Electric lifting upender system for disassembling and assembling high-pressure oil pump

Abstract

The invention discloses a high-pressure oil pump disassembly and assembly electric lifting turnover machine system which comprises a high-pressure oil pump disassembly and assembly electric lifting turnover machine transfer device, a high-pressure oil pump disassembly and assembly electric lifting turnover machine disassembly device, a high-pressure oil pump combination platform and an intelligent control platform. The high-pressure oil pump combined platform comprises a plunger type high-pressure oil pump and a high-pressure oil pump transfer platform, and the intelligent control platform is in communication connection with the high-pressure oil pump disassembly and assembly electric lifting turnover machine transfer device and the high-pressure oil pump disassembly and assembly electric lifting turnover machine disassembly device; the high-pressure oil pump can be intelligently transferred and disassembled, traditional transferring and manual disassembling work of a gantry crane of a worker is replaced, the working trend of an intelligent workshop is met, the characteristics of high intelligence and safety are achieved, and the transferring and disassembling efficiency of the high-pressure oil pump is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of transportation and disassembly of a high-pressure oil pump, and in particular to an electric lifting and turning machine system for disassembling and assembling a high-pressure oil pump. Background Art

[0002] As a vital component of ship equipment, the marine high-pressure oil pump is widely used. When the ship diesel engine is running, the marine high-pressure oil pump drives the cam through the crankshaft at the bottom, and the cam pushes the plunger in the oil pump to change the fuel pressure in the cavity to supply fuel to the ship diesel engine. Due to the harsh working environment of the high-pressure oil pump, after a long period of operation, various dirt and dust will be generated in the pump. If it is not disassembled and maintained regularly, the plunger inside the oil pump will become stuck, etc., so the maintenance of the high-pressure oil pump is extremely important.

[0003] At present, the dismantling method of high-pressure oil pumps is mostly manual dismantling. Workers operate the gantry crane to transport and then dismantle manually. After dismantling the oil pump cover, the internal plunger is mostly locked with tools and then lifted by the gantry crane for transportation. This method has low safety and reliability and is not conducive to improving the work efficiency of ship maintenance. In view of the current urgent requirements of shipyards for parts disassembly and assembly technology, it is urgent to solve the transportation and dismantling problems of high-pressure oil pumps.

[0004] The existing patents mentioned about the design of the lifting and turning machine system mainly involve the transmission, lifting and turning of products. For example, CN211470635U and CN218087337U provide a lifting and turning machine and a lifting and turning machine respectively. CN211470635U is mainly used for material lifting and turning. The invention is not equipped with identification and detection functions, and its applicability to high-pressure oil pumps is poor; CN218087337U is mainly used for the lifting and turning of silos. The invention is also not equipped with identification and detection functions. It has a narrow scope of application and is not suitable for use in internal equipment of ship repair workshops.

[0005] 1. "Lifting and turning machine", patent number CN211470635U. This patent discloses a lifting and turning machine, which mainly includes a lifting machine shell, the upper part of the shell is connected to a discharge shell, the bottom and top of the shell are respectively provided with a feed port and a slot, the lifting machine shell is connected by an L-shaped rod, the upper left end of the L-shaped rod is equipped with an electric hoist, the bottom of the chain of the electric hoist passes through the slot and extends to the inner cavity of the shell, the bottom of the electric hoist chain is connected to a first connecting ring, the connecting ring is equipped with a connecting mechanism, the connecting mechanism includes a connecting plate, and the connecting plate is connected to the upper and lower connecting parts by screws. The device is not equipped with identification and detection functions, and is not suitable for lifting and turning of high-pressure oil pumps.

[0006] 2. "A lifting and turning machine", patent number CN218087337U. This patent discloses a lifting and turning machine, which mainly includes a column and a silo. A driving structure and a guide assembly for guiding the lifting of the silo are arranged between the column and the silo. The silo is hinged with a cover plate for covering the silo. The silo is provided with a cover plate opening and closing control assembly. The control assembly includes a fixed bracket and an actuator. The hinged end of the cover plate and the bracket are located on the same side of the silo. The bracket, actuator and cover plate are arranged in a triangular shape. Although this invention solves the problem of material spillage during material transfer, it is not equipped with an identification function and is only suitable for the transfer of materials. It is less suitable for high-pressure oil pumps. Summary of the invention

[0007] The present invention provides a high-pressure oil pump disassembly and assembly electric lifting and turning machine system, which can intelligently transport and disassemble the high-pressure oil pump, replacing the traditional workers' gantry crane transportation and manual disassembly work, conforming to the trend of intelligent workshop work, and has the characteristics of high intelligence and safety, greatly improving the efficiency of high-pressure oil pump transportation and disassembly.

[0008] The present invention provides a high-pressure oil pump disassembly and assembly electric lifting and turning machine system, comprising: a high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device, a high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device, a high-pressure oil pump combination platform and an intelligent control platform; the high-pressure oil pump combination platform comprises a plunger-type high-pressure oil pump and a high-pressure oil pump transfer platform, and the intelligent control platform is respectively communicated with the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device and the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device;

[0009] The intelligent control platform is used to control the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device to transfer the plunger type high-pressure oil pump to the high-pressure oil pump transfer platform so that workers can remove the external bolts of the plunger type high-pressure oil pump; control the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device to transfer the plunger type high-pressure oil pump with the external bolts removed to a preset position; control the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device to extract the internal plunger of the plunger type high-pressure oil pump.

[0010] Furthermore, the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device includes: a lifting and turning machine transfer device base, a lifting and turning machine transfer device slide rail, a lifting and turning machine transfer device execution end, a lifting and turning machine transfer device slider and a transfer device stepper motor; the lifting and turning machine transfer device slide rail is arranged on the lifting and turning machine transfer device base, the lifting and turning machine transfer device slider is slidably connected to the lifting and turning machine transfer device slide rail, the lifting and turning machine transfer device execution end is arranged on the lifting and turning machine transfer device slider, and the transfer device stepper motor is used to provide lateral movement power for the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device, so that the lifting and turning machine transfer device slider is moved to the position of the high-pressure oil pump combination platform, and the plunger-type high-pressure oil pump is grabbed and transferred to the position corresponding to the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device through the lifting and turning machine transfer device execution end.

[0011] Furthermore, the execution end of the lifting and turning machine transfer device includes: a lifting and turning manipulator, an electric lifting and turning arm visual sensor, an electric lifting and turning arm panoramic camera, a lifting and turning arm stepper motor, a lifting and turning arm forearm, and a lifting and turning arm; the lifting and turning manipulator is connected to the lifting and turning arm forearm, and the lifting and turning arm forearm is connected to the lifting and turning arm rear arm; the electric lifting and turning arm visual sensor, the electric lifting and turning arm panoramic camera, and the lifting and turning arm stepper motor are arranged on the lifting and turning manipulator, and the lifting and turning arm stepper motor provides power for the lifting and turning arm forearm and the lifting and turning arm rear arm, so that the execution end of the lifting and turning machine transfer device lifts and turns the plunger high-pressure oil pump, and the electric lifting and turning arm visual sensor and the electric lifting and turning arm panoramic camera are used to locate the position of the plunger high-pressure oil pump for the lifting and turning manipulator.

[0012] Furthermore, the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device includes: a disassembly device execution end, a disassembly device lifting rod, a disassembly device moving slider group, and a disassembly device track bracket. The disassembly device moving slider group is slidably connected to the disassembly device track bracket, the disassembly device lifting rod is arranged below the disassembly device moving slider group, and the disassembly device execution end is arranged at the bottom of the disassembly device lifting rod.

[0013] Furthermore, the disassembly device execution end includes: a disassembly device visual sensor, a disassembly and assembly robot, and a disassembly device panoramic camera; the two disassembly device panoramic cameras are respectively arranged on both sides of the disassembly and assembly robot, and are used to identify and compare the plunger in the plunger type high-pressure oil pump; the disassembly device visual sensor is located in the center of the disassembly and assembly robot, and is used to position the plunger inside the plunger type high-pressure oil pump when the disassembly and assembly robot grabs the plunger.

[0014] Furthermore, the control steps of the intelligent control platform include:

[0015] S1: The intelligent control platform starts the system and inputs the name of the target to be captured;

[0016] S2: Initialize the joints of the robot arm of the lifting and turning machine transfer device; turn on the panoramic camera and visual sensor, and adjust the lifting height of the robot arm to the maximum;

[0017] S3: The system locates the target through software, rotates the base of the robotic arm and turns on the panoramic camera to capture images. Each time the robot arm rotates, the panoramic camera captures the corresponding image, and the captured image is fed back to the system through the data cable.

[0018] S4: The system locates and analyzes the target based on the image, and determines whether to capture the target based on the captured image; if there is no target in the captured image, the base continues to rotate to capture;

[0019] S6: If the target is in the captured image, the parameters of the image information are saved in the system; the system performs data analysis based on these parameters to obtain the joint rotation angle and speed parameters; then the motor of the robot base is driven first, and then the motor of the robot joint is driven;

[0020] S7: repeat step S3; when the distance value measured by the visual sensor is the same as the clamping distance value and the target is in the captured image, start the clamp control system and control the mechanical gripper to grasp the target;

[0021] S8: Initialize the dismantling device of the lifting and turning machine; turn on the panoramic camera and the visual sensor, and input the position information of the grasped target in S6 into the dismantling device system;

[0022] S9: drives the slider motor, and the slider slowly slides from the initial position to the grasping target, and slides to the position input by S6;

[0023] S10: When the sliding value is the same as the target position value, the built-in motor of the slider is turned off, the mechanical gripper is slowly released, and the camera takes a snapshot;

[0024] S11: If the target is in the captured image and the sliding value is the same as the target position value, the gripper control system is turned on to control the mechanical gripper to extract the target.

[0025] Furthermore, it also includes:

[0026] SA1: Before grabbing the target, collect the target image database, and perform training and testing; optimize the open source model FastR-CNN1, which is an image model used to train sorting objects;

[0027] SA2: Before performing the target recognition task, a panoramic camera and visual sensor are used to simulate the captured images, and then training and testing are performed;

[0028] SA3: When performing the target recognition task, first use the panoramic camera to take an image of the front of the target object and then transmit it to the computer; use the model trained and tested in SA2 to locate the target in the image and mark the target object with a black box;

[0029] SA4: When performing the target grasping task, the trained and tested models are used for regional positioning and the target object is marked with a red box;

[0030] SA5: The system software compares the black box and the red box; if the red area overlaps with the red area mark by ≥50%, and the sensor distance measurement value is the same as the clamping distance value or the sliding value is the same as the target position value, the grasping task is executed; if the red area overlaps with the red area mark by ≤50%, the control step is executed; the intelligent control platform converts the depth data into point cloud data through the visual sensor, and the transformation constraint condition satisfies the following relationship:

[0031]

[0032] Among them: x, y, z are point cloud coordinate systems; x1, y1 are image coordinate systems; D is the depth value;

[0033] In the process of mapping world coordinates to images, consider the process of mapping world coordinate points to image points, which satisfies the following relationship:

[0034]

[0035] Where: μ and ν are arbitrary coordinate points in the image coordinate system; μ0 and ν0 are the center coordinates of the image; x w ,y w 、z w is the three-dimensional coordinate point in the world coordinate system; z c is the z-axis value of the sensor coordinates, which is the distance from the target to the sensor; R and T are the rotation matrix and translation matrix of the extrinsic matrix respectively;

[0036] The origin of the sensor coordinate system and the world coordinate system coincides, and the image point [μν] T To the world coordinate point [x w y w z w ] T The transformation formula satisfies the following relationship:

[0037]

[0038] The approximate values ​​in the x-axis direction and the y-axis direction are corrected to satisfy the following relationship:

[0039]

[0040] Where: x a ,y a are the correction values ​​in the x-axis direction and the y-axis direction respectively; ω is the correction coefficient; x m is the median value of the x-axis distance measurement, y m The median value of the y-axis distance measurement.

[0041] The present invention has the following beneficial effects: a high-pressure oil pump disassembly and assembly electric lifting and turning machine system of the present invention can efficiently and conveniently transfer the high-pressure oil pump from a designated position to a working platform, and adopts a stepper motor as a power source for a turning machine transfer device and a disassembly device, which can save the time of the transfer device and reduce labor costs, and fully consider the economy and operability during actual transportation, wherein the execution end of the turning machine system includes: a turning machine transfer device and a turning machine disassembly device, and the two devices are responsible for the oil pump transfer and the plunger extraction work respectively, and the turning machine transfer device includes: a lifting and turning manipulator, an arm visual sensor and an arm panoramic camera, and the high-pressure oil pump is detected and compared by the panoramic camera, so that the disassembly operation can be calibrated more accurately and intuitively. The position of the pump body is located by a visual positioning sensor, so that the high-pressure oil pump can be efficiently and safely transferred to the corresponding position. The turning machine disassembly device includes: a visual sensor, a disassembly and assembly manipulator and a disassembly device panoramic camera. When the disassembly device execution end moves, the built-in motor of the slider is used to make it move horizontally, which can improve the movement and extraction efficiency of the device. When the grabbing action is implemented, the plunger in the oil pump is accurately positioned through the capture and recognition of the panoramic camera and the detection of the distance of the visual sensor. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system greatly improves the efficiency of high-pressure oil pump transportation through the cooperation of various devices, which is very convenient and intelligent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 This is an overall diagram of a high-pressure oil pump disassembly and assembly electric lifting and turning machine system;

[0044] Figure 2 It is a front view of a high-pressure oil pump disassembly and assembly electric lifting and turning machine system;

[0045] Figure 3 This is an overall diagram of a high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device;

[0046] Figure 4Disassemble and install the electric lifting and flipping arm for the high-pressure oil pump;

[0047] Figure 5 This is an overall diagram of a disassembly device for an electric lifting and turning machine for disassembling a high-pressure oil pump;

[0048] Figure 6 Assemble the platform for disassembling the device;

[0049] Figure 7 This is a diagram of the combined platform equipped with a high-pressure oil pump.

[0050] In the figure: 1-high-pressure oil pump disassembly and assembly of electric lifting and turning machine system; 2-high-pressure oil pump disassembly and assembly of electric lifting and turning machine transfer device; 3-high-pressure oil pump disassembly and assembly of electric lifting and turning machine disassembly device; 4-high-pressure oil pump combination platform; 4a-plunger high-pressure oil pump; 4b-high-pressure oil pump transfer platform; 5-intelligent control platform; 6-lifting and turning machine transfer device base; 7-lifting and turning machine transfer device slide rail; 8-lifting and turning machine transfer device execution end; 8a-lifting and turning manipulator; 8b-electric lifting and turning arm visual sensor; 8c -Electric lifting and flipping arm panoramic camera; 8d-lifting and flipping arm stepper motor; 8e-lifting and flipping arm forearm; 8f-lifting and flipping arm rear arm; 9-lifting and flipping machine transfer device slider; 10-transfer device stepper motor; 11-high-pressure oil pump disassembly and assembly electric lifting and flipping machine disassembly device execution end; 11a-disassembly device visual sensor; 11b-disassembly and assembly robot; 11c-disassembly device panoramic camera; 12-disassembly device lifting rod; 13-disassembly device moving slider group; 14-disassembly device track bracket. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The technical solutions provided by the embodiments of the present invention are described in detail below in conjunction with the drawings.

[0052] See also Figures 1 to 7 The embodiment of the present invention provides a high-pressure oil pump disassembly and assembly electric lifting and turning machine system 1, which includes: a high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2, a high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device 3, a high-pressure oil pump combination platform 4 and an intelligent control platform 5; the high-pressure oil pump combination platform 4 includes a plunger-type high-pressure oil pump 4a and a high-pressure oil pump transfer platform 4b, and the intelligent control platform 5 is respectively communicated with the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2 and the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device 3.

[0053] The lifting and turning machine transfer device 2 and the control platform 5 are respectively located on both sides of the high-pressure oil pump combination platform 4. The high-pressure oil pump 4a is lifted to the high-pressure oil pump transfer platform 4b through the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2, and then the high-pressure oil pump is grasped, transferred and the plunger is extracted through the turning machine transfer device 2 and the turning machine disassembly device 3. The entire operating system process is controlled by the intelligent control platform 5, and the entire system is powered by an electric device.

[0054] The intelligent control platform 5 controls the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2 to transfer the plunger type high-pressure oil pump 4a to the high-pressure oil pump transfer platform 4b, so that workers can remove the external bolts of the plunger type high-pressure oil pump 4a; controls the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2 to transfer the plunger type high-pressure oil pump 4a with the external bolts removed to a preset position; controls the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device 3 to extract the internal plunger of the plunger type high-pressure oil pump 4a.

[0055] Specifically, the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2 includes: a lifting and turning machine transfer device base 6, a lifting and turning machine transfer device slide rail 7, a lifting and turning machine transfer device execution end 8, a lifting and turning machine transfer device slider 9 and a transfer device stepper motor 10; the turning machine transfer device execution end 8 and the high-pressure oil pump 4a are in the same horizontal plane, and the lifting and turning manipulator 8a, the electric lifting and turning arm visual sensor 8b, the electric lifting and turning arm panoramic camera 8c, the lifting and turning arm stepper motor 8d, the lifting and turning arm forearm 8e and the lifting and turning arm rear arm 8f are located in the turning machine transfer device execution end 8.

[0056] The lifting and turning machine transfer device slide rail 7 is arranged on the lifting and turning machine transfer device base 6, the lifting and turning machine transfer device slider 9 is slidably connected to the lifting and turning machine transfer device slide rail 7, the lifting and turning machine transfer device execution end 8 is arranged on the lifting and turning machine transfer device slider 9, and the transfer device stepper motor 10 is used to provide lateral movement power for the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device 2, so that the lifting and turning machine transfer device slider 9 is moved to the position of the high-pressure oil pump combination platform 4, and the plunger-type high-pressure oil pump 4a is grabbed and transferred to the position corresponding to the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device 3 through the lifting and turning machine transfer device execution end 8.

[0057] Specifically, the execution end 8 of the lifting and turning machine transfer device includes: a lifting and turning manipulator 8a, an electric lifting and turning arm visual sensor 8b, an electric lifting and turning arm panoramic camera 8c, a lifting and turning arm stepper motor 8d, a lifting and turning arm forearm 8e, and a lifting and turning arm rear arm 8f;

[0058] The lifting and flipping manipulator 8a is connected to the lifting and flipping arm forearm 8e, and the lifting and flipping arm forearm 8e is connected to the lifting and flipping arm rear arm 8f; the electric lifting and flipping arm visual sensor 8b, the electric lifting and flipping arm panoramic camera 8c, and the lifting and flipping arm stepper motor 8d are arranged on the lifting and flipping manipulator 8a, and the lifting and flipping arm stepper motor 8d provides power for the lifting and flipping arm forearm 8e and the lifting and flipping arm rear arm 8f, so that the lifting and flipping machine transfer device execution end 8 can lift and flip the plunger high-pressure oil pump 4a. The electric lifting and flipping arm visual sensor 8b and the electric lifting and flipping arm panoramic camera 8c are used to locate the position of the plunger high-pressure oil pump 4a for the lifting and flipping manipulator 8a.

[0059] The intelligent control platform 5 controls the stepper motor action of the slider 9 of the lifting and turning machine transfer device, so that the execution end 8 of the turning machine transfer device slides to the designated position corresponding to the high-pressure oil pump combination platform 4, and controls the built-in stepper motor of the rotating shaft of the manipulator rear arm 8f and the movable front arm 8e to make the lifting and turning arm forearm 8e and the lifting and turning arm rear arm 8f cooperate to rotate to the appropriate position of the collection camera, and then the electric lifting and turning arm panoramic camera 8c is used to capture the plunger high-pressure oil pump 4a, and the electric lifting and turning arm visual sensor 8b surveys the distance.

[0060] The high-pressure oil pump is disassembled and assembled into the electric lifting and turning machine transfer device 2. When the distance measurement value of the built-in visual sensor 8b is less than the clamping distance of the clamp, the control platform 5 implements the grasping command, grasps the target and performs the transfer work.

[0061] Specifically, the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device 3 includes: a disassembly device execution end 11, a disassembly device lifting rod 12, a disassembly device moving slider group 13, and a disassembly device track bracket 14. The disassembly device moving slider group 13 is slidably connected to the disassembly device track bracket 14, the disassembly device lifting rod 12 is arranged below the disassembly device moving slider group 13, and the disassembly device execution end 11 is arranged at the bottom of the disassembly device lifting rod 12. Through the built-in motor of the disassembly device moving slider group 13, the disassembly device is moved to the corresponding position of the lifting and turning machine transfer device 2 through the track, and the built-in visual sensor 11a and panoramic camera 11c of the disassembly device execution end 11 are used to realize the positioning of the internal plunger of the oil pump, and then the disassembly device execution end 11 is lowered to the designated position through the disassembly device lifting rod 12 to extract the internal plunger of the oil pump.

[0062] Specifically, the disassembly device execution end 11 includes: a disassembly device visual sensor 11a, a disassembly and assembly robot 11b, and a disassembly device panoramic camera 11c; the two disassembly device panoramic cameras 11c are respectively arranged on both sides of the disassembly and assembly robot 11b, and are used to identify and compare the plunger in the plunger-type high-pressure oil pump 4a; the disassembly device visual sensor 11a is located in the center of the disassembly and assembly robot 11b, and is used to position the plunger inside the plunger-type high-pressure oil pump 4a when the disassembly and assembly robot 11b grabs the plunger.

[0063] The intelligent control platform 5 controls the built-in motor of the disassembling device to move the slider group 13, so that the disassembling device execution end 11 slides to the specified position of the lifting and turning machine transfer device execution end. At this time, the device's panoramic camera 11c captures the auxiliary plunger inside the high-pressure oil pump, and the built-in visual sensor 11a measures the distance of the plunger. When the distance measurement value is less than the clamping distance of the extraction device, the control platform 5 implements the extraction command to extract the plunger inside the oil pump to complete the extraction work.

[0064] Specifically, the control steps of the intelligent control platform 5 include:

[0065] S1: The intelligent control platform starts the system and inputs the name of the target to be captured;

[0066] S2: Initialize the joints of the robot arm of the lifting and turning machine transfer device; turn on the panoramic camera and visual sensor, and adjust the lifting height of the robot arm to the maximum;

[0067] S3: The system locates the target through software, rotates the base of the robotic arm and turns on the panoramic camera to capture images. Each time the robot arm rotates, the panoramic camera captures the corresponding image, and the captured image is fed back to the system through the data cable.

[0068] S4: The system locates and analyzes the target based on the image, and determines whether to capture the target based on the captured image; if there is no target in the captured image, the base continues to rotate to capture;

[0069] S6: If the target is in the captured image, the parameters of the image information are saved in the system; the system performs data analysis based on these parameters to obtain the joint rotation angle and speed parameters; then the motor of the robot base is driven first, and then the motor of the robot joint is driven;

[0070] S7: repeat step S3; when the distance value measured by the visual sensor is the same as the clamping distance value and the target is in the captured image, start the clamp control system and control the mechanical gripper to grasp the target;

[0071] S8: Initialize the dismantling device of the lifting and turning machine; turn on the panoramic camera and the visual sensor, and input the position information of the grasped target in S6 into the dismantling device system;

[0072] S9: drives the slider motor, and the slider slowly slides from the initial position to the grasping target, and slides to the position input by S6;

[0073] S10: When the sliding value is the same as the target position value, the built-in motor of the slider is turned off, the mechanical gripper is slowly released, and the camera takes a snapshot;

[0074] S11: If the target is in the captured image and the sliding value is the same as the target position value, the gripper control system is turned on to control the mechanical gripper to extract the target.

[0075] Furthermore, it also includes:

[0076] SA1: Before grabbing the target, collect the target image database, and perform training and testing; optimize the open source model FastR-CNN1, which is an image model used to train sorting objects;

[0077] SA2: Before performing the target recognition task, a panoramic camera and visual sensor are used to simulate the captured images, and then training and testing are performed;

[0078] SA3: When performing the target recognition task, first use the panoramic camera to take an image of the front of the target object and then transmit it to the computer; use the model trained and tested in SA2 to locate the target in the image and mark the target object with a black box;

[0079] SA4: When performing the target grasping task, the trained and tested models are used for regional positioning and the target object is marked with a red box;

[0080] SA5: The system software compares the black box and the red box; if the red area overlaps with the red area mark by ≥50%, and the sensor distance measurement value is the same as the clamping distance value or the sliding value is the same as the target position value, the grasping task is executed; if the red area overlaps with the red area mark by ≤50%, the control step is executed; the intelligent control platform converts the depth data into point cloud data through the visual sensor, and the transformation constraint condition satisfies the following relationship:

[0081]

[0082] Among them: x, y, z are point cloud coordinate systems; x1, y1 are image coordinate systems; D is the depth value;

[0083] In the process of mapping world coordinates to images, consider the process of mapping world coordinate points to image points, which satisfies the following relationship:

[0084]

[0085] Where: μ and ν are arbitrary coordinate points in the image coordinate system; μ0 and ν0 are the center coordinates of the image; x w ,y w 、z w is the three-dimensional coordinate point in the world coordinate system; z c is the z-axis value of the sensor coordinates, which is the distance from the target to the sensor; R and T are the rotation matrix and translation matrix of the extrinsic matrix respectively;

[0086] The origin of the sensor coordinate system and the world coordinate system coincides, and the image point [μν] T To the world coordinate point [x w y w z w ] T The transformation formula satisfies the following relationship:

[0087]

[0088] This model can be used to convert the coordinates of two-dimensional points on the depth map into three-dimensional space points. After testing, the mean method in the x-axis and y-axis directions of the horizontal plane can better approach the true value, while the median method in the vertical z-axis direction can be closer to the true value. Therefore, in order to improve the grasping accuracy of the robot arm, the approximate values ​​in the x-axis and y-axis directions still need to be corrected, which satisfies the following relationship:

[0089]

[0090] Where: x a ,y a are the correction values ​​in the x-axis direction and the y-axis direction respectively; ω is the correction coefficient; x m is the median value of the x-axis distance measurement, y m The median value of the y-axis distance measurement.

[0091] It can be seen from the above embodiments that the present invention uses a flipping mechanical arm to operate the high-pressure oil pump, realizing multi-angle and all-round control of the position of the oil pump operation, replacing the inefficient and complicated work process of the gantry crane; a mechanical gripper is used to grab the high-pressure oil pump to achieve more accurate and stable disassembly operations, replacing the complex work process of the shipyard using chains to lift the oil pump plunger. A panoramic camera is used to capture images of the outer wall of the oil pump at the lower part of the oil inlet of the high-pressure oil pump and identify and compare them, so as to quickly identify and locate the position of the oil pump. The internal plunger of the high-pressure oil pump is extracted by a mechanical gripper. The mechanical gripper has a built-in visual sensor to accurately locate the oil pump plunger and accurately control the distance, overcoming the problem of inaccurate removal by workers using tools such as screws.

[0092] The present invention has the following technical features:

[0093] 1. A stepper motor is used as the power source for the lifting and turning machine to provide power for the robotic arm and gripper.

[0094] 2. Use a flipping mechanical gripper and a mechanical arm as a carrier for disassembly and transportation of the high-pressure oil pump. The mechanical arm drives the gripper to transfer the high-pressure oil pump to the corresponding position for the oil pump plunger manipulator to perform extraction work.

[0095] 3. When grabbing and flipping the high-pressure oil pump, the panoramic camera monitoring system built into the flipping robotic arm is used to identify and compare the outer wall of the oil pump at the bottom of the oil inlet of the high-pressure oil pump to accurately locate the position of the oil pump.

[0096] 4. Use visual sensors to locate the plunger inside the oil pump, and control the grabbing distance when the mechanical gripper extracts the plunger, so as to accurately extract the plunger from the inside of the oil pump.

[0097] 5. An electric hoist is used to provide lifting power for the mechanical gripper. When the grabbing mechanical arm moves the oil pump to the specified position, the electric hoist lifts the mechanical gripper to the specified height to ensure preparation for the subsequent plunger extraction work.

[0098] 6. Use intelligent control platform to control the entire high-pressure oil pump disassembly and assembly electric lifting and turning machine.

[0099] The above-described embodiments of the present invention do not limit the protection scope of the present invention.

Claims

1. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system, characterized in that: include: A high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2), a high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device (3), a high-pressure oil pump assembly platform (4) and an intelligent control platform (5); the high-pressure oil pump assembly platform (4) comprises a plunger-type high-pressure oil pump (4a) and a high-pressure oil pump transfer platform (4b), and the intelligent control platform (5) is respectively connected to the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2) and the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device (3); The intelligent control platform (5) is used to control the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2) to transfer the plunger-type high-pressure oil pump (4a) to the high-pressure oil pump transfer platform (4b) so that workers can remove the external bolts of the plunger-type high-pressure oil pump (4a); control the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2) to transfer the plunger-type high-pressure oil pump (4a) with the external bolts removed to a preset position; and control the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device (3) to extract the internal plunger of the plunger-type high-pressure oil pump (4a).

2. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system as claimed in claim 1, characterized in that: The high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2) comprises: a lifting and turning machine transfer device base (6), a lifting and turning machine transfer device slide rail (7), a lifting and turning machine transfer device execution end (8), a lifting and turning machine transfer device slide block (9) and a transfer device stepping motor (10); The lifting and turning machine transfer device slide rail (7) is arranged on the lifting and turning machine transfer device base (6), the lifting and turning machine transfer device slider (9) is slidably connected to the lifting and turning machine transfer device slide rail (7), the lifting and turning machine transfer device execution end (8) is arranged on the lifting and turning machine transfer device slider (9), and the transfer device stepping motor (10) is used to provide lateral movement power for the high-pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2), so that the lifting and turning machine transfer device slider (9) moves to the position of the high-pressure oil pump assembly platform (4), and the plunger-type high-pressure oil pump (4a) is grasped and transferred to the position corresponding to the high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device (3) through the lifting and turning machine transfer device execution end (8).

3. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system as claimed in claim 2, characterized in that: The execution end (8) of the lifting and turning machine transfer device comprises: a lifting and turning manipulator (8a), an electric lifting and turning arm visual sensor (8b), an electric lifting and turning arm panoramic camera (8c), a lifting and turning arm stepping motor (8d), a lifting and turning arm forearm (8e), and a lifting and turning arm rear arm (8f); The lifting and flipping manipulator (8a) is connected to the lifting and flipping arm forearm (8e), and the lifting and flipping arm forearm (8e) is connected to the lifting and flipping arm rear arm (8f); the electric lifting and flipping arm visual sensor (8b), the electric lifting and flipping arm panoramic camera (8c), and the lifting and flipping arm stepping motor (8d) are arranged on the lifting and flipping manipulator (8a); the lifting and flipping arm stepping motor (8d) provides power for the lifting and flipping arm forearm (8e) and the lifting and flipping arm rear arm (8f) for the lifting and flipping machine transfer device execution end (8) to lift and flip the plunger high-pressure oil pump (4a); the electric lifting and flipping arm visual sensor (8b) and the electric lifting and flipping arm panoramic camera (8c) are used to locate the position of the plunger high-pressure oil pump (4a) for the lifting and flipping manipulator (8a).

4. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system as claimed in claim 3, characterized in that: The high-pressure oil pump disassembly and assembly electric lifting and turning machine disassembly device (3) comprises: a disassembly device execution end (11), a disassembly device lifting rod (12), a disassembly device moving slide block group (13), and a disassembly device track bracket (14); The disassembling device movable slider group (13) is slidably connected to the disassembling device track bracket (14), the disassembling device lifting rod (12) is arranged below the disassembling device movable slider group (13), and the disassembling device execution end (11) is arranged at the bottom of the disassembling device lifting rod (12).

5. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system as claimed in claim 4, characterized in that: The disassembling device execution end (11) comprises: a disassembling device visual sensor (11a), a disassembling robot (11b), and a disassembling device panoramic camera (11c); The two disassembling device panoramic cameras (11c) are respectively arranged on both sides of the disassembling and assembling robot (11b) for identifying and comparing the plunger in the plunger-type high-pressure oil pump (4a); the disassembling device visual sensor (11a) is located in the center of the disassembling and assembling robot (11b) for positioning the plunger inside the plunger-type high-pressure oil pump (4a) when the disassembling and assembling robot (11b) grabs the plunger.

6. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system as claimed in claim 5, characterized in that: The control steps of the intelligent control platform (5) include: S1: The intelligent control platform starts the system and inputs the name of the target to be captured; S2: Initialize the joints of the robot arm of the lifting and turning machine transfer device; turn on the panoramic camera and visual sensor, and adjust the lifting height of the robot arm to the maximum; S3: The system locates the target through software, rotates the base of the robotic arm and turns on the panoramic camera to capture images. Each time the robot arm rotates, the panoramic camera captures the corresponding image, and the captured image is fed back to the system through the data cable. S4: The system locates and analyzes the target based on the image, and determines whether to capture the target based on the captured image; if there is no target in the captured image, the base continues to rotate to capture; S6: If the target is in the captured image, the parameters of the image information are saved in the system; the system performs data analysis based on these parameters to obtain the joint rotation angle and speed parameters; then the motor of the robot base is driven first, and then the motor of the robot joint is driven; S7: repeat step S3; when the distance value measured by the visual sensor is the same as the clamping distance value and the target is in the captured image, start the clamp control system and control the mechanical gripper to grasp the target; S8: Initialize the dismantling device of the lifting and turning machine; turn on the panoramic camera and the visual sensor, and input the position information of the grasped target in S6 into the dismantling device system; S9: drives the slider motor, and the slider slowly slides from the initial position to the grasping target, and slides to the position input by S6; S10: When the sliding value is the same as the target position value, the built-in motor of the slider is turned off, the mechanical gripper is slowly released, and the camera takes a snapshot; S11: If the target is in the captured image and the sliding value is the same as the target position value, the gripper control system is turned on to control the mechanical gripper to extract the target.

7. A high-pressure oil pump disassembly and assembly electric lifting and turning machine system as claimed in claim 6, characterized in that: Also includes: SA1: Before grabbing the target, collect the target image database, and perform training and testing; optimize the open source model FastR-CNN1, which is an image model used to train sorting objects; SA2: Before performing the target recognition task, a panoramic camera and visual sensor are used to simulate the captured images, and then training and testing are performed; SA3: When performing the target recognition task, first use the panoramic camera to take an image of the front of the target object and then transmit it to the computer; use the model trained and tested in SA2 to locate the target in the image and mark the target object with a black box; SA4: When performing the target grasping task, the trained and tested models are used for regional positioning and the target object is marked with a red box; SA5: The system software compares the black box and the red box; If the red area overlaps with the red area mark by ≥50%, and the value of the sensor distance measurement is the same as the clamping distance value or the sliding value is the same as the target position value, the grasping task is executed; if the red area overlaps with the red area mark by ≤50%, the control step is executed; the intelligent control platform converts the depth data into point cloud data through the visual sensor, and the transformation constraint condition satisfies the following relationship: Among them: x, y, z are point cloud coordinate systems; x1, y1 are image coordinate systems; D is the depth value; In the process of mapping world coordinates to images, the process of mapping world coordinate points to image points is considered, satisfying the following relationship: Where: μ and ν are arbitrary coordinate points in the image coordinate system; μ0 and ν0 are the center coordinates of the image; x w ,y w 、z w is the three-dimensional coordinate point in the world coordinate system; z c is the z-axis value of the sensor coordinates, which is the distance from the target to the sensor; R and T are the rotation matrix and translation matrix of the extrinsic matrix respectively; The origin of the sensor coordinate system and the world coordinate system coincides, and the image point [μν] T To the world coordinate point [x w y w z w ] T The transformation formula satisfies the following relationship: The approximate values ​​in the x-axis direction and the y-axis direction are corrected to satisfy the following relationship: Where: x a ,y a are the correction values ​​in the x-axis direction and the y-axis direction respectively; ω is the correction coefficient; x m is the median value of the x-axis distance measurement, y m The median value of the y-axis distance measurement.

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