WO2020078335A1

WO2020078335A1 - Fixture automatic exchange apparatus which uses agv as carrying tool

Info

Publication number: WO2020078335A1
Application number: PCT/CN2019/111127
Authority: WO
Inventors: 张继昌; 凌卫国; 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: CN109204605A

Abstract

A fixture automatic exchange apparatus which uses an AGV (1) as a carrying tool, said apparatus comprising: the AGV (1); a control mechanism, the control mechanism being arranged on the AGV (1); a displacement mechanism, the displacement mechanism being arranged on the AGV (1), the displacement mechanism being in communication with the control mechanism; a support structure, the support structure being arranged on the displacement mechanism, the support structure being in communication with the control mechanism; a positioning mechanism (7), the positioning mechanism (7) being arranged on the support structure, the positioning mechanism (7) being in communication with the control mechanism. The automatic exchange apparatus can implement fully automatic exchange of fixtures, and uses navigation positioning, zero point system positioning and hole pin positioning in combination. A fixture zero point positioning system feeds back position errors to a control system in real time so that a numerical control unit finds correct positions. The positioning accuracy is high, the degree of automation is high, efficiency can be increased, and manpower and material resources are saved. The AGV can move in a workshop, coming forward when needed and going away when not, so as to implement maximum device utilisation.

Description

Automatic fixture changing device using AGV as a carrier

Technical field

The invention relates to the field of industrial automation production lines, in particular, to the field of automatic and accurate installation and replacement of product fixtures during mixed line production, in particular to an automatic fixture exchange device 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. CNC machine tools with high-precision, flexible and high-speed processing characteristics and three-coordinate measuring instruments for the quality inspection of parts processing are widely used in the manufacturing industry. The CNC machine tool can better solve the complex, precision, small batch and multi-variety parts processing problems. The CMM is suitable for the measurement of various features of various style parts, but the different style parts are in the CNC machine tool or the CMM Different fixtures are used for the upper fixing, so when the parts to be processed by the CNC machine tool or the parts to be detected by the coordinate measuring instrument change, 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, that is, the exchange of fixtures.

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 exchange, the factory mainly uses manual replacement, hangs the fixture with a truss and puts it in the warehouse, and then takes the new fixture and puts it in the fixture position. This method is very time-consuming and labor-intensive, and it takes a lot of time to adjust the accuracy. Another way is to add a pallet exchange device to the equipment. This pallet exchange device should be fixed on the corresponding equipment. After processing, the device is optionally installed to exchange the processed parts and the parts to be processed. This method greatly increases the size of the equipment, and each equipment must have a switching device, which not only increases the cost, but also very inconvenient to use. The current factory production lines are dedicated to the realization of unmanned, automated and intelligent development. Replacing fixtures by manpower is bound to be disproportionate to this trend.

Summary of the invention

In view of the defects in the prior art, the present invention aims to provide an automatic fixture automatic exchange device using AGV as a vehicle.

In order to solve the above technical problems, the present invention provides an automatic fixture changing device using AGV as a vehicle, including: AGV; a control mechanism, the control mechanism is provided on the AGV; a displacement mechanism, the displacement mechanism is provided on the On the AGV, the displacement mechanism communicates with the control mechanism; a support structure, the support structure is provided on the displacement mechanism, the support structure communicates with the control mechanism; a positioning mechanism, the positioning mechanism is provided on On the support structure, the positioning mechanism communicates with the control mechanism.

Preferably, the support structure includes: a B-axis rotating member, the B-axis rotating member is rotationally connected to the displacement mechanism; an A-axis swinging member, the A-axis swinging member is rotationally connected to the B-axis rotating member ; A support member, the support member is connected with the A-axis swing member.

Preferably, the positioning mechanism is a visual positioning mechanism.

Preferably, a motor screw nut mechanism is provided on the A-axis swing member, and the motor screw nut mechanism communicates with the control mechanism.

Preferably, an oblique angle sensor is provided on the A-axis swing member, and the oblique angle sensor communicates with the control mechanism.

Preferably, the A-axis swinging member is a flexible fetching plate.

Preferably, the displacement mechanism includes: a forward and backward moving bracket, the forward and backward moving bracket is connected to the AGV through a forward and backward moving driver; a moving unit, the moving unit is slidably arranged on the forward and backward moving bracket along the Y-axis direction ; The B-axis rotating member is rotationally connected to the mobile unit.

Preferably, the displacement unit includes: an up-and-down moving support, which is slidably provided on the front-rear moving support in the Y-axis direction; a left-right moving support, the left-right moving support is slidingly provided on the X-axis direction On the up and down moving support; front and back moving plates, the front and back moving plates are slidably arranged on the left and right moving brackets along the Z-axis direction; and the B-axis rotating member is rotatably connected to the front and rear moving plates.

Preferably, a laser safety mechanism is provided on the AGV, and the laser safety mechanism communicates with the control mechanism.

Preferably, the control mechanism is an on-board navigation and numerical control unit to control electronic equipment.

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

1) The present invention can realize automatic exchange of fixtures with high degree of automation, which can improve efficiency and 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 fixture zero point positioning system feeds back the position error in real time to the control system to make the CNC unit find the correct position. The positioning accuracy is high and the degree of automation is high. It can improve efficiency and save manpower and material resources;

4) AGV can go back and forth at the processing point of each process, can realize one-to-many fixture exchange, without installing a corresponding exchange device 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.

FIG. 1 is a schematic structural diagram of a fixture automatic exchange device using AGV as a vehicle in the present invention;

2 is a front view of the structure of the automatic exchange device for a fixture using AGV as a carrier in the present invention;

FIG. 3 is a plan view of the structure of an automatic fixture changing device using AGV as a carrier in the present invention.

In the picture:

1-AGV 2-front and rear moving cylinder 3-vehicle navigation and numerical control unit control electronic equipment

4- Move the bracket forward and backward 5- Move the support up and down 6- Move the bracket left and right

7-Positioning mechanism 8-A axis swing piece 9-Bevel sensor

10-Motor screw nut mechanism 11-B axis rotating part 12-front and rear moving plate

13- Guide rail slider mechanism 14-Move the cylinder up and down 15-Laser safety mechanism

16-support

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.

As shown in FIGS. 1 to 3, the present invention uses an AGV as a vehicle tool automatic exchange device, including AGV1, forward and backward moving cylinder 2, vehicle navigation and numerical control unit control electronic equipment 3, forklift front and rear moving bracket 4, vertical moving support 5. Left and right moving bracket 6 (X-axis left and right moving mechanism), positioning mechanism 7 (zero-point calibration system), A-axis swing member 8 (flexible fetching plate), bevel sensor 9, motor screw nut mechanism 10, B-axis rotation 11, the front and rear moving plate 12, the rail slider mechanism 13, the up and down moving cylinder 14, the laser safety mechanism 15 and the support 16.

The navigation system can be various navigation methods such as laser navigation, magnetic navigation, optical navigation, inertial navigation and so on.

The reference position of the fixture on the device adjusted by purely mechanical means will be used as the zero point of each CNC axis. At this time, the position of AGV1 and the position of each mechanism are also their reference points. The electronic control system records all the above reference point information. It will be used as the reference point for subsequent exchanges.

The car navigation and numerical control unit control electronic equipment 3 can exchange information with the fixture installation equipment. When there is a need for fixture replacement, the fixture installation equipment issues a fixture replacement instruction. The mes system receives the instruction and commands the AGV1 forklift to mount the fixture to the fixture installation equipment ; The vehicle-mounted navigation and numerical control unit controls the electronic equipment 3 to issue the exchange fixture instruction. If the fixture installation equipment is ready and the replacement is agreed, the replacement will proceed.

The two movements of the support structure along the moving axis are driven by the servo motor. The servo motor converts the rotary motion into linear motion through the gear transmission speed reduction and the rack and pinion transmission. The guide rail slider is installed between the moving parts and the remaining modules to ensure The smoothness of movement and the high precision of transmission.

In the support structure, the B-axis rotating member 11 is driven by a servo motor; the A-axis swing member 8 (flexible object board) is driven by a servo motor. The motor is equipped with a motor screw nut mechanism 10, and the nut is fixed on the A-axis swing member 8 (flexible On the object board), the rotation of the motor is turned into the swing of the clamp support mechanism.

The fixture positioning mechanism 7 (zero point calibration system) has a two-dimensional code or image recognition function. When the forklift bracket is pushed forward by the up-and-down moving cylinder 14 to move the front-rear moving bracket 4 and the support structure forward to a rough position, the positioning mechanism 7 (zero point calibration system) can determine the position deviation of the fixture in real time.

The on-board navigation and numerical control unit control electronic equipment 3 can process the position deviation data returned by the fixture positioning mechanism 7 (zero point calibration system) in real time with the fixture zero point calibration system, and then control the four CNC axes to move corresponding positions to realize the fixture Position again.

The up and down moving cylinder 14 can control the up and down moving support 5 to move up and down with the fixture system.

The clamp has a positioning pin hole, which can cooperate with the rough guide positioning pin on the socket base plate when the oil cylinder 14 moves up and down.

The angle sensor 9 can detect the angle between the support mechanism and the horizontal plane. The A-axis swing member 8 of the support structure has a certain flexibility. When the support structure is guided with the coarse guide positioning pin on the device, the angle sensor 9 will tilt the angle Passed to the vehicle-mounted electronic equipment, the A axis of the servo motor is controlled to oscillate, correct its position, make the precise positioning hole pin cooperate, and then continue to fall onto the base or remove the fixture.

The working principle of the present invention: firstly, the precise position of the fixture on the device is adjusted in a purely mechanical way, and the position is recorded by the positioning mechanism 7 (zero point calibration system) as the reference position of the fixture, and also as the zero point of each CNC axis. At this time, AGV1 The position of each position and the position of each structure are also their reference points. The on-board navigation and numerical control unit controls the electronic device 3 to record all the reference point information mentioned above as the position reference points for subsequent exchange. When there is a need for fixture replacement, the fixture installation equipment issues a fixture replacement instruction. The mes system receives the instruction and commands the AGV1 forklift to position the fixture in front of the fixture installation equipment; the vehicle navigation and CNC unit control electronic device 3 issues a fixture replacement instruction, such as fixture installation The equipment is ready for replacement and the replacement will proceed. When exchanging fixtures in different places, the AGV1 forklift completes the initial positioning according to the navigation system before the equipment to be replaced; the forklift bracket moves the displacement mechanism and fixture support mechanism to the approximate position under the push of the oil cylinder, and then the positioning mechanism 7 (zero calibration) System) Determine the position deviation of the fixture and process the calculation with the control system of the CNC unit, and then control the four CNC axes to move the corresponding position to achieve the repositioning of the fixture; then under the action of moving the cylinder 14 up and down, the fixture support structure is raised and Descending, the positioning pin on the support mechanism can roughly match the positioning pin hole on the clamp, the positioning pin hole on the fixture matches the rough guide positioning pin on the socket substrate; the bevel sensor 9 can detect the clamping between the support mechanism and the horizontal plane Angle, the fetch plate of the support mechanism has a certain flexibility, when the support mechanism is guided with the thick guide positioning pin on the device, the tilt angle sensor 9 transmits the tilt angle to the on-board electronic device, by controlling the A axis of the servo motor to swing, Correct its position so that the pin holes are precisely positioned, and then continue to fall onto the base or remove the fixture. The action of the device to remove the fixture from the device is basically the same as the installation fixture. However, after the initial positioning of the navigation mechanism is completed, it is necessary to adjust the up and down position of the up and down movement support 5, and then the forklift moves the bracket forward and backward; then the fixture zero positioning system is positioned; the positioning holes on the support mechanism cooperate with the pins on the fixture from below.

When working, first adjust the precise position of the fixture on the device in a purely mechanical way; in the subsequent exchange project, the AGV1 carrier takes out the fixture from the library and completes the initial positioning in front of the fixture exchange device along the fixed track according to the laser safety mechanism 15; The mobile cylinder 2 pushes the forklift forward and backward to move the bracket 4 forward to a specific position; the fixture zero positioning system 7 transmits the position information of the two-dimensional code or image identification code to the car navigation and numerical control unit control electronic device 3 by taking pictures; the car navigation and numerical control unit Control the electronic device 3 to process and calculate according to the position deviation, and then control the four CNC axes to move corresponding positions to achieve the repositioning of the fixture; then move up and down under the action of the up and down moving cylinder 14; A-axis swing member 8 (flexible fetch The support member 16 on the board) fixes the clamp, the positioning pin on it can be roughly matched with the positioning pin hole on the clamp, the positioning pin hole on the clamp matches the rough guide positioning pin on the socket substrate; the bevel sensor 9 can The angle between the support mechanism and the horizontal plane is detected, and the fetching plate of the support mechanism has certain flexibility. When guided by the coarse guide positioning pin on the device, the oblique angle sensor 9 transmits the tilt angle to the on-board electronic device, corrects its position by controlling the A-axis swing of the servo motor, makes the fine positioning hole pin cooperate, and then continues to fall to the base Mount or remove the fixture; the carrier returns.

The movement of the carrier to remove the fixture from the device is basically the same as the installation fixture. However, after the initial positioning of the navigation mechanism is completed, it is necessary to adjust the up and down position of the up and down movement support 5, and then the forklift moves the bracket 4 forward and backward; then the zero point positioning system of the fixture is positioned; the positioning holes on the support mechanism cooperate with the pins on the fixture from below Thus, the fixture is removed and put back in the library.

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

A fixture automatic exchange device using AGV as a carrier is characterized by including:

AGV;

A control mechanism, the control mechanism is provided on the AGV;

A displacement mechanism, the displacement mechanism is provided on the AGV, and the displacement mechanism communicates with the control mechanism;

A support structure, the support structure is provided on the displacement mechanism, and the support structure communicates with the control mechanism;

A positioning mechanism, the positioning mechanism is provided on the support structure, and the positioning mechanism communicates with the control mechanism.
The automatic fixture changing device using AGV as a carrier according to claim 1, wherein the support structure comprises:

A B-axis rotating member, the B-axis rotating member is rotationally connected to the displacement mechanism;

An A-axis swinging member, the A-axis swinging member is rotatably connected to the B-axis rotating member;

A support member, the support member is connected with the A-axis swing member along the support member.
The automatic fixture changing device using AGV as a carrier according to claim 1, wherein the positioning mechanism is a visual positioning mechanism.
The automatic fixture changing device using AGV as a carrier according to claim 2, characterized in that a motor screw nut mechanism is provided on the A-axis swing member, the motor screw nut mechanism and the control mechanism Communication.
The automatic fixture changing device using AGV as a carrier according to claim 2, wherein an oblique angle sensor is provided on the A-axis swing member, and the oblique angle sensor communicates with the control mechanism.
The automatic jig exchange device using AGV as a carrier according to claim 1, 4 or 5, characterized in that the A-axis swing member is a flexible retrieving plate.
The automatic fixture changing device using AGV as a carrier according to claim 1, wherein the displacement mechanism comprises:

Moving the bracket forward and backward, the forward and backward moving bracket is connected to the AGV through a forward and backward moving drive;

A moving unit, the moving unit is slidably arranged on the front and rear moving brackets along the Y-axis direction;

The B-axis rotating member is rotatably connected to the moving unit.
The automatic fixture changing device using AGV as a carrier according to claim 7, wherein the displacement unit comprises:

Moving the support up and down, the up and down moving support slidingly arranged on the front and back moving brackets along the Y-axis direction;

Left and right moving brackets, the left and right moving brackets are slidingly arranged on the up and down moving supports along the X-axis direction;

Front and back moving plates, the front and back moving plates are slidably arranged on the left and right moving brackets along the Z-axis direction;

The B-axis rotating member is rotatably connected to the front and rear moving plates.
The automatic fixture changing device using AGV as a carrier according to claim 1, wherein a laser safety mechanism is provided on the AGV, and the laser safety mechanism communicates with the control mechanism.
The automatic jig exchange device using AGV as a carrier according to claim 1, 4, 5 or 9, characterized in that the control mechanism is an electronic device controlled by a car navigation and numerical control unit.