A vertically docked equipment access system
By using a vertical splicing system and components such as industrial robots and six-dimensional force sensors, the automation and safety of equipment insertion into the missile assembly process are achieved, solving the problem of difficulty in automating equipment insertion and improving production efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-03-31
- Publication Date
- 2026-03-27
AI Technical Summary
During missile assembly, the equipment insertion process is difficult to automate, and the fitting accuracy and safety cannot be guaranteed, resulting in low efficiency of manual operation and failing to meet the requirements of rapid large-scale production.
The equipment entry system employing vertical splicing includes an industrial robot, a six-dimensional force sensor, an electric gripper, a leveling device, a cabin turntable, and an equipment turntable. It uses an industrial camera to identify characteristic holes, adjusts the alignment of the axes of the cabin and the equipment inside, and uses a six-dimensional force sensor to monitor the contact force to ensure safe splicing.
It automates the equipment loading process, freeing up manpower, improving production efficiency, ensuring the safe and correct loading of equipment, and meeting the needs of rapid large-scale production.
Smart Images
Figure CN116511854B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application is a vertical joint device into the cabin system, relates to the field of automatic assembly, and discloses a vertical joint device into the cabin system. BACKGROUND
[0002] In the military industry of China, especially in the process of missile assembly, there are a large number of device into the cabin processes, because the value of the device is high, the gap between the device and the cabin is small, and automation is difficult to realize, at present, the device into the cabin process is almost completed by manual work, the physical consumption of the operator is large, the assembly efficiency is low, and it is difficult to realize the requirement of rapid mass production.
[0003] At present, the reason why the device into the cabin cannot be automated is that the precision and safety of joint cannot be guaranteed, if the cabin axis and the device axis do not coincide during joint, collision between the cabin and the device is easy to cause damage. SUMMARY
[0004] The application aims to provide a vertical joint device into the cabin system to overcome the defects of the prior art.
[0005] A vertical joint device into the cabin system, characterized in that it comprises a water platform 14, an industrial robot 1, a device turntable 4, a cabin turntable 10 and a leveling device 11, wherein the water platform 14 is in the shape of U in the horizontal plane, the industrial robot 1 is fixedly installed on the ground at the U-shaped vacancy of the water platform 14, the cabin turntable 10 is installed on the left table surface of the water platform 14, and the axis of the cabin turntable 10 is perpendicular to the water platform 14; a three-jaw chuck 9 is coaxially installed on the cabin turntable 10; the industrial camera II 12 is installed on the left of the cabin turntable 10, and the axis of the industrial camera II 12 is perpendicular to the axis of the cabin turntable 10; the leveling device 11 is fixedly installed on the table surface in front of the cabin turntable 10, the workpiece tray 13 is fixedly installed on the table surface in front of the industrial robot 1, and the device turntable 4 is installed on the right table surface of the water platform 14, and the axis of the device turntable 4 is perpendicular to the water platform 14; the in-cabin device tooling 3 is coaxially installed on the device turntable 4, the industrial camera I 5 is installed on the left of the in-cabin device tooling 3, and the axis of the industrial camera I 5 is perpendicular to the axis of the device turntable 4; and the axes of the industrial camera II 12, the cabin turntable 10, the industrial camera I 5 and the device turntable 4 are on a straight line with the intersection point of the table surface of the water platform 14.
[0006] The industrial robot 1 is provided with an electric clamping jaw 7 at the tail end;
[0007] In operation, first, the cabin body 8 and the cabin equipment 2 to be assembled are placed on the corresponding positions of the workpiece tray 13; the outer walls of the cabin body 8 and the cabin equipment 2 have corresponding feature hole positions for assembly, i.e., the cabin body feature hole position 81 on the outer wall of the cabin body 8 and the cabin equipment feature hole position 21 on the outer wall of the cabin equipment 2;
[0008] Then the cabin equipment 2 in the workpiece tray 13 is grabbed by the electric gripper 7 of the industrial robot 1 and placed on the cabin equipment tooling 3, so that the lower end surface of the cabin equipment 2 is attached to and coaxial with the upper surface of the cabin equipment tooling 3; the height of the industrial camera I 5 is adjusted to be the same as the height of the cabin equipment feature hole position 21; then the equipment turntable 4 is rotated, the cabin equipment tooling 3 and the cabin equipment 2 are driven to start rotating by the equipment turntable 4, at the same time, the industrial camera I 5 takes real-time pictures and identifies the cabin equipment feature hole position 21 until the equipment feature hole position 21 appears in the center of the field of view of the industrial camera I 5, the equipment turntable 4 stops rotating, and at this time, the cabin equipment 2 reaches the state of being ready to enter the cabin;
[0009] Then the cabin body 8 in the workpiece tray 13 is grabbed by the electric gripper 7 of the industrial robot 1 and placed on the three-jaw chuck 9, and the three-jaw chuck 9 is locked; the height of the industrial camera II 12 is adjusted to be the same as the height of the cabin body feature hole position 81; the cabin body turntable 10 starts to rotate, and the industrial camera II 12 starts to take pictures and identify the cabin body feature hole position 81 until the cabin body feature hole position 81 appears in the center of the field of view, the cabin body turntable 10 stops rotating, and the angular positioning of the cabin body 8 is completed;
[0010] Subsequently, the cabin body 8 is gripped by the electric gripper 7 of the industrial robot 1, the three-jaw chuck 9 is loosened, the cabin body 8 is gripped by the electric gripper 7 of the industrial robot 1, and moved to a position above the leveling device 11, so that the end surface of the cabin body 8 can be in contact with the four linear displacement sensors 111 when it is pressed downward, the four linear displacement sensors 111 are pressed to the appropriate position by controlling the downward movement of the cabin body 8, and the readings of the four linear displacement sensors 111 are read;
[0011] If the four readings are the same, it indicates that the end surface of the cabin body 8 is horizontal, and further indicates that the axis of the cabin body 8 is parallel to the axis of the cabin equipment 2, then only the translational motion of the end of the industrial robot 1 is controlled, so that the cabin body 8 can be moved to above the equipment turntable 4 without changing the posture, at this time, the axis of the cabin body 8 is completely coincident with the axis of the cabin equipment 2, the cabin body 8 is directly translated downward by the industrial robot 1 for an appropriate distance, the vertical connection is realized, and the cabin equipment 2 is completed into the cabin body 8;
[0012] If the four readings of the linear displacement sensor are different, it indicates that the end face of the cabin body 8 is not horizontal, and the angle between the end face of the cabin body 8 and the horizontal plane can be calculated through the four different readings, and then the angle data is transmitted to the industrial robot 1, and the industrial robot 1 adjusts the posture according to the angle data, adjusts the end face of the cabin body 8 to be horizontal, and then moves the cabin body 8 to above the equipment turntable 4, at this time, the axis of the cabin body 8 is completely coincided with the axis of the equipment in the cabin 2, the cabin body 8 is controlled to move downward by a proper distance, the vertical sleeving is realized, and the equipment in the cabin 2 is completed into the cabin body 8.
[0013] A six-dimensional force sensor 6 is also installed on the upper end of the industrial robot 1.
[0014] During the process that the industrial robot 1 grabs the cabin body 8 to sleeve with the equipment in the cabin 2, the six-dimensional force sensor 6 monitors the contact force between the cabin body 8 and the equipment in the cabin 2 in real time, if the contact force is within a suitable threshold, it can be considered that there is no collision between the cabin body 8 and the equipment in the cabin 2, and the sleeving is continued until the feature hole positions of the cabin body 8 and the equipment in the cabin 2 are coincided, if the contact force exceeds the threshold, it is considered that the collision occurs between the cabin body 8 and the equipment in the cabin 2 during the sleeving process, and the sleeving needs to be stopped, the cabin body 8 is withdrawn from the range of the equipment in the cabin 2, and the vertical sleeving process is performed again after adjustment.
[0015] Beneficial effects
[0016] The application realizes the automation of the equipment into the cabin process in the missile assembly by adjusting the direction of the cabin body axis and detecting the moment of force during the equipment into the cabin process, so as to liberate manpower, improve production efficiency and meet the requirements of rapid and large-scale production.
[0017] The leveling device composed of four linear displacement sensors is used to adjust the posture of the industrial robot, and then the axis of the cabin body clamped at the end of the industrial robot is adjusted to be vertical, and then the six-dimensional force sensor is used to monitor the contact force between the cabin body and the equipment to be put into the cabin during the subsequent sleeving process, so as to ensure that the equipment is safely and correctly put into the cabin. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 It is a schematic diagram of the overall structure of the application.
[0019] Figure 2 It is a working state schematic diagram of the equipment turntable 4 and the industrial camera I 5; the industrial camera I 5 is opposite to the equipment feature hole 21 of the equipment in the cabin 2 on the equipment turntable 4.
[0020] Figure 3 It is a working state schematic diagram of the cabin body turntable 10 and the industrial camera II 12; the industrial camera II 12 is opposite to the cabin body feature hole 81 of the cabin body 8 on the cabin body turntable 10.
[0021] Figure 4 It is a structure schematic diagram of the leveling device 11 of the application.
[0022] Figure 5 Fig. 1 is a schematic diagram of the installation position of the end of the industrial robot 1 and the six-dimensional force sensor, the electric clamping jaw.
[0023] In the figure: 1 is an industrial robot, 2 is a cabin equipment, 21 is a characteristic hole position of the cabin equipment, 3 is a cabin equipment tooling, 4 is an equipment turntable, 5 is an industrial camera I, 6 is a six-dimensional force sensor, 7 is an electric clamping jaw, 8 is a cabin body, 81 is a characteristic hole position of the cabin body, 9 is a three-jaw chuck, 10 is a cabin body turntable, 11 is a leveling device, 111 is a linear displacement sensor, 115 is a leveling device frame, 12 is an industrial camera II, 13 is a workpiece tray, 14 is a water platform. DETAILED DESCRIPTION
[0024] The purpose of the present application is achieved by a vertically nested equipment cabin system, which comprises an industrial robot, a six-dimensional force sensor, an electric clamping jaw, a workpiece tray, a cabin body turntable, an equipment turntable, an industrial camera, a leveling device, a water platform, etc. The six-dimensional force sensor and the electric clamping jaw are connected to the end of the industrial robot through an adapter, for realizing the clamping and feeding of the cabin body and the cabin equipment; the workpiece tray is used for temporary storage and initial positioning of the cabin body and the cabin equipment; the cabin body turntable, the equipment turntable and the industrial camera are used for adjusting the angular position of the cabin body and the cabin equipment; the leveling device is used for adjusting the perpendicularity of the cabin body axis and the water platform; the water platform provides a reference horizontal plane for the installation of the cabin body turntable, the equipment turntable, the workpiece tray, the leveling device, the industrial camera, etc., and the upper surfaces of the components installed on the water platform are adjusted to be horizontal before work.
[0025] The present application works as follows:
[0026] First, the cabin body turntable, the equipment turntable, the workpiece tray, the leveling device and the industrial camera are installed on the water platform, and the axes of the two industrial cameras are ensured to be parallel and respectively perpendicular to the axes of the cabin body turntable and the equipment turntable through assembly and adjustment. A group of corresponding hole positions are selected on the cabin body and the cabin equipment as characteristic hole positions, and the corresponding relationship of the group of hole positions is that the cabin equipment and the cabin body are connected together through screws or the like after being entered into the cabin. The installation height of the industrial camera at the equipment turntable is flush with the hole position on the cabin equipment, and the installation height of the industrial camera at the cabin body turntable is flush with the hole on the cabin body, which determines the relative position relationship of the two industrial cameras, the equipment turntable and the cabin body turntable.
[0027] At the beginning, the cabin and the cabin equipment to be put into the cabin are placed on the workpiece tray respectively, and the work tray position is fixed to realize the initial positioning of the cabin and the cabin equipment. The industrial robot first clamps the cabin equipment by the electric clamp jaw and places it on the equipment tooling. The equipment turntable is provided with tooling capable of accurately positioning the cabin equipment, and the relative position of the cabin equipment to the equipment turntable is ensured unchanged by the tooling and the gravity of the cabin equipment. Then, the equipment turntable drives the cabin equipment to start rotating, and the industrial camera installed beside the equipment turntable takes real-time pictures and identifies the pre-selected feature hole position, and controls the equipment turntable to continuously adjust the position until the feature hole position on the cabin equipment appears in the center of the camera field of view, at which time the cabin equipment reaches the state of being ready to be put into the cabin.
[0028] Subsequently, the industrial robot clamps the cabin by the electric clamp jaw and places it on the cabin turntable. The cabin turntable is provided with a three-jaw chuck to clamp the cabin, so that the relative position of the cabin to the cabin turntable is kept unchanged. Then, the cabin turntable drives the cabin to start rotating, and the industrial camera installed beside the cabin turntable takes real-time pictures and identifies the pre-selected feature hole position and controls the cabin turntable to continuously adjust the position until the feature hole position on the cabin appears in the center of the camera field of view. The three-jaw chuck is loosened, and the industrial robot carries the electric clamp jaw again to clamp the cabin, and moves to a position above the leveling device to ensure that the end face of the cabin can be in contact with the four linear displacement sensors when the cabin is pressed downward. The cabin is moved downward to press the four linear displacement sensors to the appropriate position, and the readings of the four linear displacement sensors are read. If the readings of the four linear displacement sensors are the same, it can be considered that the end face of the cabin is horizontal, and it can be further considered that the axis of the cabin is parallel to the axis of the cabin equipment. The industrial robot and the electric clamp jaw directly move the cabin to above the equipment turntable, at which time the axis of the cabin is completely coincident with the axis of the equipment, and the industrial robot directly drives the cabin to move downward by a proper distance, thereby realizing vertical fitting and completing the cabin equipment into the cabin. If the readings of the four linear displacement sensors are different, it can be considered that the end face of the cabin is not horizontal. The angle between the end face of the cabin and the horizontal plane can be calculated according to the four different readings, and then the angle data is transmitted to the robot. The industrial robot adjusts its own posture according to the angle data to adjust the end face of the cabin to be horizontal, and then moves the cabin to above the equipment turntable. At this time, the axis of the cabin is completely coincident with the axis of the equipment, and the industrial robot directly drives the cabin to move downward by a proper distance, thereby realizing vertical fitting and completing the cabin equipment into the cabin.
[0029] During the downward movement of the cabin driven by the industrial robot to fit the cabin into the cabin equipment, the six-dimensional force sensor installed between the industrial robot and the electric clamp jaw monitors the contact force between the cabin and the cabin equipment in real time. If the contact force is within a suitable threshold, it can be considered that there is no collision between the cabin and the cabin equipment, and the fitting process is continued until the feature hole positions of the cabin and the cabin equipment coincide. If the contact force exceeds the threshold, it is considered that the cabin and the cabin equipment collide during the fitting process, and the fitting process needs to be stopped, the cabin is withdrawn from the range of the cabin equipment, and the vertical fitting process is re-adjusted and performed again.
[0030] The application will be further described in connection with the accompanying drawings.
[0031] Figure 1 The application is a vertical mating device into cabin system, which comprises a water platform 14, a device turntable 4, an industrial camera 1 5, a cabin turntable 10, a leveling device 11, an industrial camera 2 12 and a workpiece tray 13. In the application, the device tooling 3 is installed on the device turntable 4, and the contact surface of the device tooling 3 and the device 2 in the cabin is adjusted to be horizontal through adjustment. The contact of the four linear displacement sensors 111-114 on the leveling device 11 is in a horizontal plane in the initial state without being pressed through adjustment. The device tooling 3 and the device turntable 4 are coaxially installed, the three-jaw chuck 9 and the cabin turntable 10 are coaxially installed, the axis of the industrial camera 1 5 and the industrial camera 2 12 are parallel through adjustment, and the axis of the industrial camera 1 5 is perpendicular to the axis of the device turntable 4, and the axis of the industrial camera 2 12 is perpendicular to the axis of the cabin turntable 10. A group of corresponding hole positions are selected as feature hole positions on the cabin 8 and the device 2 in the cabin, the axis of the feature hole position 21 of the device in the cabin is the same as the axis of the industrial camera 1 5, and the axis of the feature hole position 81 of the cabin is the same as the axis of the industrial camera 2 12.
[0032] When the present application works, the cabin body 8 and the cabin equipment 2 to be put into the cabin are placed on the workpiece tray 13 at the beginning, and the cabin equipment 2 generally has a positioning reference, which can be accurately positioned through tooling design. The industrial robot 1 first clamps and places the cabin equipment 2 on the equipment tooling 3 through the electric clamping jaw 7, the equipment tooling 3 accurately positions the cabin equipment 2 in the direction except the corner direction, and the relative position of the cabin equipment 2 to the equipment tooling 3 is ensured unchanged by the self-gravity or other ways of the cabin equipment 2. Then, the equipment turntable 4 drives the cabin equipment 2 to start rotating, the industrial camera 1 5 captures and identifies the equipment feature hole 21 in real time until the equipment feature hole 21 appears in the center of the field of view, and the equipment turntable 4 stops rotating, at which time the cabin equipment 2 reaches the state of being ready to be put into the cabin. The cabin body 8 is generally a hollow cylinder and cannot be positioned in the corner direction on the workpiece tray 13, the industrial robot 1 carries the electric clamping jaw 7 to grab and place the cabin body 8 on the three-jaw chuck 9, locks the three-jaw chuck 9, and the cabin body turntable 10 starts rotating. The industrial camera 2 12 starts capturing and identifying the pre-selected cabin feature hole 81 until the cabin feature hole 81 appears in the center of the field of view, and the cabin body turntable 10 stops rotating, completing the angular positioning of the cabin body 8. Subsequently, the three-jaw chuck 9 is loosened, the industrial robot 1 carries the electric clamping jaw 7 to clamp the cabin body 8, and moves to a position above the leveling device 11 to ensure that the end face of the cabin body 8 can be in contact with the four linear displacement sensors 111 when it is pressed downward. Control the cabin body 8 to move downward to press the four linear displacement sensors 111 to the appropriate position, and read the indications of the four linear displacement sensors 111. If the four indications are the same, it can be considered that the end face of the cabin body 8 is horizontal, and it can be further considered that the axis of the cabin body 8 is parallel to the axis of the cabin equipment 2. Subsequently, the end of the industrial robot 1 only performs translational motion, so that the cabin body 8 can be moved to above the equipment turntable 4 without changing the posture, at which time the axis of the cabin body 8 is completely coincident with the axis of the cabin equipment 2, and the industrial robot 1 directly drives the cabin body 8 to translate downward by a proper distance, so that the vertical connection is realized, and the cabin equipment 2 is completed. If the indications of the four linear displacement sensors 111 are different, it can be considered that the end face of the cabin body 8 is not horizontal, and the included angle between the end face of the cabin body 8 and the horizontal plane can be calculated through the four different indications, and then the angle data is transmitted to the industrial robot 1. The industrial robot 1 adjusts its posture according to the angle data to adjust the end face of the cabin body 8 to be horizontal, and then moves the cabin body 8 to above the equipment turntable 4, at which time the axis of the cabin body 8 is completely coincident with the axis of the cabin equipment 2. Control the cabin body 8 to translate downward by a proper distance to realize the vertical connection, and complete the cabin equipment 2 into the cabin.
[0033] During the process of the cabin 8 being driven by the industrial robot 1 to be connected with the in-cabin equipment 2, the six-dimensional force sensor 6 installed between the industrial robot 1 and the electric clamping jaw 7 monitors the contact force between the cabin 8 and the in-cabin equipment 2 in real time, if the contact force is within a suitable threshold, it can be considered that the cabin 8 and the in-cabin equipment 2 have no collision, and the connection is continued until the feature holes of the cabin 8 and the in-cabin equipment 2 are coincided, if the contact force exceeds the threshold, it is considered that the cabin 8 and the in-cabin equipment 2 have collision during the connection process, and the connection needs to be stopped, the cabin 8 is withdrawn from the range of the in-cabin equipment 2, and then the vertical connection process is performed after re-adjustment.
[0034] A vertical connection device into cabin system, the system at least includes an industrial robot, a six-dimensional force sensor, an electric clamping jaw, a leveling device, an industrial camera, a cabin turntable, and a device turntable.
[0035] The leveling device is composed of at least four linear displacement sensors for detecting whether the end face of the cabin is horizontal.
[0036] When the leveling device detects that the end face of the cabin is not horizontal, the angle between the end face of the cabin and the horizontal plane can be calculated through the readings of the four linear displacement sensors, and the angle is transmitted to the industrial robot for attitude adjustment, so that the end face of the cabin is finally adjusted to be horizontal.
[0037] The present application provides a vertical connection device into cabin system in the field of automatic assembly, which is used for the device into cabin operation in the process of missile assembly, and the system at least includes an industrial robot, a six-dimensional force sensor, an electric clamping jaw, a workpiece tray, a cabin turntable, a device turntable, an industrial camera, a leveling device, and a water platform. The present application adjusts the attitude of the industrial robot through the leveling device composed of four linear displacement sensors, and then adjusts the axis of the cabin clamped at the end of the industrial robot to be vertical, and then monitors the contact force between the cabin and the device to be connected through the six-dimensional force sensor, so as to ensure that the device is safely and correctly connected into the cabin.
Claims
1. A vertically connected equipment entry system, characterized in that, The system includes a water platform (14), an industrial robot (1), a machine turntable (4), a cabin turntable (10), and a leveling device (11). The water platform (14) is U-shaped in the horizontal plane. The industrial robot (1) is fixedly installed on the ground at the U-shaped gap of the water platform (14). The cabin turntable (10) is installed on the left side of the water platform (14), and the axis of the cabin turntable (10) is perpendicular to the water platform (14). A three-jaw chuck (9) is coaxially installed on the cabin turntable (10). An industrial camera II (12) is installed on the left side of the cabin turntable (10), and the axis of the industrial camera II (12) intersects the axis of the cabin turntable (10) perpendicularly. In front of the cabin turntable (10)... A leveling device (11) is fixedly installed on the platform. A workpiece tray (13) is fixedly installed on the platform in front of the industrial robot (1). An equipment turntable (4) is installed on the platform to the right of the water platform (14). The axis of the equipment turntable (4) is perpendicular to the water platform (14). An in-cabin equipment fixture (3) is installed on the same axis as the equipment turntable (4). An industrial camera I (5) is installed on the left side of the in-cabin equipment fixture (3). The axis of the industrial camera I (5) intersects the axis of the equipment turntable (4) perpendicularly. The intersection of the axes of the industrial camera II (12), the in-cabin turntable (10), the industrial camera I (5), and the equipment turntable (4) with the platform surface of the water platform (14) is on a straight line. The industrial robot (1) is equipped with an electric gripper (7) at its end; During operation, the cabin (8) and the equipment inside the cabin (2) to be assembled are placed on the corresponding positions on the workpiece tray (13); the outer walls of the cabin (8) and the equipment inside the cabin (2) have corresponding feature holes for assembly, namely the cabin feature hole (81) on the outer wall of the cabin (8) and the equipment inside the cabin (2) feature hole (21) on the outer wall of the equipment inside the cabin (2); Then, the electric gripper (7) of the industrial robot (1) picks up the equipment (2) in the workpiece tray (13) and places it on the equipment fixture (3), so that the lower end face of the equipment (2) is attached to the upper surface of the equipment fixture (3) and coaxial; adjust the height of the industrial camera I (5) to be the same as the height of the feature hole (21) of the equipment; then rotate the equipment turntable (4), and drive the equipment fixture (3) and the equipment (2) to start rotating. At the same time, the industrial camera I (5) takes pictures and identifies the feature hole (21) of the equipment in real time until the feature hole (21) appears in the center of the field of view of the industrial camera I (5), and the equipment turntable (4) stops rotating. At this time, the equipment (2) in the cabin reaches the state of waiting to enter the cabin. Next, the electric gripper (7) of the industrial robot (1) picks up the cabin (8) in the workpiece tray (13) and places it on the three-jaw chuck (9), and locks the three-jaw chuck (9); adjust the height of the industrial camera II (12) to be the same as the height of the cabin feature hole (81); let the cabin turntable (10) start to rotate, and the industrial camera II (12) starts to take pictures and identify the cabin feature hole (81) until the cabin feature hole (81) appears in the center of the field of view, and the cabin turntable (10) stops rotating, thus completing the angular positioning of the cabin (8); Subsequently, the electric gripper (7) of the industrial robot (1) clamps the cabin (8), the three-jaw chuck (9) releases, the electric gripper (7) of the industrial robot (1) holds the cabin (8) and moves it to a position above the leveling device (11), ensuring that the end face of the cabin (8) can contact all four linear displacement sensors (111) when it is pressed down, controlling the cabin (8) to move down to press the four linear displacement sensors (111) to the appropriate position, and reading the readings on the four linear displacement sensors (111); If the four readings are the same, it means that the end face of the cabin (8) is horizontal, which means that the axis of the cabin (8) is parallel to the axis of the equipment (2) inside the cabin. Then, the end of the industrial robot (1) is controlled to only perform translational movement, so that the cabin (8) can be moved above the equipment turntable (4) without changing its posture. At this time, the axis of the cabin (8) is completely coincident with the axis of the equipment (2) inside the cabin. The industrial robot (1) directly drives the cabin (8) to move downwards by an appropriate distance to achieve vertical connection and complete the entry of the equipment (2) inside the cabin into the cabin (8). If the four readings of the linear displacement sensor are different, it means that the end face of the cabin (8) is not horizontal. The angle between the end face of the cabin (8) and the horizontal plane can be calculated by the four different readings. Then the angle data is transmitted to the industrial robot (1). The industrial robot (1) adjusts its posture according to the angle data, adjusts the end face of the cabin (8) to be horizontal, and then moves the cabin (8) to the top of the equipment turntable (4). At this time, the axis of the cabin (8) is completely coincident with the axis of the equipment (2) inside the cabin. The cabin (8) is controlled to move downwards by an appropriate distance to achieve vertical connection and complete the entry of the equipment (2) inside the cabin into the cabin (8).
2. The vertically connected equipment entry system according to claim 1, characterized in that, A six-dimensional force sensor (6) is also installed on the upper end of the industrial robot (1); During the process of the industrial robot (1) picking up the cabin (8) and moving it down to fit the equipment (2) inside the cabin, the six-dimensional force sensor (6) monitors the contact force between the cabin (8) and the equipment (2) inside the cabin in real time. If the contact force is within a suitable threshold, it can be considered that there is no collision between the cabin (8) and the equipment (2) inside the cabin. The fitting continues until the characteristic holes of the cabin (8) and the equipment (2) inside the cabin are aligned. If the contact force exceeds the threshold, it is considered that there is a collision between the cabin (8) and the equipment (2) inside the cabin during the fitting process. The fitting needs to be stopped, the cabin (8) is removed from the range of the equipment (2) inside the cabin, and the vertical fitting process is carried out again after readjustment.
Citation Information
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