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: $ 2.38万
• 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: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=720833
• 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.

目的是自动化在Vaderstad Industries（https://www.vaderstad.com/ca-en/）制造的“种子工具栏”的组装。播种工具栏由一个小型和模块化部分组成，称为控制部分，一次组装在一起。首先，将两个控制部分组装到左右左侧的播种工具栏的中心核心。将进一步的对照部分顺序组装到这两个控制部分。当前，将控制部分移至其预组装位置，以构建整个种子工具栏，由人类操作员进行。每个控制部分都在控制截面组装线内建造后，都将其放在四轮液压千斤顶上，并使用教学吊坠将它们引导到最终的预组装位置。然后将控制部分螺栓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。Vadestad非常有兴趣对其机械化和自动化其播种工具的组装过程。这将通过将伺服控制器添加到控制截面的车轮液压插口上，将控制段安装在运动单元，并进行自主运动计划和控制段的自主运动和导航到其所需的姿势，同时避免与静态碰撞（例如，组装线的部分，播种工具台上的零件）（E. e。起重机等）。研究目标是开发基于传感器的运动计划，控制和导航算法，以使将每个控制部分移至其在接种工具栏上的整个控制部分的整个过程中，因此，不需要人类操作员来导航和指导它们。这将通过使用安装在控制段上的板上的两个狭窄的泛块斜线（PTZ）摄像机获得的信息来实现这一目标，并在制造地板上的高架基础设施上固定位置处于固定位置。