Instrument joint installation and calibration method and system

Abstract

The invention provides an instrument connector installation and calibration method and system. The method comprises the steps that the standard coordinate position of a manipulator clamping jaw is obtained; the manipulator clamping jaw grabs the meter shell of the meter, keeps the first space posture to move the joint of the meter towards the sensor, and stops moving until the joint of the meter is sensed, and a first offset vector of the manipulator clamping jaw in the first space posture is calculated; the manipulator clamping jaw is adjusted to a second space attitude, the joint of the instrument is moved towards the sensor until the sensor senses the joint of the instrument, and a second offset vector of the manipulator clamping jaw in the second space attitude is calculated; and correcting the mounting coordinates of the manipulator clamping jaw based on the first offset vector and the second offset vector so as to accurately insert the joint of the instrument into the connecting interface. According to the method, the manipulator can adapt to the size of the instrument to carry out accurate joint installation.

Description

Technical Field

[0001] The invention relates to the technical field of instrument installation and connection, and in particular to an instrument joint installation and calibration method and system. Background Art

[0002] When installing an instrument (such as a pressure instrument) on a corresponding connection interface (such as a pressure output port), the traditional method is to manually install the instrument to be tested on the connection interface. However, with the development of intelligent technology, some companies or institutions use manipulators to replace manual work to complete the installation of instruments, that is, the instrument to be tested is prevented from being in the meter-taking position, and the manipulator grabs the instrument from the meter-taking position and moves it to the corresponding connection interface. However, due to the large size differences between different instruments, if the manipulator follows a fixed running trajectory, it may not be possible to accurately install the instrument connector on the connection interface. The reasons are mainly due to the following two aspects: On the one hand, during the instrument grabbing process of the manipulator, the three-claw gripper of the manipulator usually only grabs the case. Even if the grabbing depth of the three-claw gripper is fixed, it is affected by the difference in case thickness of different instruments, or the case of the same thickness but the instrument connector is not located in the middle of the case thickness direction. After the manipulator grabs the instrument, if the instrument connector is moved to the connection interface according to the fixed trajectory, deviations are likely to occur. On the other hand, different instruments have connectors of different lengths. When the robot installs the instrument connector into the connection interface, the length of the instrument connector will directly affect whether it is successfully installed into the connection interface. For example, some instrument connectors are longer. If the robot still installs them according to the fixed insertion displacement, the connection interface will be excessively inserted, which may easily cause excessive squeezing of the connection interface and cause damage to the instrument or the connection interface. For another example, some instrument connectors are shorter. If they are still installed according to the fixed insertion displacement, the instrument connector cannot be fully installed into the connection interface, resulting in installation failure. Summary of the invention

[0003] In order to solve at least one of the above technical problems, the present invention proposes an instrument joint installation and calibration method and system, which can enable a manipulator to adapt to the instrument size for precise installation.

[0004] A first aspect of the present invention provides an instrument connector installation and calibration method, the method comprising: Acquire the standard coordinate position of the manipulator gripper, the standard coordinate position of the manipulator gripper at least including a first standard coordinate position, a second standard coordinate position and a standard installation coordinate position; The manipulator gripper grabs the case of the meter from the meter removal position, and keeps the manipulator gripper in a first spatial posture, moves the joint of the meter toward the sensor, and stops moving when the sensor senses the joint of the meter, and records the first actual coordinate position of the manipulator gripper; Calculate the deviation between the first actual coordinate position and the first standard coordinate position, and calculate the first offset vector of the manipulator gripper in the first spatial posture; The manipulator gripper is adjusted to a second spatial posture, and the manipulator gripper is kept in the second spatial posture, and the joint of the instrument is moved toward the sensor until the sensor senses the joint of the instrument, then the movement is stopped, and the second actual coordinate position of the manipulator gripper is recorded; Calculate the deviation between the second actual coordinate position and the second standard coordinate position, and calculate the second offset vector of the manipulator gripper in the second spatial posture; Correcting the standard installation coordinate position based on the first offset vector and the second offset vector respectively to obtain a calibrated installation coordinate position; The manipulator gripper moves along a preset path to the calibrated installation coordinate position to accurately insert the instrument connector into the connection interface.

[0005] Further, the standard coordinate position of the manipulator is obtained, and the standard coordinate position at least includes a first standard coordinate position, a second standard coordinate position and a standard installation coordinate position, specifically including: Select an instrument as the standard instrument; The manipulator gripper grasps the case of the standard instrument and keeps the manipulator gripper in a first spatial posture, moves the joint of the standard instrument toward the sensor until the sensor senses the joint of the standard instrument, stops moving, and records the coordinate position of the manipulator gripper at this time as the first standard coordinate position; The manipulator gripper is adjusted to a second spatial posture and maintained in the second spatial posture, and the joint of the standard instrument is moved toward the sensor until the sensor senses the joint of the standard instrument, then the movement is stopped, and the coordinate position of the manipulator gripper at this time is recorded as the second standard coordinate position; Move the manipulator gripper and install the connector of the standard instrument it holds into the connection interface, and record the coordinate position of the manipulator gripper at this time as the standard installation coordinate position.

[0006] Further, the manipulator gripper grabs the case of the meter from the meter removal position, and keeps the manipulator gripper in the first spatial posture, and moves the joint of the meter toward the sensor, specifically including: The manipulator gripper is adjusted to a first spatial posture according to a preset first trajectory, and the coordinate position of the current manipulator gripper is recorded as a first initial coordinate position; The manipulator gripper is kept in a first spatial posture and moves toward the sensor along a straight line trajectory from the corrected first initial coordinate position.

[0007] Furthermore, after the corrected first initial coordinate position moves toward the sensor along a straight line trajectory, the method further includes: The movement is stopped until the joint side wall of the meter moves into the sensing range of the sensor and the sensor successfully senses the joint side wall of the meter.

[0008] Further, the manipulator gripper is adjusted to a second spatial posture, and the manipulator gripper is kept in the second spatial posture, and the joint of the instrument is moved toward the sensor, which specifically includes: The manipulator gripper is adjusted to a second spatial posture according to a preset second trajectory, and the coordinate position of the current manipulator gripper is obtained as a second initial coordinate position; Correcting the second initial coordinate position of the manipulator gripper based on the first offset vector to obtain a corrected second initial coordinate position; The manipulator gripper is kept in the second spatial posture and moves toward the sensor along a straight line trajectory from the corrected second initial coordinate position.

[0009] Furthermore, after the corrected second initial coordinate position moves toward the sensor along a straight line trajectory, the method further includes: The movement is stopped until the bottom surface of the connector end of the meter moves into the sensing range of the sensor and the sensor successfully senses the bottom surface of the connector end of the meter.

[0010] Furthermore, when the manipulator gripper is in a first spatial posture, the instrument clamped by the manipulator gripper is in a horizontal posture; when the manipulator gripper is in a second spatial posture, the instrument clamped by the manipulator gripper is in a vertical posture.

[0011] Further, the joint of the instrument is moved toward the sensor until the sensor senses the joint of the instrument, and then the movement is stopped, specifically including: The manipulator gripper gradually moves the joint of the instrument toward the sensor according to the preset step length S; the sensor senses the joint of the instrument in real time, and when the sensor senses the joint of the instrument, it feeds back a signal and causes the manipulator gripper to stop moving; The step length S is less than or equal to the limit distance S1 at which the sensor can sense the joint of the instrument.

[0012] Furthermore, the installation position of the sensor is fixed, the sensor is a photoelectric sensor, and the connector of the instrument is sensed by photoelectric induction.

[0013] The second aspect of the present invention further proposes an instrument connector installation and calibration system, comprising a memory and a processor, wherein the memory comprises an instrument connector installation and calibration method program, and when the instrument connector installation and calibration method program is executed by the processor, the steps of the above-mentioned instrument connector installation and calibration method are implemented.

[0014] The present invention proposes an instrument joint installation and calibration method and system. After the manipulator grips the instrument, the manipulator gripper first obtains the actual coordinate position of the manipulator gripper in the first spatial posture and the second spatial posture with the help of a sensor, and then calculates the difference between the actual coordinate position and the standard coordinate position to obtain an offset vector. Then, based on the standard installation coordinate position, combined with the offset vector, the calibrated installation coordinate position can be calculated. Finally, the manipulator moves to the calibrated installation coordinate position according to the set trajectory. At the same time, the instrument joint will also be accurately inserted into the connection interface, thereby realizing the manipulator's precise installation of instruments of different shapes and sizes, solving the problem that the existing manipulator can only install joints for instruments of the same shape and size, but cannot install joints for instruments of different shapes and sizes.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flow chart of an instrument connector installation and calibration method of the present invention is shown; Figure 2 A schematic diagram showing a manipulator gripper of the present invention in a first spatial posture; Figure 3 A schematic diagram showing the manipulator gripper of the present invention in a second spatial posture; Figure 4 is a schematic diagram of the three-dimensional structure of a joint connector according to one embodiment of the present invention; Figure 5 yes Figure 4 One of the exploded perspective views of the connector; Figure 6 yes Figure 4 The second three-dimensional exploded schematic diagram of the joint connector; Figure 7 yes Figure 4 A schematic cross-sectional view of the joint connector in a clamped state; Figure 8 yes Figure 4 A schematic cross-sectional view of the joint connector in an open state.

[0017] Reference numerals: Instrument 1, case 2, joint 3, manipulator gripper 4, sensor 5; Joint connector 10; Connector body 11, connection port 111, mounting portion 112, mounting cavity 113, second limiting shoulder 1131, piston cavity 114, first cavity 1141, second cavity 1142, first air source hole 1143, second air source hole 1144, cavity port 1145, fourth sealing ring 1146, connection hole 115, first body 117, second body 118, third body 119; The locking sleeve 12, the reverse holding structure 121, the first holding portion 1211, the second holding portion 1212, the first locking surface 122, the second locking surface 123, the avoidance groove 116, the piston portion 125, the second sealing ring 1251, the third sealing ring 1252, the inner convex ring 1253, the outer convex ring 1254, and the exhaust passage 1255; Clamping assembly 13, clamping member 131, reverse wedge structure 1311, first wedge surface 1312, second wedge surface 1313, first mating surface 1314, second mating surface 1315, mounting groove 1316, limiting surface 1317, groove 1318, clamping structure 1319; Connecting piece 14, connecting hole 141, pressure-bearing space 142, first sealing ring 143, fifth sealing ring 144, sixth sealing ring 145, first limiting shoulder 146; Auxiliary cavity 15. DETAILED DESCRIPTION

[0018] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0020] Figure 1 The present invention shows an instrument joint installation and calibration method, the method comprising: S102, obtaining a standard coordinate position of the manipulator gripper 4, wherein the standard coordinate position of the manipulator gripper 4 at least includes a first standard coordinate position, a second standard coordinate position, and a standard installation coordinate position; S104, the manipulator gripper 4 grabs the case 2 of the meter 1 from the meter removal position, and keeps the manipulator gripper 4 in the first spatial posture, moves the joint 3 of the meter 1 toward the sensor 5, and stops moving when the sensor 5 senses the joint 3 of the meter 1, and records the first actual coordinate position of the manipulator gripper 4 (such as Figure 2 shown); S106, calculating the deviation between the first actual coordinate position and the first standard coordinate position, and calculating a first offset vector of the manipulator gripper in the first spatial posture; S108, the manipulator gripper 4 is adjusted to the second spatial posture, and the manipulator gripper 4 is kept in the second spatial posture, and the joint 3 of the instrument 1 is moved toward the sensor 5 until the sensor 5 senses the joint 3 of the instrument 1, then the movement is stopped, and the second actual coordinate position of the manipulator gripper 4 (such as Figure 3 shown); S110, calculating the deviation between the second actual coordinate position and the second standard coordinate position, and calculating a second offset vector of the manipulator gripper in a second spatial posture; S112, correcting the standard installation coordinate position based on the first offset vector and the second offset vector respectively to obtain a calibrated installation coordinate position; S114, the manipulator gripper moves to the calibrated installation coordinate position according to a preset path to accurately insert the connector of the instrument into the connection interface.

[0021] The instrument of the present invention is preferably a pressure gauge, but is not limited thereto.

[0022] It can be understood that the preset path is: the manipulator gripper moves to the top of the connection interface in the second spatial posture, the manipulator keeps the manipulator gripper in the second spatial posture, and installs the connector of the instrument into the connection interface.

[0023] It can be understood that when the connector of the instrument is accurately inserted into the connection interface, the connector of the instrument is clamped by the clamping mechanism on the connection interface, thereby achieving a quick sealed connection of the connector of the instrument.

[0024] After the manipulator gripper of the present invention grabs the instrument, it first uses the sensor to obtain the actual coordinate position of the manipulator gripper in the first spatial posture and the second spatial posture, and then calculates the difference between the actual coordinate position and the standard coordinate position to obtain the offset vector. Then, based on the standard installation coordinate position, combined with the offset vector, the calibrated installation coordinate position can be calculated. Finally, the manipulator moves to the calibrated installation coordinate position according to the set trajectory. At the same time, the connector of the instrument will also be accurately inserted into the connection interface, so that the manipulator can accurately install instruments of different shapes and sizes, solving the problem that the existing manipulator can only install connectors for instruments of the same shape and size, but cannot install connectors for instruments of different shapes and sizes.

[0025] Further, the standard coordinate position of the manipulator is obtained, and the standard coordinate position at least includes a first standard coordinate position, a second standard coordinate position and a standard installation coordinate position, specifically including: Select an instrument as the standard instrument; The manipulator gripper grasps the case of the standard instrument and keeps the manipulator gripper in a first spatial posture, moves the joint of the standard instrument toward the sensor until the sensor senses the joint of the standard instrument, stops moving, and records the coordinate position of the manipulator gripper at this time as the first standard coordinate position; The manipulator gripper is adjusted to a second spatial posture and maintained in the second spatial posture, and the joint of the standard instrument is moved toward the sensor until the sensor senses the joint of the standard instrument, then the movement is stopped, and the coordinate position of the manipulator gripper at this time is recorded as the second standard coordinate position; Move the manipulator gripper and install the connector of the standard instrument it holds into the connection interface, and record the coordinate position of the manipulator gripper at this time as the standard installation coordinate position.

[0026] It should be noted that the standard instrument of the present invention can be an ordinary instrument selected by the user. Its purpose is to facilitate the determination of the corresponding first standard coordinate position, second standard coordinate position and standard installation coordinate position with the help of the standard instrument, and use this as a reference to facilitate subsequent offset adjustment of other instruments, so that subsequent instruments can be accurately inserted into the connection interface.

[0027] Further, the manipulator gripper grabs the case of the meter from the meter removal position, and keeps the manipulator gripper in the first spatial posture, and moves the joint of the meter toward the sensor, specifically including: The manipulator gripper is adjusted to a first spatial posture according to a preset first trajectory, and the coordinate position of the current manipulator gripper is recorded as a first initial coordinate position; The manipulator gripper is kept in a first spatial posture and moves toward the sensor along a straight line trajectory from the corrected first initial coordinate position.

[0028] It can be understood that the first trajectory is a trajectory that can be directly set manually, that is, the manipulator grabs the instrument from the meter picking position and moves to the first initial coordinate position according to the set first trajectory, and the manipulator gripper is adjusted to the first spatial posture.

[0029] Furthermore, after the corrected first initial coordinate position moves toward the sensor along a straight line trajectory, the method further includes: The movement is stopped until the joint side wall of the meter moves into the sensing range of the sensor and the sensor successfully senses the joint side wall of the meter.

[0030] It can be understood that when the manipulator gripper maintains the first spatial posture, the instrument is in a flat posture, and the preset sensor is below the instrument. As the manipulator gripper continues to move vertically downward, the sensor can sense the side of the connector of the instrument at a certain point in time.

[0031] Further, the manipulator gripper is adjusted to a second spatial posture, and the manipulator gripper is kept in the second spatial posture, and the joint of the instrument is moved toward the sensor, which specifically includes: The manipulator gripper is adjusted to a second spatial posture according to a preset second trajectory, and the coordinate position of the current manipulator gripper is obtained as a second initial coordinate position; Correcting the second initial coordinate position of the manipulator gripper based on the first offset vector to obtain a corrected second initial coordinate position; The manipulator gripper is kept in the second spatial posture and moves toward the sensor along a straight line trajectory from the corrected second initial coordinate position.

[0032] It should be noted that, since the standard instrument is manually set, such as manually setting the trajectory of the manipulator, when the manipulator gripper is adjusted to the second spatial posture according to the manually set manipulator motion trajectory, the joint of the standard instrument can be directly opposite to the sensor and can contact the sensor according to a straight line trajectory (such as vertically downward). However, when the manipulator gripper clamps the watch case of other instruments, since the joints of other instruments are set forward or backward relative to the joints of the standard instrument, if the manipulator gripper is adjusted to the second spatial posture according to the aforementioned set manipulator motion trajectory, the joints of other instruments may not be directly opposite to the sensor. If it continues to move according to the preset straight line trajectory, the sensor cannot sense the joints of the instrument, and thus the second offset vector cannot be successfully calculated and analyzed. In order to enable the joints of other instruments to be directly opposite to the sensor and to successfully calculate and analyze the second offset vector, the present invention uses the first offset vector to correct the second initial coordinate position when the manipulator gripper is adjusted to the second spatial posture, so that the joints of other instruments can move directly opposite to the sensor according to the straight line trajectory, thereby facilitating the accurate calculation of the second offset vector of the manipulator gripper in the second spatial posture.

[0033] It can be understood that the coordinate position of the present invention is not a fixed three-dimensional coordinate position, but a relative coordinate position. Preferably, the coordinate position data of the manipulator gripper is a coordinate position measured based on the three-dimensional coordinate system established by the manipulator end, and the manipulator end can move in space with the manipulator. Therefore, the three-dimensional coordinate system where the manipulator gripper is located is a spatially variable coordinate system, that is, the coordinate position of the manipulator gripper of the present invention refers to the spatial position of the three-dimensional coordinate system constructed by the manipulator end plus the coordinate position of the manipulator gripper in the three-dimensional coordinate system.

[0034] Furthermore, after the corrected second initial coordinate position moves toward the sensor along a straight line trajectory, the method further includes: The movement is stopped until the bottom surface of the connector end of the meter moves into the sensing range of the sensor and the sensor successfully senses the bottom surface of the connector end of the meter.

[0035] It can be understood that when the manipulator gripper maintains the second spatial posture, the instrument is in a vertical posture, and the preset sensor is below the instrument. As the manipulator gripper continues to move vertically downward, the sensor can sense the bottom surface of the connector end of the instrument at a certain point in time.

[0036] Furthermore, when the manipulator gripper is in a first spatial posture, the instrument clamped by the manipulator gripper is in a horizontal posture; when the manipulator gripper is in a second spatial posture, the instrument clamped by the manipulator gripper is in a vertical posture.

[0037] It should be noted that the horizontal state means that the front and back of the instrument case and the central axis of the joint are parallel to the horizontal plane. The vertical state means that the front and back of the instrument case and the central axis of the joint are perpendicular to the horizontal plane, and the joint is located below the case.

[0038] Further, the joint of the instrument is moved toward the sensor until the sensor senses the joint of the instrument, and then the movement is stopped, specifically including: The manipulator gripper gradually moves the joint of the instrument toward the sensor according to the preset step length S; the sensor senses the joint of the instrument in real time, and when the sensor senses the joint of the instrument, it feeds back a signal and causes the manipulator gripper to stop moving; The step length S is less than or equal to the limit distance S1 at which the sensor can sense the joint of the instrument.

[0039] It can be understood that when the manipulator moves a step length S, it determines whether the sensor senses the joint of the instrument. If not, the manipulator continues to move the next step length S until the sensor senses the joint of the instrument, and then the manipulator stops moving. The preset limit distance at which the sensor can sense the joint of the instrument is S1. In order to ensure that the joint of the instrument can be sensed by the sensor in time when it does not touch the sensor, it should be ensured that the step length S is less than or equal to S1.

[0040] It can be understood that there is a certain time interval between two adjacent steps S, and the time interval should be greater than or equal to the signal transmission time from the sensor feedback signal to the robot arm executing the action.

[0041] Preferably, the installation position of the sensor is fixed, the sensor is a photoelectric sensor, and the connector of the instrument is sensed by photoelectric induction.

[0042] The second aspect of the present invention further proposes an instrument connector installation and calibration system, comprising a memory and a processor, wherein the memory comprises an instrument connector installation and calibration method program, and when the instrument connector installation and calibration method program is executed by the processor, the steps of the above-mentioned instrument connector installation and calibration method are implemented.

[0043] The connection interface of the present invention is a joint connector such as Figure 4-8 As shown, the joint connector 10 includes: a connector body 11, a locking sleeve 12, and a clamping assembly 13; The connector body 11 has a connection port 111 at one end for external piping and a mounting portion 112 at the other end for mounting the clamping assembly 13; The clamping assembly 13 includes a plurality of clamping members 131, which are circumferentially arranged around the mounting portion 112 of the connector body 11 and can rotate based on the mounting portion 112 respectively. The outer sides of both ends of each clamping member 131 are provided with reverse wedge structures 1311, and the inner side of one end of each clamping member 131 away from the connector body 11 is provided with a clamping structure 1319; The locking sleeve 12 is movably mounted on the outer periphery of the clamping assembly 13 and can move axially under the action of a driving force. The locking sleeve 12 is provided with a reverse holding structure 121 at the position of the reverse wedge-shaped structure 1311 of the plurality of clamping members 131; When the locking sleeve 12 moves axially, the corresponding abutting structure of the locking sleeve 12 presses against the corresponding wedge structure of the clamping member 131, so as to drive the multiple clamping members 131 to rotate relative to the connector body 11 respectively, and enable the clamping structures 1319 of the multiple clamping members 131 to clamp or release the external connector.

[0044] The joint connector 10 of the present invention cooperates with the reverse wedge structure 1311 and the reverse abutment structure 121 to achieve rapid clamping or loosening of the external joint, replacing the traditional connection method of the external joint by rotating the thread, and effectively improving the connection efficiency of the external joint. At the same time, the present invention can ensure that after clamping the external joint, the auxiliary cavity 15 is pressurized to form a sealed connection by pressurizing the auxiliary cavity 15 through the ingenious design of the auxiliary cavity 15, the first sealing ring 143 between the connecting piece 14 and the external joint. Moreover, the present invention also uses the difference in pressure area at both ends of the connecting piece 14 to enable the connecting piece 14 to adapt to the pressure of the external pipeline to generate a corresponding clamping force on the external joint, effectively ensuring the connection sealing between the joint connector 10 and the external joint.

[0045] According to an embodiment of the present invention, the reverse wedge structure 1311 includes a first wedge surface 1312 and a second wedge surface 1313, and the first wedge surface 1312 and the second wedge surface 1313 are respectively located on the outer sides of the two ends of the clamping member 131 and are arranged in opposite directions; the reverse abutting structure 121 includes a first abutting portion 1211 and a second abutting portion 1212, and the first abutting portion 1211 is used to perform wedge-shaped cooperation with the first wedge surface 1312, and the second abutting portion 1212 is used to perform wedge-shaped cooperation with the second wedge surface 1313.

[0046] According to the embodiment of the present invention, the first abutting portion 1211 and the first wedge-shaped surface 1312 , as well as the second abutting portion 1212 and the second wedge-shaped surface 1313 , are alternately wedge-matched with each other.

[0047] It can be understood that when the first abutting portion 1211 is wedge-fitted with the first wedge surface 1312, the second abutting portion 1212 has no contact with the second wedge surface 1313, so as to avoid affecting the wedge-fitting state between the first abutting portion 1211 and the first wedge surface 1312; when the second abutting portion 1212 is wedge-fitted with the second wedge surface 1313, the first abutting portion 1211 has no contact with the first wedge surface 1312, so as to avoid affecting the wedge-fitting state between the second abutting portion 1212 and the second wedge surface 1313.

[0048] It can be understood that the first abutting portion 1211 and the second abutting portion 1212 can be abutting surfaces (such as arc surfaces or planes), and the abutting surfaces press the corresponding wedge surfaces so that the abutting surfaces slide relative to the wedge surfaces; or they can be roller structures, that is, the rollers are installed on the locking sleeve 12, and the rollers press the corresponding wedge surfaces so that the rollers roll relatively along the wedge surfaces. But it is not limited thereto.

[0049] According to an embodiment of the present invention, the locking sleeve 12 and the clamping assembly 13 are arranged on the same central axis; The locking sleeve 12 further includes a first locking surface 122, which is disposed adjacent to the lower edge of the first abutting portion 1211; each clamping member 131 further includes a first mating surface 1314, which is disposed adjacent to the upper edge of the first wedge surface 1312; when the locking sleeve 12 locks the clamping assembly 13, the first locking surface 122 abuts against the first mating surface 1314 of each clamping member 131 to prevent each clamping member 131 from opening outward; The first locking surface 122 is a circular surface, the first matching surface 1314 of each clamping member 131 is an arc surface, and the vertical lines of the first locking surface 122 and the first matching surface 1314 respectively intersect the central axis perpendicularly.

[0050] According to the embodiment of the present invention, the locking sleeve 12 further includes a second locking surface 123, which is disposed adjacent to the lower edge of the second abutting portion 1212; each clamping member 131 further includes a second mating surface 1315, which is disposed adjacent to the lower edge of the second wedge surface 1313; when the locking sleeve 12 locks the clamping assembly 13, the second locking surface 123 abuts against the second mating surface 1315 of each clamping member 131 to prevent each clamping member 131 from opening outward; The second locking surface 123 is a circular surface, the second matching surface 1315 of each clamping member 131 is an arc surface, and the vertical lines of the second locking surface 123 and the second matching surface 1315 respectively intersect the central axis perpendicularly.

[0051] According to an embodiment of the present invention, each clamping member 131 further includes a mounting groove 1316 , which is located between the first wedge surface 1312 and the second wedge surface 1313 and opens inwardly, and the shape and size of the mounting groove 1316 are adapted to the shape and size of the mounting portion 112 .

[0052] According to the embodiment of the present invention, each clamping member 131 is provided with a limiting surface 1317 on a side away from the second wedge-shaped surface 1313, and the connector body 11 is provided with an avoiding groove 116 inwardly concave at a position corresponding to the limiting surface 1317; The second supporting portion 1212 of the locking sleeve 12 presses against the second wedge surface 1313 of each clamping member 131, so that each clamping member 131 rotates based on the mounting portion 112, and the limiting surface 1317 gradually fits toward the bottom surface of the avoiding groove 116 until the limiting surface 1317 is completely in contact with the bottom surface of the avoiding groove 116.

[0053] According to the embodiment of the present invention, a groove 1318 is formed on the second mating surface 1315 of each clamping member 131, and the grooves 1318 of each clamping member 131 are sequentially connected to form an annular groove; The joint connector 10 further includes an elastic collar (not shown), which is sleeved in the annular groove and is used to provide auxiliary elastic force for the multiple clamping members 131 to open.

[0054] Preferably, the elastic clamp ring can be an elastic resin rubber ring or an elastic steel ring, but is not limited thereto.

[0055] According to an embodiment of the present invention, a mounting cavity 113 is provided in the connector body 11; The joint connector 10 also includes: a connecting piece 14, which is movably installed in the installation cavity 113, and the connecting piece 14 has a connecting hole 141 axially opened, one end of the connecting hole 141 is sealed and connected to the connecting port 111, and the other end of the connecting hole 141 is sealed and connected to the external connector when the clamping assembly 13 clamps the external connector.

[0056] According to an embodiment of the present invention, one end of the connecting piece 14 is recessed toward the connecting port 111 to form a pressure-bearing space 142, and the connecting piece 14 is away from the connecting port 111 at one end and a first sealing ring 143 is nested on the periphery of the connecting hole 141; the bottom area of ​​the pressure-bearing space 142 is larger than the area enclosed by the first sealing ring 143.

[0057] It can be understood that the pressure area of ​​the lower end of the connecting member 14 upward along the central axis is greater than the pressure area of ​​the upper end of the connecting member 14 downward along the central axis. In this way, when the external pipeline passes through high-pressure gas or liquid, the high-pressure gas or liquid will fill the connecting hole 141. At this time, the lower pressure surface of the connecting piece 14 generates an upward pressure force under the action of pressure, that is, F1=P1*S1, where P1 is the pressure of the high-pressure gas or liquid, and S1 is the lower pressure area of ​​the connecting piece 14; the upper pressure surface of the connecting piece 14 generates a downward pressure force under the same pressure, that is, F2=P1*S2, S2 is the upper pressure area of ​​the connecting piece 14. Since the upper pressure surface is larger than the lower pressure surface, an upward supporting force F3=F1-F2=P1*(S1-S2) will be generated on the connecting piece 14, thereby pushing the connecting piece 14 to move toward the external connector, and as the pressure of the high-pressure gas or liquid increases, this driving force will also increase, thereby squeezing the first sealing ring 143 to produce deformation, thereby achieving a sealed connection between the connecting piece 14 and the external connector to avoid the risk of gas leakage or liquid leakage.

[0058] According to the embodiment of the present invention, the connector body 11 is further provided with an annular piston chamber 114; An annular piston portion 125 is provided at one end of the locking sleeve 12 away from the first abutting portion 1211, and the cross-sectional dimension of the piston portion 125 is adapted to the cross-sectional dimension of the piston cavity 114; A second sealing ring 1251 and a third sealing ring 1252 are respectively nested on the inner and outer sides of the piston part 125. The second sealing ring 1251 is used to seal the inner side surface of the piston part 125 with the inner cavity wall of the piston cavity 114, and the third sealing ring 1252 is used to seal the outer side surface of the piston part 125 with the outer cavity wall of the piston cavity 114.

[0059] According to an embodiment of the present invention, the piston portion 125 includes an inner convex ring 1253 and an outer convex ring 1254 which are staggered, and the inner convex ring 1253 is farther away from the first abutting portion 1211 than the outer convex ring 1254; The second sealing ring 1251 and the third sealing ring 1252 are respectively nested on the outer side surfaces of the inner convex ring 1253 and the outer convex ring 1254 .

[0060] According to an embodiment of the present invention, the piston portion 125 is movably installed in the piston chamber 114 and divides the piston chamber 114 into a first chamber 1141 and a second chamber 1142 of variable volume; The outer cavity wall of the piston cavity 114 is provided with a first gas source hole 1143 and a second gas source hole 1144 at both ends along the central axis direction. The first cavity 1141 and the second cavity 1142 are connected to the first gas source hole 1143 and the second gas source hole 1144 respectively.

[0061] According to an embodiment of the present invention, a cavity opening 1145 is provided at the upper portion of the piston cavity 114, and the locking sleeve 12 extends out of the piston cavity 114 from the cavity opening 1145 of the piston cavity 114. The outer side surface of the locking sleeve 12 can slide relative to the top wall of the piston cavity 114, and a fourth sealing ring 1146 is nested on the side of the top wall of the piston cavity 114 facing the locking sleeve 12, so as to ensure that when the locking sleeve 12 slides relative to the top wall of the piston cavity 114, the sealing of the first cavity 1141 is maintained.

[0062] According to an embodiment of the present invention, when the connecting piece 14 is installed in the installation cavity 113, an auxiliary cavity 15 is reserved between the outer wall of the connecting piece 14 and the inner wall of the installation cavity 113; The connector body 11 is also provided with at least one connecting hole 115 connecting the auxiliary cavity 15 and the piston cavity 114; The piston portion 125 is recessed at a position corresponding to at least one connecting hole 115 to form an exhaust passage 1255; According to the active state of the piston portion 125 in the piston chamber 114 , the auxiliary chamber 15 is alternately connected with the second chamber 1142 or the exhaust channel 1255 through at least one connecting hole 115 .

[0063] It can be understood that in the initial position, the clamping assembly 13 is open, and the second sealing ring 1251 on the piston part 125 is located at the lower end of at least one connecting hole 115. At this time, at least one connecting hole 115 is connected to the atmosphere through the exhaust channel 1255, and the pressure in the auxiliary cavity 15 is zero pressure. Grab the external connector (such as the connector of the pressure gauge) and align it with the connecting piece 14 and press it downward, so that the air in the auxiliary cavity 15 is emptied through the exhaust channel 1255, and the connecting piece 14 moves to the bottom. The piston part 125 moves upward in the piston cavity 114 until the second sealing ring 1251 on the piston part 125 passes through at least one connecting hole 115. At this time, at least one connecting hole 115 is connected to the second cavity 1142, and the second cavity 1142 pressurizes the auxiliary cavity 15 through at least one connecting hole 115, and causes the connecting piece 14 to move upward.

[0064] According to an embodiment of the present invention, the outer side walls of the connecting piece 14 are respectively nested with a fifth sealing ring 144 and a sixth sealing ring 145, and the auxiliary cavity 15 is located between the fifth sealing ring 144 and the sixth sealing ring 145. The fifth sealing ring 144 and the sixth sealing ring 145 are used to ensure that the sealing of the auxiliary cavity 15 is maintained when the connecting piece 14 moves relative to the installation cavity 113.

[0065] According to an embodiment of the present invention, a first limiting shoulder 146 is provided on the outer wall of the connecting piece 14; a second limiting shoulder 1131 is provided on the inner edge of the opening of the mounting cavity 113; the first limiting shoulder 146 and the second limiting shoulder 1131 cooperate with each other to limit the length of the connecting piece 14 extending from the opening of the mounting cavity 113.

[0066] It can be understood that the connecting piece 14 can be effectively prevented from falling out of the installation cavity 113 through the cooperation between the first limiting shoulder 146 and the second limiting shoulder 1131 .

[0067] It can be understood that in other embodiments, a return spring can also be sleeved on the outside of the connecting piece 14, and the two ends of the return spring are respectively abutted between the first limit shoulder 146 and the second limit shoulder 1131. When at least one connecting hole 115 is connected to the atmosphere through the exhaust channel 1255, the auxiliary cavity 15 is at zero pressure, and the return spring provides a return force to reset the connecting piece 14 to the bottom. It should be noted that the elastic force of the return spring is less than the pressure force when the second cavity 1142 is pressurized, that is, when the auxiliary cavity 15 is connected to the second cavity 1142 through at least one connecting hole 115, the pressure force of the auxiliary cavity 15 can overcome the elastic force of the return spring to push the connecting piece 14 upward and make it fit tightly with the external joint.

[0068] It can be understood that the connector body 11 can be integrally formed or assembled with separate parts. For example, in some embodiments, in order to facilitate processing and installation, the connector body 11 may include a first body 117, a second body 118 and a third body 119, and the second body 118 and the third body 119 are respectively fixedly connected to the first body 117, and a sealing ring is provided at the fixed connection position to ensure the sealing of the connection. The second body 118 and the first body 117 are jointly enclosed to form a piston chamber 114, and the third body 119 and the first body 117 are jointly enclosed to form an installation chamber 113. The connection port 111 is provided on the first body 117; the first gas source hole 1143 and the second gas source hole 1144 are provided on the second body 118; the mounting portion 112 and the avoidance groove 116 are respectively provided on the third body 119.

[0069] It is understandable that the peripheral connector may be a connector of a pressure gauge or a pressure transmitter, but is not limited thereto.

[0070] Preferably, the clamping structure 1319 may be a threaded structure, but is not limited thereto.

[0071] When the joint connector 10 needs to clamp an external joint, the external air source supplies air to the first cavity 1141 through the first air source hole 1143, so that the pressure of the first cavity 1141 increases, and pushes the piston portion 125 of the locking sleeve 12 to move downward in the piston cavity 114, driving the first locking surface 122 of the locking sleeve 12 to move downward out of the first matching surfaces 1314 of the plurality of clamping members 131. The piston portion 125 of the locking sleeve 12 continues to move downward in the piston cavity 114, driving the second abutting portion 1212 of the locking sleeve 12 to press against the second wedge surfaces 1313 of the plurality of clamping members 131, and causing the plurality of clamping members 131 to rotate based on the mounting portion 112, and the clamping structures 1319 of the plurality of clamping members 131 gradually open. The piston part 125 of the locking sleeve 12 continues to move downward in the piston cavity 114 until the piston part 125 abuts against the bottom wall of the piston cavity 114. At this time, the second sealing ring 1251 nested in the piston part 125 is located below the at least one connecting hole 115, and the auxiliary cavity 15 is connected to the exhaust channel 1255 through the at least one connecting hole 115. Then the external connector is inserted into the opened multiple clamping members 131 and docked with the connecting hole 141 of the connecting member 14. The connecting member 14 is pressed by the external connector so that the connecting member 14 moves to the bottom end, thereby realizing the reset of the connecting member 14. During the pressing process, the volume of the auxiliary cavity 15 gradually decreases, and the excess air is smoothly discharged to the atmosphere through the at least one connecting hole 115 and the exhaust channel 1255, thereby preventing the auxiliary cavity 15 from increasing pressure due to the compressed volume, thereby hindering the reset of the connecting member 14.

[0072] After the external connector presses the connecting piece 14 to the bottom, the air supply to the first chamber 1141 is stopped, and the air is supplied to the second chamber 1142 through the second air source hole 1144, so that the pressure of the second chamber 1142 increases, and the piston portion 125 of the locking sleeve 12 is pushed to move upward in the piston chamber 114, driving the second abutting portion 1212 of the locking sleeve 12 to disengage from the second wedge surfaces 1313 of the plurality of clamping members 131, and continuing to push the piston portion 125 of the locking sleeve 12 to move upward in the piston chamber 114, driving the first abutting portion 1211 of the locking sleeve 12 to press against the first wedge surfaces 1312 of the plurality of clamping members 131, and causing the plurality of clamping members 131 to rotate based on the mounting portion 112 respectively, and the clamping structures 1319 (such as internal threads) of the plurality of clamping members 131 gradually clamp the external connector (such as external threads). Continue to push the piston portion 125 of the locking sleeve 12 upward in the piston cavity 114, driving the first abutting portion 1211 of the locking sleeve 12 to slide out from the upper edge of the first wedge surface 1312, and making the first locking surface 122 of the locking sleeve 12 correspond to the first matching surfaces 1314 of the plurality of clamping members 131. At the same time, the second locking surface 123 of the locking sleeve 12 corresponds to the second matching surfaces 1315 of the plurality of clamping members 131, thereby completing the clamping and locking of the external device connector. At this time, the second sealing ring 1251 on the piston portion 125 of the locking sleeve 12 is located above the at least one connecting hole 115, and the auxiliary chamber 15 is connected with the second chamber 1142 through the at least one connecting hole 115, and the pressurized gas in the second chamber 1142 enters the auxiliary chamber 15 through the at least one connecting hole 115, thereby pressurizing the auxiliary chamber 15, and then prompting the connecting piece 14 to press against the external connector upward, and squeeze the first sealing ring 143 to deform to achieve a sealed connection between the connecting piece 14 and the external connector.

[0073] Then, the external pipeline is opened, and the high-pressure fluid in the external pipeline continues to push the connecting piece 14 upward to fit the external connector through the pressure area difference between the upper and lower ends of the connecting piece 14, and squeezes the first sealing ring 143 to achieve a sealed connection between the connecting piece 14 and the external connector. The greater the pressure of the external pipeline, the greater the adhesion force between the connecting piece 14 and the external connector. Therefore, no matter whether the external pipeline passes high pressure or low pressure, a sealed connection between the connecting piece 14 and the external connector can be achieved.

[0074] It can be understood that the pressurization of the auxiliary cavity 15 of the present invention is completed after the multiple clamping members 131 have clamped the external connector. When the auxiliary cavity 15 is pressurized and pushes the connecting member 14 to seal against the external connector, the external connector has been firmly clamped by the multiple clamping members 131 and will not be ejected. In other words, the pressure supply to the second cavity 1142 and the auxiliary cavity 15 of the present invention is different, and the pressure supply to the auxiliary cavity 15 is delayed after the pressure supply to the second cavity 1142. Specifically, the auxiliary cavity 15 will be pressurized only when the second sealing ring 1251 of the piston part 125 moves to the top of at least one connecting hole 115, but at this time, the clamping structure 1319 of the locking sleeve 12 has firmly clamped the external machine head. The present invention cleverly realizes the integrated operation process of clamping and sealing through a single air source through the above-mentioned structural design.

[0075] The joint connector 10 of the present invention cooperates with the reverse wedge structure 1311 and the reverse abutment structure 121 to achieve rapid clamping or loosening of the external joint, replacing the traditional connection method of the external joint by rotating the thread, and effectively improving the connection efficiency of the external joint. At the same time, the present invention can ensure that after clamping the external joint, the auxiliary cavity 15 is pressurized to form a sealed connection by pressurizing the auxiliary cavity 15 through the ingenious design of the auxiliary cavity 15, the first sealing ring 143 between the connecting piece 14 and the external joint. Moreover, the present invention also uses the difference in pressure area at both ends of the connecting piece 14 to enable the connecting piece 14 to adapt to the pressure of the external pipeline to generate a corresponding clamping force on the external joint, effectively ensuring the connection sealing between the joint connector 10 and the external joint.

[0076] The third aspect of the present invention further proposes a computer-readable storage medium, which includes a batch automatic calibration method program based on a pressure gauge. When the batch automatic calibration method program based on a pressure gauge is executed by a processor, the steps of the above-mentioned batch automatic calibration method based on a pressure gauge are implemented.

[0077] The batch automatic calibration method and system based on pressure gauges proposed by the present invention sets multiple cache queues in the front process of the calibration workbench, and each cache queue is used to cache the pressure gauges to be inspected of the corresponding calibration procedures. In this way, when several pressure gauges to be inspected enter the automated calibration process, they will be diverted to the corresponding cache queues according to the corresponding calibration procedures. Later, the calibration station can synchronously calibrate multiple pressure gauges to be inspected in the same cache queue. In the synchronous calibration process, since each pressure gauge to be inspected complies with the same calibration procedure, only one set of pressure control system is needed to realize the synchronous calibration of multiple pressure gauges to be inspected, which further improves the calibration efficiency of the pressure gauges to be inspected without increasing the equipment investment cost.

[0078] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for installing and calibrating an instrument connector, characterized in that: The method comprises: Acquire the standard coordinate position of the manipulator gripper, the standard coordinate position of the manipulator gripper at least including a first standard coordinate position, a second standard coordinate position and a standard installation coordinate position; The manipulator gripper grabs the case of the meter from the meter removal position, and keeps the manipulator gripper in a first spatial posture, moves the joint of the meter toward the sensor, and stops moving when the sensor senses the joint of the meter, and records the first actual coordinate position of the manipulator gripper; Calculate the deviation between the first actual coordinate position and the first standard coordinate position, and calculate the first offset vector of the manipulator gripper in the first spatial posture; The manipulator gripper is adjusted to a second spatial posture, and the manipulator gripper is kept in the second spatial posture, and the joint of the instrument is moved toward the sensor until the sensor senses the joint of the instrument, then the movement is stopped, and the second actual coordinate position of the manipulator gripper is recorded; Calculate the deviation between the second actual coordinate position and the second standard coordinate position, and calculate the second offset vector of the manipulator gripper in the second spatial posture; Correcting the standard installation coordinate position based on the first offset vector and the second offset vector respectively to obtain a calibrated installation coordinate position; The manipulator gripper moves along a preset path to the calibrated installation coordinate position to accurately insert the instrument connector into the connection interface.

2. The instrument connector installation and calibration method according to claim 1, characterized in that: Obtain the standard coordinate position of the manipulator, the standard coordinate position at least includes the first standard coordinate position, the second standard coordinate position and the standard installation coordinate position, specifically including: Select an instrument as the standard instrument; The manipulator gripper grasps the case of the standard instrument and keeps the manipulator gripper in a first spatial posture, moves the joint of the standard instrument toward the sensor until the sensor senses the joint of the standard instrument, stops moving, and records the coordinate position of the manipulator gripper at this time as the first standard coordinate position; The manipulator gripper is adjusted to a second spatial posture and maintained in the second spatial posture, and the joint of the standard instrument is moved toward the sensor until the sensor senses the joint of the standard instrument, then the movement is stopped, and the coordinate position of the manipulator gripper at this time is recorded as the second standard coordinate position; Move the manipulator gripper and install the connector of the standard instrument it holds into the connection interface, and record the coordinate position of the manipulator gripper at this time as the standard installation coordinate position.

3. The instrument connector installation and calibration method according to claim 1, characterized in that: The manipulator gripper grabs the meter case from the meter removal position, and keeps the manipulator gripper in the first spatial posture, and moves the joint of the meter toward the sensor, specifically including: The manipulator gripper is adjusted to a first spatial posture according to a preset first trajectory, and the coordinate position of the current manipulator gripper is recorded as a first initial coordinate position; The manipulator gripper is kept in a first spatial posture and moves toward the sensor along a straight line trajectory from the corrected first initial coordinate position.

4. The instrument connector installation and calibration method according to claim 3, characterized in that: After moving toward the sensor along a straight line trajectory from the corrected first initial coordinate position, the method further includes: The movement is stopped until the joint side wall of the meter moves into the sensing range of the sensor and the sensor successfully senses the joint side wall of the meter.

5. The instrument connector installation and calibration method according to claim 1, characterized in that: The manipulator gripper is adjusted to a second spatial posture, and the manipulator gripper is kept in the second spatial posture, and the joint of the instrument is moved toward the sensor, which specifically includes: The manipulator gripper is adjusted to a second spatial posture according to a preset second trajectory, and the coordinate position of the current manipulator gripper is obtained as a second initial coordinate position; Correcting the second initial coordinate position of the manipulator gripper based on the first offset vector to obtain a corrected second initial coordinate position; The manipulator gripper is kept in the second spatial posture and moves toward the sensor along a straight line trajectory from the corrected second initial coordinate position.

6. The instrument connector installation and calibration method according to claim 5, characterized in that: After moving toward the sensor along a straight line from the corrected second initial coordinate position, the method further includes: The movement is stopped until the bottom surface of the connector end of the meter moves into the sensing range of the sensor and the sensor successfully senses the bottom surface of the connector end of the meter.

7. The instrument connector installation and calibration method according to claim 1, characterized in that: When the manipulator gripper is in the first spatial posture, the instrument clamped by the manipulator gripper is in a flat posture; When the manipulator gripper is in the second spatial posture, the instrument clamped by the manipulator gripper is in a vertical posture.

8. The instrument connector installation and calibration method according to claim 1, characterized in that: Move the meter connector toward the sensor until the sensor senses the meter connector, then stop moving, including: The manipulator gripper gradually moves the joint of the instrument toward the sensor according to the preset step length S; the sensor senses the joint of the instrument in real time, and when the sensor senses the joint of the instrument, it feeds back a signal and causes the manipulator gripper to stop moving; The step length S is less than or equal to the limit distance S1 at which the sensor can sense the joint of the instrument.

9. The instrument connector installation and calibration method according to claim 1, characterized in that: The installation position of the sensor is fixed. The sensor is a photoelectric sensor and senses the connector of the instrument through photoelectric induction.

10. An instrument joint installation and calibration system, characterized in that: The invention comprises a memory and a processor, wherein the memory comprises an instrument connector installation and calibration method program, and when the instrument connector installation and calibration method program is executed by the processor, the steps of the instrument connector installation and calibration method according to any one of claims 1 to 9 are implemented.

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