Automated Assembly of Seeding Toolbars at Vaderstad

Vaderstad 播种工具栏的自动组装

• 批准号: 543925-2019
• 负责人: Mehrandezh, Mehran
• 金额: $ 4.14万
• 依托单位: University of Regina
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2020
• 资助国家: 加拿大
• 起止时间: 2020-01-01 至 2021-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=699739
• 关键词: Automated; Assembly; Seeding; Toolbars; Vaderstad

The objective is to automate the assembly of the "seeding toolbar" manufactured at the Vaderstad Industries (https://www.vaderstad.com/ca-en/). The seeding toolbars consist of small and modular sections, called control sections, that are assembled together one at a time. First, two control sections are assembled to the central core of the seeding toolbar from right and left. Further control sections are sequentially assembled to these two control sections. Currently, moving the control sections to their pre-assembly positions, to build the entire seeding toolbar, is carried out by human operators. Each control section, after being built within the control-section assembly line, is put on four wheeled hydraulic jacks by which they are guided towards their final pre-assembly location using a teach pendant. The control sections are then bolted to either the central core of the seeding toolbar or other control sections already assembled into the toolbar. Vaderstad is keenly interested in mechanizing and automating the assembly process of their seeding toolbars. This will be achieved by adding servo controllers to the wheeled hydraulic jacks that the control sections are mounted on, as the locomotion unit, and conducting autonomous motion planning and navigation of control sections to their desired poses, while avoiding collision with static (e.g., parts of the assembly line, the seeding toolbar, etc.) and/or dynamic objects (e.g., work crew, moving parts of the overhead gantry cranes, etc.). The research objective is to develop sensor-based motion planning, control, and navigation algorithms to automate the entire process of moving each control section to its pre-assembly configuration on the seeding toolbars, therefore, no human operator would be needed to navigate and guide them. This will be achieved by using the information obtained via two narrow-field-of-depth Pan-Tilt-Zoom (PTZ) cameras on board mounted onto the control sections and also one wide-view camera in a fixed position on the overhead infrastructure on the manufacturing floor.

目标是自动组装在Vaderstad Industries （https://www.vaderstad.com/ca-en/）制造的“播种工具栏”。播种工具栏由小而模块化的部分组成，称为控制部分，它们一次组装在一起。首先，从右到左将两个控件部分组装到播种工具栏的中心核心。进一步的控制段依次组装到这两个控制段。目前，将控制段移动到预装配位置，以构建整个播种工具栏，是由人工操作人员完成的。每个控制部分在控制部分装配线内组装完成后，被放置在四个轮式液压千斤顶上，通过一个教学挂件将它们引导到最终的预组装位置。然后将控制部分固定到播种工具栏的中心核心或已经组装到工具栏中的其他控制部分。