A high-pressure oil pump dismounting electric lifting and overturning machine system

Abstract

The application discloses a high-pressure oil pump dismounting electric lifting turnover machine system, which comprises a high-pressure oil pump dismounting electric lifting turnover machine transfer device, a high-pressure oil pump dismounting electric lifting turnover machine dismounting 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. The intelligent control platform is in communication connection with the high-pressure oil pump dismounting electric lifting turnover machine transfer device and the high-pressure oil pump dismounting electric lifting turnover machine dismounting device respectively. The application can intelligently transfer and dismount the high-pressure oil pump, replace the traditional worker gantry crane transfer and manual dismounting work, meet the trend of intelligent workshop work, have the characteristics of high intelligence and safety, and greatly improve the efficiency of high-pressure oil pump transfer and dismounting.

Description

Technical Field

[0001] This invention relates to the field of high-pressure oil pump transfer and disassembly technology, and in particular to an electric lifting and tilting machine system for high-pressure oil pump disassembly and assembly. Background Technology

[0002] Marine high-pressure oil pumps are crucial components in marine equipment and have a wide range of applications. When a marine diesel engine is running, the high-pressure oil pump uses a crankshaft at the bottom to drive a cam, which in turn pushes a plunger inside the pump, causing changes in fuel pressure to supply fuel to the engine. Because high-pressure oil pumps operate in harsh environments, various types of dirt and dust accumulate inside the pump over long periods. If regular disassembly and maintenance are not performed, the plunger inside the pump may become stuck. Therefore, the maintenance of high-pressure oil pumps is extremely important.

[0003] Currently, the disassembly of high-pressure oil pumps is mostly done manually. Workers operate a gantry crane to transport the pump before manually disassembling it. After removing the pump's top cover, the internal plungers are usually locked with tools before being lifted and transported by the gantry crane. This method has low safety and reliability, and is not conducive to improving the efficiency of ship maintenance. Given the urgent need for improved component disassembly and assembly technology in shipyards, there is an urgent need to solve the problem of transporting and disassembling high-pressure oil pumps.

[0004] Existing patents concerning the design of lifting and turning machine systems mainly involve the transfer, lifting, and turning of products. For example, CN211470635U and CN218087337U respectively provide a lifting and turning machine and a lifting and turning machine. CN211470635U is mainly used for material lifting and turning operations. This invention does not have identification and detection functions and has poor applicability to high-pressure oil pumps. CN218087337U is mainly used for lifting and turning operations of silos. This invention also does not have identification and detection functions, has a narrow scope of application, and is not suitable for use in equipment inside ship repair workshops.

[0005] 1. "Lifting and Tilting Machine", Patent No. CN211470635U. This patent discloses a lifting and tilting machine, mainly comprising a lifting machine shell, with a discharge shell connected to the upper section of the shell. The bottom and top of the shell are respectively provided with a feed inlet and a slot. The lifting machine shell is connected by an L-shaped rod, and an electric hoist is mounted on the upper left end of the L-shaped rod. The bottom of the electric hoist chain extends through the slot into the inner cavity of the shell. A first connecting ring is connected to the bottom of the electric hoist chain. This connecting ring is equipped with a connecting mechanism, which includes a connecting plate. The connecting plate connects the upper and lower connecting parts by screws. This device lacks identification and detection functions and is not suitable for lifting and tilting operations using a high-pressure oil pump.

[0006] 2. "A Lifting and Tilting Machine", Patent No. CN218087337U. This patent discloses a lifting and tilting machine, mainly comprising a column and a hopper. A drive structure and a guide assembly for guiding the lifting and lowering of the hopper are provided between the column and the hopper. The hopper is hinged with a cover plate to close the hopper. A cover plate opening and closing control assembly is provided inside the hopper. This control assembly includes a fixed bracket and an actuator. The hinged end of the cover plate is located on the same side of the hopper as the bracket. 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 lacks an identification function and is only suitable for material transfer, with poor applicability to high-pressure oil pumps. Summary of the Invention

[0007] This invention provides an electric lifting and tilting machine system for disassembling and reassembling high-pressure oil pumps, which can intelligently transfer and disassemble high-pressure oil pumps, replacing the traditional manual transfer and disassembly work by workers using gantry cranes. It conforms to the trend of intelligent workshop work, has highly intelligent and safe characteristics, and greatly improves the efficiency of high-pressure oil pump transfer and disassembly.

[0008] This invention provides a high-pressure oil pump disassembly and assembly electric lifting and tilting machine system, comprising: a high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device, a high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device, a high-pressure oil pump combination platform, and an intelligent control platform; the high-pressure oil pump combination platform includes a plunger-type high-pressure oil pump and a high-pressure oil pump transfer platform, and the intelligent control platform is communicatively connected to the high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device and the high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device, respectively.

[0009] The intelligent control platform is used to control the electric lifting and tilting transfer device for disassembling and assembling high-pressure oil pumps to transfer the plunger-type high-pressure oil pump to the high-pressure oil pump transfer platform for workers to remove the external bolts of the plunger-type high-pressure oil pump; to control the electric lifting and tilting transfer device for disassembling and assembling high-pressure oil pumps to transfer the plunger-type high-pressure oil pump with the external bolts removed to a preset position; and to control the disassembly device for disassembling and assembling high-pressure oil pumps 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 tilting transfer device includes: a lifting and tilting transfer device base, a lifting and tilting transfer device slide rail, a lifting and tilting transfer device execution end, a lifting and tilting transfer device slider, and a transfer device stepper motor; the lifting and tilting transfer device slide rail is disposed on the lifting and tilting transfer device base, the lifting and tilting transfer device slider is slidably connected to the lifting and tilting transfer device slide rail, the lifting and tilting transfer device execution end is disposed on the lifting and tilting 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 tilting transfer device, so that the lifting and tilting transfer device slider moves to the position of the high-pressure oil pump assembly platform, and the lifting and tilting transfer device execution end realizes the gripping and transfer of the plunger-type high-pressure oil pump to the position corresponding to the high-pressure oil pump disassembly and assembly electric lifting and tilting transfer device.

[0011] Furthermore, the execution end of the lifting and tilting transfer device includes: a lifting and tilting manipulator, an electric lifting and tilting arm vision sensor, an electric lifting and tilting arm panoramic camera, a lifting and tilting arm stepper motor, a lifting and tilting arm forearm, and a lifting and tilting arm rear; the lifting and tilting manipulator is connected to the lifting and tilting arm forearm, and the lifting and tilting arm forearm is connected to the lifting and tilting arm rear arm; the electric lifting and tilting arm vision sensor, the electric lifting and tilting arm panoramic camera, and the lifting and tilting arm stepper motor are mounted on the lifting and tilting manipulator, the lifting and tilting arm stepper motor provides power to the lifting and tilting arm forearm and rear arm, enabling the execution end of the lifting and tilting transfer device to lift and tilt the plunger-type high-pressure oil pump, and the electric lifting and tilting arm vision sensor and the electric lifting and tilting arm panoramic camera are used to position the plunger-type high-pressure oil pump for the lifting and tilting manipulator.

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

[0013] Furthermore, the disassembly device execution end includes: a disassembly device vision sensor, a disassembly and assembly robot, and a disassembly device panoramic camera; the two disassembly device panoramic cameras are respectively set on both sides of the disassembly and assembly robot for identifying and comparing the plungers inside the plunger-type high-pressure oil pump; the disassembly device vision sensor is located in the center of the disassembly and assembly robot for positioning when the disassembly and assembly robot grasps the plunger inside the plunger-type high-pressure oil pump.

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

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

[0016] S2: Initialize the joints of the robotic arm of the lifting and tilting transfer device; turn on the panoramic camera and vision sensor, and adjust the lifting height of the robotic arm to the maximum.

[0017] S3: The system locates the target through software, rotates the base of the robotic arm and activates the panoramic camera to capture images. Each time the arm rotates, the panoramic camera captures an image, and the captured image is fed back to the system via a 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 the target.

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

[0020] S7: Repeat step S3; when the distance measured by the vision sensor is the same as the clamping distance and the target is in the captured image, activate the gripper control system to control the mechanical gripper to grab the target;

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

[0022] S9: Drive the slider motor, and the slider slowly slides from the initial position toward the grasping target until it reaches the position input by S6;

[0023] S10: When the sliding value is the same as the target position value, turn off the built-in motor of the slider, slowly release the mechanical gripper, and the camera captures the image.

[0024] S11: If the target is in the captured image and the sliding value is the same as the target position value, activate the gripper control system 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 train and test it; optimize the open source model FastR-CNN1, which is an image model used to train the sorting of items;

[0027] SA2: Before performing the target recognition task, simulate the capture image using a panoramic camera and visual sensor, and then train and test it.

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

[0029] SA4: When performing a target-grabbing task, it uses the trained and tested models to perform regional localization and marks the target object with a red box.

[0030] SA5: The system software compares the black and red boxes; if the red area overlaps with the red area marker by ≥50%, and the sensor ranging 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 marker by ≤50%, the control steps are executed; the intelligent control platform converts depth data into point cloud data through a visual sensor, and the transformation constraints satisfy the following relationship:

[0031]

[0032] Where: x, y, z are point cloud coordinates; x1, y1 are image coordinates; D is the depth value;

[0033] In the process of mapping from world coordinates to an image, considering the process of mapping a world coordinate point to an image point, the following relationship is satisfied:

[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 z represents a three-dimensional coordinate point in the world coordinate system. c The z-axis value is the sensor coordinate, and T is the distance from the target to the sensor; R and T are the rotation and translation matrices of the extrinsic parameter matrix, respectively.

[0036] The origins of the sensor coordinate system and the world coordinate system coincide, and the image point [μν] T To world coordinates [x w y w z w ] T The transformation expression satisfies the following relationship:

[0037]

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

[0039]

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

[0041] This invention offers the following advantages: A high-pressure oil pump disassembly and assembly electric lifting and tilting machine system can efficiently and conveniently transfer a high-pressure oil pump from a designated location to a working platform. Using a stepper motor as the power source for the tilting machine's transfer and disassembly devices saves time and reduces labor costs. It fully considers the economy and operability during actual transfer. The system's execution end includes a tilting machine transfer device and a tilting machine disassembly device, responsible for the oil pump transfer and plunger extraction, respectively. The tilting machine transfer device includes a lifting and tilting manipulator, an arm vision sensor, and an arm panoramic camera. The panoramic camera detects and compares the high-pressure oil pump, allowing for more accurate and intuitive calibration of the disassembly operation. The visual positioning sensor locates the pump body, enabling efficient and safe transfer of the high-pressure oil pump to the appropriate position. The tilting machine disassembly device includes a vision sensor, a disassembly and assembly manipulator, and a disassembly device panoramic camera. During movement, the disassembly device's execution end uses a slider with a built-in motor for lateral movement, improving the device's movement and extraction efficiency. During the grasping action, the system uses panoramic camera capture and recognition, along with visual sensor distance detection, to precisely locate the plunger inside the oil pump. This high-pressure oil pump disassembly and assembly electric lifting and tilting machine system significantly improves the efficiency of high-pressure oil pump transfer through the coordinated operation of various devices, offering exceptional convenience and intelligence. Attached Figure Description

[0042] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0043] Figure 1 A schematic diagram of an electric lifting and tilting system for disassembling and assembling a high-pressure oil pump;

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

[0045] Figure 3 A schematic diagram of an electric lifting and tilting transfer device for disassembling and assembling a high-pressure oil pump;

[0046] Figure 4Disassembling and assembling the electric lifting and tilting arm for the high-pressure oil pump;

[0047] Figure 5 An overall diagram of a disassembly device for a high-pressure oil pump disassembly and assembly electric lifting and tilting machine;

[0048] Figure 6 This is a platform for assembling disassembly devices;

[0049] Figure 7 Diagram of a combined platform equipped with a high-pressure oil pump.

[0050] In the diagram: 1-High-pressure oil pump disassembly and assembly of electric lifting and tilting machine system; 2-High-pressure oil pump disassembly and assembly of electric lifting and tilting machine transfer device; 3-High-pressure oil pump disassembly and assembly of electric lifting and tilting machine disassembly device; 4-High-pressure oil pump combination platform; 4a-Plunger-type high-pressure oil pump; 4b-High-pressure oil pump transfer platform; 5-Intelligent control platform; 6-Lifting and tilting machine transfer device base; 7-Lifting and tilting machine transfer device slide rail; 8-Lifting and tilting machine transfer device actuator; 8a-Lifting and tilting robot arm; 8b-Electric lifting and tilting arm vision sensor; 8c -Electric lifting and tilting arm panoramic camera; 8d-Lifting and tilting arm stepper motor; 8e-Lifting and tilting arm forearm; 8f-Lifting and tilting arm rear arm; 9-Lifting and tilting machine transfer device slider; 10-Transfer device stepper motor; 11-High pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device actuator; 11a-Disassembly device vision sensor; 11b-Disassembly and assembly robot arm; 11c-Disassembly device panoramic camera; 12-Disassembly device lifting rod; 13-Disassembly device moving slider assembly; 14-Disassembly device track support. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention. The technical solutions provided by various embodiments of this invention will be described in detail below with reference to the accompanying drawings.

[0052] Please see Figures 1 to 7 This invention provides a high-pressure oil pump disassembly and assembly electric lifting and tilting machine system 1, comprising: a high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device 2, a high-pressure oil pump disassembly and assembly electric lifting and tilting 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 communicatively connected to the high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device 2 and the high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device 3, respectively.

[0053] The lifting and tilting transfer device 2 and the control platform 5 are located on both sides of the high-pressure oil pump combination platform 4. The high-pressure oil pump 4a is hoisted to the high-pressure oil pump transfer platform 4b by the electric lifting and tilting transfer device 2 for disassembly and assembly of the high-pressure oil pump. Then, the high-pressure oil pump is gripped, transferred and the plunger is removed by the tilting transfer device 2 and the tilting 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 electric lifting and tilting transfer device 2 of the high-pressure oil pump disassembly and assembly to transfer the plunger-type high-pressure oil pump 4a to the high-pressure oil pump transfer platform 4b for workers to remove the external bolts of the plunger-type high-pressure oil pump 4a; controls the electric lifting and tilting transfer device 2 of the high-pressure oil pump disassembly and assembly to transfer the plunger-type high-pressure oil pump 4a with the external bolts removed to the preset position; controls the electric lifting and tilting disassembly device 3 of the high-pressure oil pump disassembly and assembly 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 tilting machine transfer device 2 includes: lifting and tilting machine transfer device base 6, lifting and tilting machine transfer device slide rail 7, lifting and tilting machine transfer device execution end 8, lifting and tilting machine transfer device slider 9, and transfer device stepper motor 10; the tilting machine transfer device execution end 8 is on the same horizontal plane as the high-pressure oil pump 4a, and the lifting and tilting manipulator 8a, electric lifting and tilting arm vision sensor 8b, electric lifting and tilting arm panoramic camera 8c, lifting and tilting arm stepper motor 8d, lifting and tilting arm forearm 8e, and lifting and tilting arm rear arm 8f are located inside the tilting machine transfer device execution end 8.

[0056] The lifting and tilting machine transfer device slide rail 7 is set on the lifting and tilting machine transfer device base 6. The lifting and tilting machine transfer device slider 9 is slidably connected to the lifting and tilting machine transfer device slide rail 7. The lifting and tilting machine transfer device execution end 8 is set on the lifting and tilting machine transfer device slider 9. 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 tilting machine transfer device 2, so that the lifting and tilting machine transfer device slider 9 moves to the position of the high-pressure oil pump combination platform 4. The piston-type high-pressure oil pump 4a is grabbed and transferred to the corresponding position of the high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device 3 through the lifting and tilting machine transfer device execution end 8.

[0057] Specifically, the lifting and flipping transfer device execution end 8 includes: lifting and flipping robot arm 8a, electric lifting and flipping arm vision sensor 8b, electric lifting and flipping arm panoramic camera 8c, lifting and flipping arm stepper motor 8d, lifting and flipping arm forearm 8e, and lifting and flipping arm rear arm 8f;

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

[0059] The intelligent control platform 5 controls the stepper motor of the slider 9 of the lifting and tilting machine transfer device, so that the execution end 8 of the tilting and tilting machine transfer device slides to the designated position with the corresponding high-pressure oil pump combination platform 4. By controlling the built-in stepper motor of the rotating shaft of the robotic arm rear arm 8f and the moving front arm 8e, the lifting and tilting arm front arm 8e and the lifting and tilting arm rear arm 8f are rotated to the appropriate position of the acquisition camera. Then, the panoramic camera 8c of the electric lifting and tilting arm captures the plunger-type high-pressure oil pump 4a, and the vision sensor 8b of the electric lifting and tilting arm measures the distance.

[0060] When the distance measured by the built-in vision sensor 8b is less than the clamping distance of the gripper, the control platform 5 executes a grabbing command to grab the target and carry out the transfer work.

[0061] Specifically, the high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device 3 includes: a disassembly device execution end 11, a disassembly device lifting rod 12, a disassembly device moving slider assembly 13, and a disassembly device track support 14. The disassembly device moving slider assembly 13 is slidably connected to the disassembly device track support 14. The disassembly device lifting rod 12 is located below the disassembly device moving slider assembly 13, and the disassembly device execution end 11 is located at the bottom of the disassembly device lifting rod 12. The disassembly device is moved to the corresponding position of the lifting and tilting machine transfer device 2 via a motor built into the disassembly device moving slider assembly 13. The visual sensor 11a and panoramic camera 11c built into the disassembly device execution end 11 are used to locate the internal plunger of the oil pump. Then, the disassembly device lifting rod 12 lowers the disassembly device execution end 11 to the designated position to extract the internal plunger of the oil pump.

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

[0063] The intelligent control platform 5 controls the built-in motor of the moving slider group 13 of the dismantling device to slide the execution end 11 of the dismantling device to the designated position of the execution end of the lifting and turning transfer device. At this time, the panoramic camera 11c of the device captures the auxiliary plunger inside the high-pressure oil pump, and the built-in vision sensor 11a measures the distance of the plunger. When the measured distance value is less than the clamping distance of the extraction device, the control platform 5 executes the extraction command to extract the plunger inside the oil pump and 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; enter the name of the target to be captured.

[0066] S2: Initialize the joints of the robotic arm of the lifting and tilting transfer device; turn on the panoramic camera and vision sensor, and adjust the lifting height of the robotic arm to the maximum;

[0067] S3: The system locates the target through software, rotates the base of the robotic arm and activates the panoramic camera to capture images. Each time the arm rotates, the panoramic camera captures an image, and the captured image is fed back to the system via a 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 the target.

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

[0070] S7: Repeat step S3; when the distance measured by the vision sensor is the same as the clamping distance and the target is in the captured image, activate the gripper control system to control the mechanical gripper to grab the target;

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

[0072] S9: Drive the slider motor, and the slider slowly slides from the initial position toward the grasping target until it reaches the position input by S6;

[0073] S10: When the sliding value is the same as the target position value, turn off the built-in motor of the slider, slowly release the mechanical gripper, and the camera captures the image.

[0074] S11: If the target is in the captured image and the sliding value is the same as the target position value, activate the gripper control system 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 train and test it; optimize the open source model FastR-CNN1, which is an image model used to train the sorting of items;

[0077] SA2: Before performing the target recognition task, simulate the capture image using a panoramic camera and visual sensor, and then train and test it.

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

[0079] SA4: When performing a target-grabbing task, it uses the trained and tested models to perform regional localization and marks the target object with a red box.

[0080] SA5: The system software compares the black and red boxes; if the red area overlaps with the red area marker by ≥50%, and the sensor ranging 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 marker by ≤50%, the control steps are executed; the intelligent control platform converts depth data into point cloud data through the visual sensor, and the transformation constraints satisfy the following relationship:

[0081]

[0082] Where: x, y, z are point cloud coordinates; x1, y1 are image coordinates; D is the depth value;

[0083] In the process of mapping from world coordinates to an image, considering the process of mapping a world coordinate point to an image point, the following relationship is satisfied:

[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 z represents a three-dimensional coordinate point in the world coordinate system. c The z-axis value is the sensor coordinate, and T is the distance from the target to the sensor; R and T are the rotation and translation matrices of the extrinsic parameter matrix, respectively.

[0086] The origins of the sensor coordinate system and the world coordinate system coincide, and the image point [μν] T To world coordinates [x w y w z w ] T The transformation expression satisfies the following relationship:

[0087]

[0088] This model can be used to convert the coordinates of two-dimensional points on a depth map into three-dimensional points. Testing showed that the mean method approximates the true values ​​better in the horizontal x-axis and y-axis directions, while the median method approximates the true values ​​better in the vertical z-axis direction. Therefore, to improve the robotic arm's grasping accuracy, the approximate values ​​in the x-axis and y-axis directions still need to be corrected, satisfying the following relationship:

[0089]

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

[0091] As can be seen from the above embodiments, this invention uses a rotating robotic arm to operate the high-pressure oil pump, achieving multi-angle and omnidirectional control of the pump's position, replacing the inefficient and complex workflow of a gantry crane; it uses a mechanical gripper to grasp the high-pressure oil pump, achieving more precise and stable disassembly operations, replacing the complex workflow of using chains to lift the pump plunger in shipyards. A panoramic camera is used to acquire and compare images of the outer wall of the high-pressure oil pump below the inlet, enabling rapid identification and positioning of the pump. The internal plunger of the high-pressure oil pump is extracted using a mechanical gripper. The mechanical gripper has a built-in vision sensor that accurately positions the plunger and precisely controls the distance, overcoming the problem of inaccurate disassembly by workers using tools such as screws.

[0092] This invention has the following technical features:

[0093] 1. A stepper motor is used as the power source for the lifting and tilting machine, providing power for the robotic arm and gripper.

[0094] 2. A flipping mechanical gripper and a robotic arm are used as carriers for disassembling and transferring the high-pressure oil pump. The robotic arm drives the gripper to transfer the high-pressure oil pump to the corresponding position so that the oil pump plunger robotic arm can perform the extraction work.

[0095] 3. When gripping 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 below the oil inlet of the high-pressure oil pump to accurately locate the position of the oil pump.

[0096] 4. A vision sensor is used to locate the plunger inside the oil pump and to control the gripping distance when the mechanical gripper pulls out the plunger, so as to accurately pull the plunger out of the oil pump.

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

[0098] 6. An intelligent control platform is used to control the entire high-pressure oil pump disassembly and assembly electric lifting and tilting machine.

[0099] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention.

Claims

1. A control method for a high-pressure oil pump disassembly and assembly electric lifting and tilting machine system, characterized in that, The method is applied to a high-pressure oil pump disassembly and assembly electric lifting and tilting machine system, which includes: a high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device (2), a high-pressure oil pump disassembly and assembly electric lifting and tilting 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 communicatively connected to the high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device (2) and the high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device (3), respectively; The intelligent control platform (5) is used to control the high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device (2) to transfer the plunger-type high-pressure oil pump (4a) to the high-pressure oil pump transfer platform (4b) for workers to 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 tilting machine transfer device (2) to transfer the plunger-type high-pressure oil pump (4a) with the external bolts removed to the preset position; and control the high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device (3) to extract the internal plunger of the plunger-type high-pressure oil pump (4a); The high-pressure oil pump disassembly and assembly electric lifting and tilting machine transfer device (2) includes: lifting and tilting machine transfer device base (6), lifting and tilting machine transfer device slide rail (7), lifting and tilting machine transfer device execution end (8), lifting and tilting machine transfer device slider (9) and transfer device stepper motor (10); The lifting and turning machine transfer device slide rail (7) is set 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 set on the lifting and turning machine transfer device slider (9), the transfer device stepper motor (10) is used to provide the power for the high pressure oil pump disassembly and assembly electric lifting and turning machine transfer device (2) to move the lifting and turning machine transfer device slider (9) to the position of the high pressure oil pump combination platform (4), and realize the gripping and transfer of the plunger type high pressure oil pump (4a) 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); The lifting and turning transfer device execution end (8) includes: lifting and turning manipulator (8a), electric lifting and turning arm vision sensor (8b), electric lifting and turning arm panoramic camera (8c), lifting and turning arm stepper motor (8d), lifting and turning arm forearm (8e), and lifting and turning arm rear arm (8f); The lifting and turning manipulator (8a) is connected to the lifting and turning arm forearm (8e), and the lifting and turning arm forearm (8e) is connected to the lifting and turning arm rear arm (8f). The electric lifting and turning arm vision sensor (8b), electric lifting and turning arm panoramic camera (8c), and lifting and turning arm stepper motor (8d) are installed on the lifting and turning manipulator (8a). The lifting and turning arm stepper motor (8d) provides power to the lifting and turning arm forearm (8e) and lifting and turning arm rear arm (8f), so that the lifting and turning machine transfer device execution end (8) can lift and turn the plunger-type high-pressure oil pump (4a). The electric lifting and turning arm vision sensor (8b) and electric lifting and turning arm panoramic camera (8c) are used to position the plunger-type high-pressure oil pump (4a) for the lifting and turning manipulator (8a). The high-pressure oil pump disassembly and assembly electric lifting and tilting machine disassembly device (3) includes: disassembly device execution end (11), disassembly device lifting rod (12), disassembly device moving slider group (13), and disassembly device track support (14); The disassembly device moving slider group (13) is slidably connected to the disassembly device track support (14), the disassembly device lifting rod (12) is located below the disassembly device moving slider group (13), and the disassembly device execution end (11) is located at the bottom of the disassembly device lifting rod (12). The disassembly device execution end (11) includes: a disassembly device vision sensor (11a), a disassembly and assembly robot (11b), and a disassembly device panoramic camera (11c); Two panoramic cameras (11c) of the disassembly device are respectively set on both sides of the disassembly and assembly robot (11b) for identifying and comparing the plungers inside the plunger-type high-pressure oil pump (4a); the visual sensor (11a) of the disassembly device is located in the center of the disassembly and assembly robot (11b) for positioning when the disassembly and assembly robot (11b) grabs the plunger inside the plunger-type high-pressure oil pump (4a); The control method of the intelligent control platform (5) includes: S1: Intelligent control platform (5) starts the system and enters the name of the target to be captured; S2: Initialize the joints of the electric lifting and tilting transfer device (2) of the high-pressure oil pump disassembly and assembly; turn on the panoramic camera (8c) and the vision sensor (8b) of the electric lifting and tilting arm, and adjust the lifting height of the lifting and tilting manipulator (8a) to the maximum. S3: The system locates the target through software, rotates the base of the lifting and tilting machine transfer device (6) and turns on the panoramic camera (8c) of the electric lifting and tilting arm to capture images. Each time it rotates, the panoramic camera (8c) of the electric lifting and tilting arm captures images accordingly, and the captured images are fed back to the system through the data cable. S4: The system performs positioning analysis 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 lifting and flipping machine transfer device base (6) continues to rotate to capture the target; S5: If the target is in the captured image, the image information parameters are saved to the system; S6: The system performs data analysis based on these parameters to obtain the joint rotation angle and speed parameters; then it first drives the stepper motor (10) of the transfer device, and then drives the stepper motor (8d) of the lifting and flipping arm; S7: Repeat step S3; when the distance measured by the vision sensor (8b) of the electric lifting and flipping arm is the same as the clamping distance value, and the target is in the captured image, activate the gripper control system and control the lifting and flipping robot (8a) to grab the target. S8: Initialize the electric lifting and tilting machine dismantling device (3) for high-pressure oil pump dismantling and assembly; turn on the panoramic camera (11c) and visual sensor (11a) of the dismantling device, and input the position information of the target captured in S6 into the dismantling device system; S9: Drive the disassembly device to move the slider group (13) with a built-in motor. The disassembly device to move the slider group (13) slowly slides from the initial position to the grasping target until it reaches the position input in S6. S10: When the sliding value is the same as the target position value, turn off the motor built into the disassembly device moving slider group (13), slowly release the disassembly robot (11b), and the disassembly device panoramic camera (11c) captures the image. S11: If the target is in the captured image and the sliding value is the same as the target position value, activate the gripper control system and control the disassembly and assembly robot (11b) to extract the target.

2. The control method for a high-pressure oil pump disassembly and assembly electric lifting and tilting machine system as described in claim 1, characterized in that, Also includes: SA1: Before grabbing the target, collect the target image database and train and test it; optimize the open source model FastR-CNN1, which is an image model used to train the sorting of items; SA2: Before performing the target recognition task, simulate the capture image using a panoramic camera and visual sensor, and then train and test it. SA3: When performing target recognition tasks, first use a panoramic camera to capture an image of the front of the target object, and then transmit it to the computer; use the model trained and tested by SA2 to locate the target in the image and mark the target object with a black box; SA4: When performing a target-grabbing task, it uses the trained and tested models to perform regional localization and marks the target object with a red box. SA5: The system software compares the black and red boxes; If the red area overlaps with the red area marker by ≥50%, and the sensor ranging 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 marker by ≤50%, the control method described above is executed; the intelligent control platform converts depth data into point cloud data through a visual sensor, and the transformation constraint conditions satisfy the following relationship: Where: x, y, z are point cloud coordinates; x1, y1 are image coordinates; D is the depth value; In the process of mapping from world coordinates to an image, considering the process of mapping a world coordinate point to an image point, the following relationship is satisfied: 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 z represents a three-dimensional coordinate point in the world coordinate system. c The z-axis value is the sensor coordinate, and T is the distance from the target to the sensor; R and T are the rotation and translation matrices of the extrinsic parameter matrix, respectively. The origins of the sensor coordinate system and the world coordinate system coincide, and the image point [μν] T To world coordinates [x w y w z w ] T The transformation expression satisfies the following relationship: The approximate values ​​for the x-axis and y-axis directions are corrected to satisfy the following relationship: Where: x a y a These are the correction values ​​for the x-axis and y-axis directions, respectively; ω is the correction coefficient; x m The median value for x-axis distance measurement, y m This is the median value for y-axis distance measurement.

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