Research Of Automatic Assembly Line Based On Industrial Robots

Faced with the dilemma brought about by the explosive growth of the express delivery industry and the pressure of the social demographic structure,the development of intelligent logistics is considered to be an inevitable trend to solve industry problems.In the intelligent logistics system,warehousing logistics robots play an important role.On the one hand,the domestic demographic dividend has subsided.On the other hand,robots can work continuously for a long time,and the efficiency and precision are higher than humans,making the pace of “machine substitution” further accelerated.Mobile robot is an important tool for automated transportation and transportation.It can assist the production of off-line handling,workshop warehouse transfer and assembly,and is widely used in manufacturing,logistics,service and other fields,with broad development prospects.Among mobile robots,the AGV Automated Guided Vehicle has long been the main solution for automating internal transportation operations.However,the AGV's in-vehicle intelligence is extremely low and can only be subject to simple programming instructions.Usually AGV is limited to several fixed routes,following a fixed route integrated into the plant's facilities.Its specific application is limited and can only perform a single transportation task.Later transformation,high cost and low efficiency.For the problems of AGV,the more sophisticated,flexible and cost-effective AMR Automated Mobile Robot technology brings new solutions to warehousing logistics.In the development of ground autonomous mobile robots,autonomous positioning navigation technology is considered to be the first step to achieve ground mobile robots.The autonomous positioning navigation technology mainly includes three aspects: autonomous positioning,construction drawing and motion planning.Positioning and map creation are performed at the same time,so it is called instant positioning and map construction,that is,SLAM(simultaneous localization and mapping)problem.The development of the SLAM problem has now reached a certain degree of maturity,but the problem is quite complicated in practical applications.SLAM itself is just a method,it is also a technology,it can now be applied to various fields,but it must be combined with specific application scenarios to play its value.The significance of SLAM technology is not much different from the actual application scenario.Only by clarifying the target application and exploring the actual problems can we study how to improve the SLAM system.Therefore,the focus of the article is not to study from the perspective of SLAM theory,but to focus on practical problems and solve practical engineering problems.In the past research and application,the autonomous mobile robot(AMR)mostly relies on the two-wheel differential model.The two-wheel differential model has only the translation in the X-axis direction and the freedom in both directions of the Z-axis rotation.In some single open application environments,users' needs can be met,but in the increasingly complex application environment,the two-wheel differential model is not sufficient to adapt to various working conditions in the application site.The Omni-directional mobile chassis offers unique advantages in modern manufacturing environments with its natural agility and flexibility.Therefore,the article will focus on the SLAM problem based on omnidirectional mobile chassis robots.The article is based on the establishment of omnidirectional mobile chassis odometer model,odometer model correction,laser radar number correction,front-end matching algorithm,graph-optimized SLAM method,and grid-based map construction.The system framework for positioning and mapping of the mobile chassis robot is finally verified by the specific experimental platform.The results show that it meets the requirements of the theoretical engineering.