of an auxiliary vehicle and a main vehicle, wherein a two-dimensional inclinometer is installed on the auxiliary installation calibration block; sending an automatic adjusting instruction through an industrial personal computer, and completing coarse adjustment and correction of the main vehicle and the auxiliary vehicle along the Z-axis height direction and the XY-axis rotating direction according to 3 double-axis inclinometer parameters on the main vehicle, the auxiliary vehicle and the calibration block by a system;
(7) resetting is selected on an operation interface, and the system automatically adjusts the zero position; starting automatic butt joint, moving the main vehicle module to a specified position along the X axis in the direction of the auxiliary vehicle, displaying the reading of the laser profiler at the moment, moving the auxiliary vehicle on one side to a limited position along the X axis, and simultaneously displaying the reading information on the laser profiler; calibrating the relative rotation angle of the butt joint module along the Z-axis direction by adopting a gap size detected by a laser range finder and a 2D laser profiler in the X-axis direction, calibrating the relative displacement distance of the butt joint module along the X, Y, Z-axis direction respectively by adopting the 2D laser profiler independently, calibrating two relative rotation angles of the butt joint module along the X-axis and the Y-axis based on the 2D laser profiler and a double-shaft inclinometer, determining the correction relation of the inclinometer and the 2D laser profiler on the angle by calibrating the rotation angle of a lug of the butt joint module on a main vehicle and an auxiliary vehicle in a butt joint area, and automatically completing the butt joint of the auxiliary vehicle and the main vehicle module by a system;
(8) after the auxiliary vehicle module is butted, disassembling the side auxiliary vehicle tool bolt; lifting the main vehicle by 10mm, driving the bolting module to move the auxiliary vehicle to a limit position along the other side of the X axis, lowering the main vehicle by 10mm, and after starting the automatic butt joint button, the process is the same as the step (7);
(9) after the three modules are butted, disassembling the bolts on the auxiliary vehicle in the step (8), lifting the main vehicle by 90mm, removing the sensor of the auxiliary vehicle on the side, and falling the main vehicle back to the limit position; and finishing the butt joint of the main vehicle and the two auxiliary vehicles.
(III) advantageous effects
Based on the technical accumulation and research of the inventor in the field for years, the invention provides the high-precision 13-freedom automatic butt joint device and the method which have high precision, accuracy, operability and stability.
Compared with the prior art, the invention at least has the following technical advantages: (1) the device and the method use various sensors to calibrate the position of the butt joint module, and the module butt joint precision is high; (2) the main vehicle of the device has 3 degrees of freedom along the X, Y, Z axis line, each auxiliary vehicle has 5 degrees of freedom which move along the X, Y axis line and rotate around three X, Y, Z axes of X, Y, Z, and the total number of degrees of freedom is 13, so that the modules of the device can be more stably and accurately butted; (3) the butt joint process of the device and the method is automatically completed by the system device, the butt joint efficiency is improved, the butt joint accuracy is improved, and the labor intensity is greatly reduced.
Drawings
Fig. 1 is a general structure diagram of a 13-degree-of-freedom docking device.
Fig. 2 is a schematic view of the docking device.
The reference numbers illustrate:
1. a high precision sensing system device; 2. a special module tool; 3. a high precision electric displacement table; 4. a high-precision electric angular displacement table; 5. a lifting foot support system; 6. a high-precision electric rotating table; 7. a high-precision electric lifting table; 8. a motion control system.
Detailed Description
The invention provides a high-precision 13-degree-of-freedom automatic butt joint device and a method, aiming at solving the technical problem.
A high-precision 13-freedom automatic butt joint device and method are used for realizing precise, accurate and stable module butt joint and are characterized in that: the system comprises 1 main vehicle system and 2 auxiliary vehicle systems; the schematic structure is shown in figure 2; the main vehicle system comprises a module tool, 1 high-precision electric lifting table, 2 high-precision electric linear displacement tables, a high-precision sensing system device, a motion control system and the like, and is used for controlling a butt joint module on the main vehicle to perform linear lifting motion along a Z axis and perform linear translation motion along an X, Y axis; each auxiliary vehicle system consists of a module tool, 2 high-precision electric linear displacement tables, 3 high-precision electric rotary tables, a high-precision sensing system device and a motion control system, and is used for controlling the butt joint module on the auxiliary vehicle to perform linear translation motion along the X, Y axis and perform rotary motion around the X, Y, Z axis; the high-precision 13-freedom-degree automatic butt joint device realizes high-precision butt joint of the butt joint module on the main vehicle and the butt joint modules on the auxiliary vehicles on two sides by accurately detecting and controlling the positions and postures of the main vehicle and the auxiliary vehicles.
Preferably, the module tool in the main vehicle system is used for fixing the butt joint module on the main vehicle system, the high-precision electric lifting table is used for adjusting the position of the butt joint module along the Z-axis direction, the high-precision electric linear displacement table is used for adjusting the position of the butt joint module along the horizontal plane X, Y axis direction, the high-precision sensing system device realizes the installation of a double-shaft inclinometer, a high-precision 2D laser profile instrument, a profile instrument calibration block and a three-degree-of-freedom manual angular displacement table through a sensor fixing support on the tool, the real-time detection of the position and the posture of a main vehicle and an auxiliary vehicle in the butt joint process is realized, and the motion control system processes sensor data and realizes the full closed loop control of each servo motor.
Preferably, module frock is arranged in the auxiliary car system and is used for being fixed in the butt joint module on the main car system, and high accuracy electronic linear displacement platform is used for the horizontal plane X, Y axle direction of butt joint module to carry out position adjustment, and high accuracy electronic revolving stage is used for the butt joint module to carry out position adjustment around X, Y, Z axle, and high accuracy sensing system device realizes the installation of biax inclinometer, high accuracy 2D laser profile appearance, profilometer calibration block and three degrees of freedom manual angle displacement platforms through fixing the sensor support on the frock, realizes the real-time detection of main and auxiliary car position and gesture in the butt joint process, and motion control system handles sensor data and realizes the full closed loop control of each servo motor.
Preferably, the high-precision 13-degree-of-freedom automatic docking device is characterized in that:
the butt joint method of the main vehicle and the auxiliary vehicle comprises the following specific steps:
(1) the main vehicle and the two auxiliary vehicles are in a separated state, the main vehicle is pushed to a designated position, lifting feet are manually adjusted, so that a roller at the bottom of the main vehicle is lifted off, and floating bubbles of a circular level gauge on the top surface of the main vehicle are ensured to be stabilized in a circle center black spot area, so that the top surface of the main vehicle is in a horizontal state;
(2) moving one side auxiliary vehicle to be close to the main vehicle, guiding the side auxiliary vehicle to a specified position along a guide mechanism, lifting a foundation bolt, realizing that a bottom roller of the auxiliary vehicle is lifted off the ground, and ensuring that floating bubbles of a circular level gauge on the top surface of the auxiliary vehicle are stabilized in a circle center black spot area to enable the top surface of the auxiliary vehicle to be in a horizontal state; manually butting connecting bolts of the main vehicle and the auxiliary vehicle to lock the main vehicle and the auxiliary vehicle;
(3) the butt joint mode of the auxiliary vehicles on the other side is the same as that in the step (2), and at the moment, the two auxiliary vehicles and the main vehicle are leveled and locked mutually;
(4) using a forklift to sequentially install workpieces on a main vehicle and auxiliary vehicles on the left side and the right side, and connecting the workpieces with platforms of the main vehicle and the auxiliary vehicles through screws;
(5) lifting guide rails on which a laser range finder and a 2D contourgraph are arranged on the main vehicle and the auxiliary vehicle to limit positions, and locking the guide rails by using hand wheels;
(6) placing an auxiliary installation calibration block on a connecting platform of an auxiliary vehicle and a main vehicle, wherein a two-dimensional inclinometer is installed on the auxiliary installation calibration block; sending an automatic adjusting instruction through an industrial personal computer, and completing coarse adjustment and correction of the main vehicle and the auxiliary vehicle along the Z-axis height direction and the XY-axis rotating direction according to 3 double-axis inclinometer parameters on the main vehicle, the auxiliary vehicle and the calibration block by a system;
(7) resetting is selected on an operation interface, and the system automatically adjusts the zero position; starting automatic butt joint, moving the main vehicle module to a specified position along the X axis in the direction of the auxiliary vehicle, displaying the reading of the laser profiler at the moment, moving the auxiliary vehicle on one side to a limited position along the X axis, and simultaneously displaying the reading information on the laser profiler; calibrating the relative rotation angle of the butt joint module along the Z-axis direction by adopting a gap size detected by a laser range finder and a 2D laser profiler in the X-axis direction, calibrating the relative displacement distance of the butt joint module along the X, Y, Z-axis direction respectively by adopting the 2D laser profiler independently, calibrating two relative rotation angles of the butt joint module along the X-axis and the Y-axis based on the 2D laser profiler and a double-shaft inclinometer, determining the correction relation of the inclinometer and the 2D laser profiler on the angle by calibrating the rotation angle of a lug of the butt joint module on a main vehicle and an auxiliary vehicle in a butt joint area, and automatically completing the butt joint of the auxiliary vehicle and the main vehicle module by a system;
(8) after the auxiliary vehicle module is butted, disassembling the side auxiliary vehicle tool bolt; lifting the main vehicle by 10mm, driving the bolting module to move the auxiliary vehicle to a limit position along the other side of the X axis, lowering the main vehicle by 10mm, and after starting the automatic butt joint button, the process is the same as the step (7);
(9) after the three modules are butted, disassembling the bolts on the auxiliary vehicle in the step (8), lifting the main vehicle by 90mm, removing the sensor of the auxiliary vehicle on the side, and falling the main vehicle back to the limit position; and finishing the butt joint of the main vehicle and the two auxiliary vehicles.
Compared with the prior art, the invention at least has the following technical advantages: (1) the device and the method use various sensors to calibrate the position of the butt joint module, and the module butt joint precision is high; (2) the main vehicle of the device has 3 degrees of freedom along the X, Y, Z axis line, each auxiliary vehicle has 5 degrees of freedom which move along the X, Y axis line and rotate around three X, Y, Z axes of X, Y, Z, and the total number of degrees of freedom is 13, so that the modules of the device can be more stably and accurately butted; (3) the butt joint process of the device and the method is automatically completed by the system device, the butt joint efficiency is improved, the butt joint accuracy is improved, and the labor intensity is greatly reduced.
In the high-precision 13-freedom-degree automatic alignment device, the integration of a 5-freedom-degree platform is realized on a secondary vehicle system, and the 3-freedom-degree platform of a main vehicle system meets the design requirement of high bearing capacity (more than 600 kg). The X-axis positioning precision, the Y-axis positioning precision and the Z-axis positioning precision of the main vehicle system are respectively 0.03mm, 0.05mm and 0.02 mm; the X-axis positioning precision of the auxiliary vehicle system is 0.01mm, the Y-axis positioning precision is 0.02mm, the precision of rotation around the X-axis is 0.005 degrees, the precision of rotation around the Y-axis is 0.005 degrees, and the precision of rotation around the Z-axis is 0.02 degrees. The accurate positioning of the docking module can be achieved.
The specific embodiments described in this application are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (1)
1. The utility model provides an automatic interfacing apparatus of 13 degrees of freedom of high accuracy which characterized in that: the system comprises 1 main vehicle system and 2 auxiliary vehicle systems; the main vehicle system comprises a module tool, 1 high-precision electric lifting table, 2 high-precision electric linear displacement tables, a high-precision sensing system device and a motion control system, and is used for controlling a butt joint module on the main vehicle to perform linear lifting work along a Z axis and perform linear translation motion along an X, Y axis; each auxiliary vehicle system consists of a module tool, 2 high-precision electric linear displacement tables, 3 high-precision electric rotary tables, a high-precision sensing system device and a motion control system respectively, and is used for controlling the butt joint module on the auxiliary vehicle to perform linear translation motion along an X, Y axis and perform rotary motion around a X, Y, Z axis; the high-precision 13-freedom automatic butt joint device realizes high-precision butt joint of the butt joint module on the main vehicle and the butt joint modules on the auxiliary vehicles on two sides by accurately detecting and controlling the positions and postures of the main vehicle and the auxiliary vehicles;
the module tool in the main vehicle system is used for fixing the butt joint module on the main vehicle system, the high-precision electric lifting table is used for adjusting the position of the butt joint module along the Z-axis direction, the high-precision electric linear displacement table is used for adjusting the position of the butt joint module along the horizontal plane X, Y axis direction, the high-precision sensing system device realizes the installation of a double-shaft inclinometer, a high-precision 2D laser contourgraph, a contourgraph calibration block and a three-degree-of-freedom manual angular displacement table through a fixed sensor bracket on the tool, the real-time detection of the position and the posture of a main vehicle and an auxiliary vehicle in the butt joint process is realized, and the motion control system processes sensor data and realizes the full closed loop control of each servo motor;
the module tool in the auxiliary vehicle system is used for fixing the butt joint module on the auxiliary vehicle system, the high-precision electric linear displacement table is used for carrying out position adjustment on the horizontal plane X, Y axis direction of the butt joint module, the high-precision electric rotary table is used for carrying out position adjustment on the butt joint module around the X, Y, Z axis, the high-precision sensing system device realizes the installation of a double-axis inclinometer, a high-precision 2D laser profile instrument, a profile instrument calibration block and a three-degree-of-freedom manual angular displacement table by fixing a sensor bracket on the tool, the real-time detection of the position and the posture of a main vehicle and an auxiliary vehicle in the butt joint process is realized, and the motion control system processes sensor data and realizes the full closed-loop control of each servo motor;
the butt joint method of the main vehicle and the auxiliary vehicle comprises the following specific steps:
(1) the main vehicle and the two auxiliary vehicles are in a separated state, the main vehicle is pushed to a designated position, lifting feet are manually adjusted, so that a roller at the bottom of the main vehicle is lifted off, and floating bubbles of a circular level gauge on the top surface of the main vehicle are ensured to be stabilized in a circle center black spot area, so that the top surface of the main vehicle is in a horizontal state;
(2) moving one side auxiliary vehicle to be close to the main vehicle, guiding the side auxiliary vehicle to a specified position along a guide mechanism, lifting a foundation bolt, realizing that a bottom roller of the auxiliary vehicle is lifted off the ground, and ensuring that floating bubbles of a circular level gauge on the top surface of the auxiliary vehicle are stabilized in a circle center black spot area to enable the top surface of the auxiliary vehicle to be in a horizontal state; manually butting connecting bolts of the main vehicle and the auxiliary vehicle to lock the main vehicle and the auxiliary vehicle;
(3) the butt joint mode of the auxiliary vehicles on the other side is the same as that in the step (2), and at the moment, the two auxiliary vehicles and the main vehicle are leveled and locked with each other;
(4) the method comprises the following steps of (1) sequentially installing workpieces on a main vehicle and auxiliary vehicles on the left side and the right side by using a forklift, and connecting the workpieces with platforms of the main vehicle and the auxiliary vehicles through screws;
(5) lifting guide rails on which a laser range finder and a 2D contourgraph are arranged on the main vehicle and the auxiliary vehicle to limit positions, and locking the guide rails by using hand wheels;
(6) placing an auxiliary installation calibration block on a connecting platform of an auxiliary vehicle and a main vehicle, wherein a two-dimensional inclinometer is installed on the auxiliary installation calibration block; sending an automatic adjusting instruction through an industrial personal computer, and completing coarse adjustment and correction of the main vehicle and the auxiliary vehicle along the Z-axis height direction and the XY-axis rotating direction according to 3 double-axis inclinometer parameters on the main vehicle, the auxiliary vehicle and the calibration block by a system;
(7) resetting is selected on an operation interface, and the system automatically adjusts the zero position; starting automatic butt joint, moving the main vehicle module to a specified position along the X axis in the direction of the auxiliary vehicle, displaying the reading of the laser profiler at the moment, moving the auxiliary vehicle on one side to a limited position along the X axis, and simultaneously displaying the reading information on the laser profiler; calibrating the relative rotation angle of the butt joint module along the Z-axis direction by adopting a gap size detected by a laser range finder and a 2D laser profiler in the X-axis direction, calibrating the relative displacement distance of the butt joint module along the X, Y, Z-axis direction respectively by adopting the 2D laser profiler independently, calibrating two relative rotation angles of the butt joint module along the X-axis and the Y-axis based on the 2D laser profiler and a double-shaft inclinometer, determining the correction relation of the inclinometer and the 2D laser profiler on the angle by calibrating the rotation angle of a lug of the butt joint module on a main vehicle and an auxiliary vehicle in a butt joint area, and automatically completing the butt joint of the auxiliary vehicle and the main vehicle module by a system;
(8) after the auxiliary vehicle module is butted, disassembling the side auxiliary vehicle tool bolt; lifting the main vehicle by 10mm, driving the bolting module to move the auxiliary vehicle to a limited position along the other side of the X axis, lowering the main vehicle by 10mm, and after starting the automatic butt joint button, performing the same process as the step (7);
(9) after the three modules are butted, disassembling the bolts on the auxiliary vehicle in the step (8), lifting the main vehicle by 90mm, removing the sensor of the auxiliary vehicle on the side, and falling the main vehicle back to the limit position; and finishing the module butt joint of the main vehicle and the two auxiliary vehicles.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2002274451A (en) * | 2001-03-21 | 2002-09-25 | Nissan Motor Co Ltd | Vehicle body assembly device |
| CN106541256A (en) * | 2016-10-25 | 2017-03-29 | 上海交通大学 | Running fix is equipped with the assembling docking for combining of dynamic adjustment |
| CN106944818B (en) * | 2017-05-08 | 2019-10-01 | 成都锦江电子系统工程有限公司 | Large Radar Antenna six degree of freedom automatic butt separation system and method |
| CN109693085A (en) * | 2018-10-23 | 2019-04-30 | 北京国华恒源科技开发有限公司 | Eight degrees of freedom heavy duty module docking facilities and algorithm |
| CN109318188A (en) * | 2018-10-23 | 2019-02-12 | 北京国华恒源科技开发有限公司 | A kind of heavily loaded trolley docking platform of space five-freedom movement |
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