A track-type hose twisting robot

Abstract

A rail-type hose twisting robot belongs to the field of liquid filling technology. The purpose of the present invention is to replace the workers' frequent connection and removal of pipes and reduce repetitive work. The robot includes a track, a pulley and a plurality of pipe adapter assemblies; the pulley is placed on the track and can reciprocate along the track; the plurality of pipe adapter assemblies are arranged in an "I" shape and installed on the track, and the pipe adapters of the plurality of pipe adapter assemblies pass through the top of the track; the long pipe is driven by the vertical motion mechanism of the pulley to achieve up and down lifting and tightening or loosening with the pipe adapter of the pipe adapter assembly. The rail-type hose twisting robot of the present invention connects the container to be filled with the pipe adapter using a shorter pipe, and the pulley can move along the track to realize container filling in multiple positions, avoiding the use of a large-stroke robotic arm, while replacing manual operation, reducing costs and improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of liquid filling, and in particular to a track-type hose twisting robot. Background Art

[0002] In the industrial production process, when faced with the need to fill multiple containers, if multiple filling machines are used to operate each container separately, the equipment purchase cost and maintenance costs will increase significantly, which is not conducive to cost control and resource optimization.

[0003] If a single filling machine is responsible for filling multiple containers, frequent pipe connection and removal is inevitable. In practice, workers need to manually connect and remove pipes, a process that is not only time-consuming and labor-intensive, but also prone to fatigue due to the high repetitiveness of the operation, increasing the risk of operational errors, thus affecting overall work efficiency and the safety of the filling operation.

[0004] When filling operations are carried out in a narrow space, due to the space limitations between the pipe connection interface and the container, workers often find it difficult to accurately and quickly align the interface when connecting the pipe. This not only increases the difficulty of operation but also prolongs the operation time. The narrow space also makes it difficult for the robotic arm to reach the different required work stations. Summary of the Invention

[0005] The present invention aims to replace workers' frequent connection and removal of pipes and reduce repetitive labor, and provides a track-type hose twisting robot that can twist hoses in complex environments.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] A track-mounted hose-twisting robot comprises a track, a pulley, and a plurality of pipe adapter assemblies; the pulley is placed on the track and can reciprocate along the track; the plurality of pipe adapter assemblies are arranged in a straight line and mounted on the track, with the pipe adapters of the plurality of pipe adapter assemblies extending through the top of the track; the long pipe is lifted up and down and tightened or loosened with the pipe adapters of the pipe adapter assemblies by the vertical motion mechanism of the pulley.

[0008] Furthermore, the plurality of pipe adapter assemblies have the same structure and all include an auxiliary positioning assembly and a pipe adapter, wherein the auxiliary positioning assembly includes a pipe adapter guide, a pipe adapter pressure ring, a pipe adapter anti-rotation ring, and a pipe adapter base;

[0009] A polygonal inner hole is provided in the center of the pipe adapter anti-rotation ring, and the pipe adapter anti-rotation ring is embedded in the pipe adapter base, and a central through hole is provided at the bottom of the pipe adapter base; a polygonal boss is provided on the outer wall of the pipe adapter, and the polygonal boss of the pipe adapter is embedded in the polygonal inner hole of the pipe adapter anti-rotation ring; the upper end of the polygonal boss of the pipe adapter is provided with a pipe adapter pressure ring, and the upper end of the pipe adapter pressure ring is provided with a pipe adapter guide, the pipe adapter guide, the pipe adapter pressure ring, the pipe adapter anti-rotation ring and the pipe adapter base are detachably and fixedly connected, and the pipe adapter base is detachably and fixedly connected to the upper end face of the track; the lower end of the pipe adapter passes through the central through hole 1 of the pipe adapter base and the top of the track; the pipe adapter guide is provided with a central through hole 2, and the upper end of the pipe adapter is fastened to one end of the long pipe.

[0010] Furthermore, the pulley includes a pulley chassis and an upper frame; the pulley chassis includes a pulley bottom plate, a chassis drive assembly, a laser positioning assembly, and a camera assembly; the upper frame includes a profile frame, a frame upper plate, a circuit placement plate, and a vertical motion mechanism;

[0011] The upper end surface of the pulley base plate is fixedly installed with a profile frame, the upper end of the profile frame is fixedly installed with a frame upper plate, the circuit placement plate and the vertical motion mechanism are fixedly installed on the profile frame, the lower end surface of the pulley base plate is fixedly installed with a chassis drive assembly and a laser positioning assembly, the camera assembly is fixedly installed on the lower end surface of the pulley base plate, and the pulley base plate is provided with a pipe through hole; the circuit board is fixed with a circuit board, the camera assembly is connected to the mini PC signal, and the mini PC is connected to the main control board stm32F407VET6 of the circuit board; the vertical motion mechanism is used to drive the long pipe to rise and fall and to screw or loosen.

[0012] Furthermore, the chassis drive assembly includes a friction wheel drive assembly and ten bearing fixings; the friction wheel drive assembly includes a chassis drive motor, a chassis motor bracket and a friction wheel; the ten bearing fixings are four side bearing fixings, two lower bearing fixings and four surface bearing fixings;

[0013] The chassis drive motor is installed on the chassis motor bracket, the chassis motor bracket is fixedly installed on the lower end surface of the pulley bottom plate, the output shaft of the chassis drive motor is fixedly connected to the friction wheel, and the friction wheel is set on the track;

[0014] The lower end surface of the pulley base plate is fixed with four side bearing fixings, two lower bearing fixings and four surface bearing fixings. The four side bearing fixings are symmetrically arranged in a matrix at the four corners of the lower end surface of the pulley base plate. A lower bearing fixing is respectively arranged between the two side bearing fixings on the left and between the two side bearing fixings on the right. The two lower bearing fixings are symmetrically arranged. The four surface bearing fixings are symmetrically arranged in a matrix on the lower end surface of the pulley base plate. A deep groove ball bearing is installed on each bearing fixing. The deep groove ball bearing is in contact with the track for supporting the pulley and realizing positioning between the pulley and the track.

[0015] Furthermore, the lower ends of the two opposite surfaces of the two lower bearing fixing members are provided with cylindrical bosses, and the deep groove ball bearing is fixedly mounted on the cylindrical bosses;

[0016] The lower ends of the four side bearing fixing members are each provided with a through hole one in the vertical direction, and a shoulder screw one passes through the through hole one, and the end of the shoulder screw one is fixedly mounted with the deep groove ball bearing one; the four deep groove ball bearings one are in contact with two opposite side surfaces of the track;

[0017] The lower ends of the four surface bearing fixing members are each provided with a through hole two along the left and right directions, and the shoulder screw two passes through the through hole two, and the end of the shoulder screw two is fixedly installed with the deep groove ball bearing one.

[0018] Furthermore, the laser positioning assembly includes two groups of laser beam tubes, which are symmetrically installed on the lower end surface of the pulley bottom plate, and the laser beam tubes are signal-connected to the main control board stm32F407VET6 of the circuit board.

[0019] Furthermore, the vertical motion mechanism includes a screw drive assembly and a sliding table assembly; the screw drive assembly includes a linear guide assembly, a screw drive motor, a screw and a coupling; the linear guide assembly includes a slide rail copper nut connector, a copper nut, a linear guide slider, a linear guide rail and a linear guide rail fixing plate; the sliding table assembly includes two optical axes and a screwing device;

[0020] The screw drive motor is fixedly mounted on the upper plate of the frame, the output shaft of the screw drive motor is set downward and is connected to one end of the screw through a coupling, the screw is threadedly connected to the copper nut, the lower end of the copper nut is fixedly connected to the copper nut connector of the slide rail, the copper nut connector of the slide rail is fixedly connected to the slider of the linear guide rail, the linear guide slider is slidably connected to the linear guide rail, the linear guide rail is vertically fixed on the linear guide rail fixing plate, and the linear guide rail fixing plate is fixed on the profile frame;

[0021] Two optical axes are vertically arranged in the profile frame, and the upper and lower ends of the two optical axes are fixedly connected to the frame upper plate and the pulley bottom plate respectively. The screwing device is slidably connected to the two optical axes through two linear extended round flange bearings, and the two linear extended round flange bearings are fixed in the two bearing mounting holes of the mounting plate of the screwing device; the long pipe passes through the screwing device;

[0022] A through hole three is vertically opened on the sliding rail copper nut connector, and the through hole three is slidingly connected to the shoulder screw three. A threaded hole one is provided on the screwing device, and the shoulder screw three is screwed together with the threaded hole one; an opening is provided on the upper plate of the frame.

[0023] Furthermore, the screwing device includes a screwing drive assembly and a clamping assembly; the screwing drive assembly includes a screwing drive motor, a harmonic reducer, a motor mounting ring, a mounting plate and a driving gear; the clamping assembly includes an end body, an upper baffle, a lower baffle, a bearing outer ring end cover, a deep groove ball bearing 2, a driven gear, a bearing inner ring fixing seat and a bearing inner ring end cover;

[0024] A reducer mounting hole is provided on the mounting plate, the screwing drive motor is fixed to the reducer mounting hole of the mounting plate through a motor mounting gasket, the harmonic reducer is fixed through the motor mounting gasket and is arranged in the reducer mounting hole, the output shaft of the screwing drive motor is connected to the input end of the harmonic reducer, a driving gear is installed on the output end of the harmonic reducer, and the mounting plate is slidably connected to the two optical shafts through two linear extended circular flange bearings;

[0025] The end body includes a pipe clamping threaded side body and a pipe clamping through-hole side body; the inner walls of the pipe clamping threaded side body and the pipe clamping through-hole side body are both half polygonal inner walls that match the shape of one end of the long pipe, and the pipe clamping threaded side body and the pipe clamping through-hole side body are arranged relative to each other on the outside of one end of the long pipe, and the pipe clamping threaded side body and the pipe clamping through-hole side body are detachably fixedly connected;

[0026] An extension tube is mounted on the long pipe, the lower baffle is detachably fixedly connected to the pipe clamping threaded side body and the lower end face of the pipe clamping through-hole side body, the upper baffle is fixedly connected to the pipe clamping threaded side body, the pipe clamping through-hole side body and the lower end face of the extension tube, a bearing hole is provided on the mounting plate, a second deep groove ball bearing is mounted in the bearing hole, and the outer ring of the second deep groove ball bearing is fixedly connected to the bearing outer ring end cover and the upper end face of the mounting plate;

[0027] The upper end surface of the extension tube is fixedly connected to the driven gear, the bearing inner ring fixing seat and the bearing inner ring end cover. The bearing inner ring end cover is arranged inside the bearing outer ring end cover. The driven gear and the driving gear are engaged with each other. The long pipe passes through the second center circular hole of the bearing inner ring fixing seat; the second deep groove ball bearing is used to support the driven gear.

[0028] Furthermore, the screw drive assembly further includes two micro switch fixing plates, two micro switch pads and two micro switches;

[0029] Micro switch fixing plates are respectively installed at the upper and lower ends of the linear guide rail, micro switch pads are respectively fixed on the two micro switch fixing plates, and micro switches are respectively installed on the two micro switch pads.

[0030] Furthermore, an emergency stop controller is installed on the pulley bottom plate of the pulley chassis, and the emergency stop controller is electrically connected to the chassis drive motor of the chassis drive assembly, the screw drive motor of the screw drive assembly and the screw drive motor of the vertical motion mechanism.

[0031] The beneficial effects of the present invention relative to the prior art are:

[0032] 1. Equipped with tracks, the pulley can reach multiple workstations that are far apart.

[0033] 2. Equipped with laser positioning components and auxiliary positioning components, it can achieve the positioning of screwing and will not cause unnecessary displacement during the screwing of the pipe.

[0034] 3. Equipped with a remote control device, it is easy to operate, saves effort, and is convenient for workers to operate without fatigue.

[0035] 4. The screwing device is flexibly connected to the screw drive assembly, which is easy to control and can adapt to different types of pipe threads.

[0036] 5. The overall structure is simple, easy to manufacture and use.

[0037] 6. The track-type hose twisting robot of the present invention can connect the container to be filled with the pipe adapter using a shorter pipe (the usable length of the short pipe in the present invention is 2-4 meters). The pulley can move along the track, and can realize container filling at multiple positions, avoiding the use of a large-stroke robotic arm. While replacing manual operation, it reduces costs and improves work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the overall structure of a track-type hose twisting robot of the present invention;

[0039] Figure 2 for Figure 1 Exploded view of the pipe adapter assembly in;

[0040] Figure 3 for Figure 1 Schematic diagram of the pulley structure in ;

[0041] Figure 4 for Figure 1 Exploded diagram of the pulley chassis;

[0042] Figure 5 for Figure 3 Schematic diagram of the upper frame in;

[0043] Figure 6 for Figure 5 An exploded schematic diagram of the screwing device;

[0044] Figure 7 for Figure 1 The assembly drawing of the pulley in the upward direction;

[0045] Figure 8 This is the assembly drawing of the screw drive assembly and the clamping assembly.

[0046] The names and reference numerals of the components in the above drawings are summarized as follows:

[0047] 1-Pipe adapter assembly; 2-Rail; 3-Pulley; 101-Pipe adapter guide; 102-Pipe adapter pressure ring; 103-Pipe adapter; 104-Pipe adapter anti-rotation ring; 105-Pipe adapter base; 31-Pulley chassis; 32-Upper frame; 3101-Deep groove ball bearing (one); 3102-Shoulder screw (one); 3103-Side bearing fixings; 3104-Lower bearing fixings; 3105-Industrial camera; 3106-Laser beam tube; 3107-Camera spacer; 3108-Pulley base plate; 3109-Friction Wheel; 3110-Expansion sleeve; 3111-Chassis drive motor; 3112-Chassis motor bracket; 3113-Surface bearing fixing piece; 3114-Shoulder screw 2; 3201-Screw drive motor; 3202-Frame upper plate; 3204-Linear extended round flange bearing; 3205-Angle bracket; 3206-Optical axis; 3207-Shoulder screw 3; 3208-Screwing device; 3209-Profile frame; 3210-Horizontal optical axis seat; 3211-Circuit board; 3212-Slide rail copper nut connector; 3213-Micro switch; 3214 -Micro switch fixing plate; 3215-Linear guide slider; 3216-Copper nut; 3217-Micro switch spacer; 3218-Linear guide; 3219-Linear guide fixing plate; 3220-Screw; 3221-Coupling; 320801-Flat head screw; 320802-Lower baffle; 320803-Shaft shoulder screw (four); 320804-Pipe clamp thread side body; 320805-Long pipe; 320806-Pipe clamp through hole side body; 320807-M3 screw; 320808-Upper baffle; 320 809-Extension tube; 320810-Driven gear; 320811-Bearing inner ring fixing seat; 320812-Mounting plate; 320813-Deep groove ball bearing (II); 320814-Bearing outer ring end cover; 320815-Bearing inner ring end cover; 320816-M4 screw (II); 320817-Shoulder screw (V); 320818-Screwing drive motor; 320819-Harmonic reducer; 320820-Motor mounting washer; 320821-M4 screw (I); 320822-Driving gear; 320823-M5 screw. DETAILED DESCRIPTION

[0048] The track-type hose twisting robot of the present invention will be described in further detail below with reference to the accompanying drawings.

[0049] like Figures 1-8As shown, this embodiment discloses a track-type hose twisting robot, which includes a track 2, a pulley 3 and a plurality of pipe adapter assemblies 1; the pulley 3 is placed on the track 2 and can reciprocate along the track 2; the plurality of pipe adapter assemblies 1 are arranged in a "one" shape and installed on the track 2, and the pipe adapters 103 of the plurality of pipe adapter assemblies 1 pass through the top of the track 2; the long pipe 320805 is driven by the vertical motion mechanism of the pulley 3 to achieve up and down lifting and tightening or loosening with the pipe adapter 103 of the pipe adapter assembly 1.

[0050] Furthermore, the plurality of pipe adapter assemblies 1 have the same structure and all include an auxiliary positioning assembly and a pipe adapter 103 . The auxiliary positioning assembly includes a pipe adapter guide 101 , a pipe adapter pressure ring 102 , a pipe adapter anti-rotation ring 104 , and a pipe adapter base 105 .

[0051] A polygonal inner hole (preferably a hexagonal inner hole) is provided at the center of the pipe adapter anti-rotation ring 104, and the pipe adapter anti-rotation ring 104 is embedded in the pipe adapter base 105 (the upper end surface of the pipe adapter base 105 is provided with a countersunk hole, and the pipe adapter anti-rotation ring 104 is embedded in the countersunk hole of the pipe adapter base 105, and the countersunk hole is circular), and a central through hole 1 is provided at the bottom of the pipe adapter base 105 (that is, the central through hole 1 is provided on the bottom surface of the countersunk hole); a polygonal boss 10301 is provided on the outer wall of the pipe adapter 103, and the polygonal boss 10301 of the pipe adapter 103 is embedded in the polygonal inner hole of the pipe adapter anti-rotation ring 104 (to prevent the pipe adapter 103 from rotating; in addition, the polygonal boss 10301 will be blocked by the central circular hole 1 of the pipe adapter base 105 below, forming an axial limit to prevent the pipe adapter 103 from moving downward); a pipe adapter pressure ring is installed at the upper end of the polygonal boss 10301 of the pipe adapter 103 102 (forming an axial limit to prevent the upward movement of the pipe adapter 103. Thus, the axial movement, radial movement, and circumferential rotation of the pipe adapter 103 are all restricted). The upper end of the pipe adapter pressure ring 102 is equipped with a pipe adapter guide 101. The pipe adapter guide 101, the pipe adapter pressure ring 102, the pipe adapter anti-rotation ring 104, and the pipe adapter base 105 are detachably fixedly connected (forming an integral unit) by four M6*30 cup-head hexagon socket screws and nylon locknuts. The pipe adapter base 105 is detachably fixedly connected to the upper end surface of the track 2 (by four M8*35 cup-head hexagon socket screws and nylon locknuts). The lower end of the pipe adapter 103 passes through the center through hole 1 of the pipe adapter base 105 and the top of the track 2. The pipe adapter guide 101 is provided with a center through hole 2. The upper end of the pipe adapter 103 is fastened to one end of the long pipe 320805 (a hose).

[0052] The upper and lower ends of the polygonal boss 10301 of the pipe adapter 103 are both externally threaded pipes, and the major diameter of the externally threaded pipe at the lower end is larger than that of the externally threaded pipe at the upper end, and the externally threaded pipe at the lower end is connected to the externally threaded pipe at the upper end.

[0053] The upper end of the central through hole 2 of the pipe adapter guide 101 is a bell mouth, which is used to limit the radial relative position between the long pipe 320805 and the pipe adapter 103.

[0054] Furthermore, the pulley 3 includes a pulley chassis 31 and an upper frame 32; the pulley chassis 31 includes a pulley bottom plate 3108, a chassis drive assembly, a laser positioning assembly, and a camera assembly (an industrial camera 3105); the upper frame 32 includes a profile frame 3209, a frame upper plate 3202, a circuit placement plate 3211, and a vertical motion mechanism;

[0055] The upper end surface of the pulley bottom plate 3108 is fixedly mounted with a profile frame 3209 (angle brackets 3205 are fixed at the intersection of the profile frame 3209 to reinforce the profile frame 3209). The upper end of the profile frame 3209 is fixedly mounted with a frame upper plate 3202. The circuit placement board 3211 and the vertical motion mechanism are fixedly mounted (by screws) on the profile frame 3209. The lower end surface of the pulley bottom plate 3108 is fixedly mounted with a chassis drive assembly and a laser positioning assembly, a camera assembly (via a camera spacer 3107) ) is fixedly mounted on the lower end surface of the pulley base plate 3108 (the camera assembly is fixed on the camera pad 3107, and the height of the camera assembly is adjusted by the camera pad 3107 for visual recognition), and a pipe passing hole is provided on the pulley base plate 3108; a circuit board is fixed on the circuit placement plate 3211, the camera assembly is connected to the mini PC signal, and the mini PC is connected to the main control board stm32F407VET6 of the circuit board; the vertical motion mechanism is used to drive the long pipe 320805 to rise and fall and to screw or loosen it.

[0056] Furthermore, the chassis drive assembly includes a friction wheel drive assembly and ten bearing fixings; the friction wheel drive assembly includes a chassis drive motor 3111, a chassis motor bracket 3112, and a friction wheel 3109; the ten bearing fixings are four side bearing fixings 3103, two lower bearing fixings 3104, and four surface bearing fixings 3113;

[0057] The chassis drive motor 3111 is mounted on a chassis motor bracket 3112, which is fixedly mounted on the lower end surface of the pulley bottom plate 3108. The output shaft of the chassis drive motor 3111 is fixedly connected (via an expansion sleeve 3110) to the friction wheel 3109, which is set on the track 2.

[0058] The lower end surface of the pulley base plate 3108 is fixed with four side bearing fixings 3103, two lower bearing fixings 3104 and four surface bearing fixings 3113 (by screws). The four side bearing fixings 3103 are symmetrically arranged in a matrix at the four corners of the lower end surface of the pulley base plate 3108. A lower bearing fixing 3104 is respectively arranged between the two side bearing fixings 3103 on the left and between the two side bearing fixings 3103 on the right. The two lower bearing fixings 3104 are symmetrically arranged. The four surface bearing fixings 3113 are symmetrically arranged in a matrix on the lower end surface of the pulley base plate 3108. A deep groove ball bearing 1 3101 is installed on each bearing fixing. The deep groove ball bearing 1 3101 is in contact with the track 2, used to support the pulley 3 and realize positioning between the pulley 3 and the track 2 (the chassis drive motor 3111 drives the friction wheel 3109 to rotate, thereby driving the deep groove ball bearing 1 3101 to rotate, realizing the movement and positioning of the pulley 3 on the track 2).

[0059] Furthermore, the lower ends of the two opposing surfaces of the two lower bearing fixing members 3104 are provided with cylindrical bosses (the cylindrical bosses are formed by milling), and the deep groove ball bearing 1 3101 is fixedly mounted on the cylindrical bosses (for positioning the inner ring of the deep groove ball bearing 1 3101);

[0060] The lower ends of the four side bearing fixing members 3103 are each provided with a vertical through-hole (1), through which a shoulder screw (1102) passes (and is fastened to the side bearing fixing member 3103 via a nut (1). The end of the shoulder screw (1102) secures the deep groove ball bearing (1101) to the mounting (the inner ring of the deep groove ball bearing (1101) is positioned using the shoulder screw (1102). The four deep groove ball bearings (1101) contact two opposing side surfaces of the track (2) (the four deep groove ball bearings (1101) are positioned while moving along the opposing side walls of the track (2).

[0061] The lower ends of the four surface bearing fixing members 3113 are all provided with a through hole 2 along the left-right direction, and the shoulder screw 2 3114 passes through the through hole 2 (and is fastened to the surface bearing fixing member 3113 by the nut 2), and the end of the shoulder screw 2 3114 is fixedly installed on the deep groove ball bearing 1 3101 (the shoulder screw 2 3114 is used to position the inner ring of the deep groove ball bearing 1 3101).

[0062] Furthermore, the laser positioning assembly includes two groups of laser beam tubes 3106, which are symmetrically installed on the lower end surface of the pulley base plate 3108 (used for preliminary positioning of the pulley 3), and the laser beam tubes 3106 are signal-connected to the main control board stm32F407VET6 of the circuit board (using the laser beam tubes 3106 to detect the cylindrical outer surface of the pipe adapter guide 101).

[0063] Furthermore, the vertical motion mechanism includes a screw drive assembly and a sliding table assembly; the screw drive assembly includes a linear guide assembly, a screw drive motor 3201, a screw 3220, and a coupling 3221; the linear guide assembly includes a slide rail copper nut connector 3212, a copper nut 3216, a linear guide slider 3215, a linear guide 3218, and a linear guide fixing plate 3219; the sliding table assembly includes two optical axes 3206 and a screwing device 3208;

[0064] The screw drive motor 3201 is fixedly mounted on the frame upper plate 3202. The output shaft of the screw drive motor 3201 is arranged downward (the output shaft of the screw drive motor 3201 passes through the output shaft hole of the frame upper plate 3202) and is connected to one end of the screw rod 3220 via a coupling 3221. The screw rod 3220 is threadedly connected to the copper nut 3216. The lower end of the copper nut 3216 is fixedly connected to the slide rail copper nut connector 3212. The slide rail copper nut connector 3212 is fixedly connected to the linear guide slider 3215. The linear guide slider 3215 is slidably connected to the linear guide 3218. The linear guide 3218 is vertically fixed to the linear guide fixing plate 3219. The linear guide fixing plate 3219 is fixed to the profile frame 3209.

[0065] Two optical axes 3206 (which serve as guides) are vertically arranged within the profile frame 3209. The upper and lower ends of the two optical axes 3206 are respectively fixedly connected to the frame upper plate 3202 and the pulley bottom plate 3108 (via horizontal optical axis seats 3210). (The upper and lower ends of the two optical axes 3206 are both fixedly connected to the horizontal optical axis seats 3210). The screwing device 3208 is slidably connected to the two optical axes 3206 via two linear extended circular flange bearings 3204. The two linear extended circular flange bearings 3204 are fixed within two bearing mounting holes of the mounting plate 320812 of the screwing device 3208. The long pipe 320805 passes through the screwing device 3208.

[0066] A through hole three (a circular hole) is vertically opened on the sliding rail copper nut connector 3212, and the through hole three is slidingly connected to the shoulder screw three 3207. The screwing device 3208 is provided with a threaded hole one, and the shoulder screw three 3207 is screwed together with the threaded hole one (a shoulder screw three 3207 is used to flexibly connect the sliding table assembly and the screw drive assembly. The shoulder screw three 3207 is tightened on the threaded hole one of the screwing device 3208, and the sliding rail copper nut connector 3212 can slide up and down along the shoulder screw three 3207 through the through hole three. During the screwing operation, the screw drive assembly can be stationary and the sliding table assembly can move up and down with the pipe thread, which is convenient for program control and adaptability to pipe threads of different models); an opening is provided on the frame upper plate 3202 (to facilitate the installation of the long pipe 320805).

[0067] Furthermore, the screwing device 3208 includes a screwing drive assembly and a clamping assembly; the screwing drive assembly includes a screwing drive motor 320818, a harmonic reducer 320819, a motor mounting washer 320820, a mounting plate 320812, and a driving gear 320822; the clamping assembly includes an end body, an upper baffle 320808, a lower baffle 320802, a bearing outer ring end cover 320814, a deep groove ball bearing 320813, a driven gear 320810, a bearing inner ring fixing seat 320811, and a bearing inner ring end cover 320815;

[0068] A reducer mounting hole is provided on the mounting plate 320812. The screw drive motor 320818 is fixed to the reducer mounting hole of the mounting plate 320812 through a motor mounting washer 320820 (and using an M4 screw 320821). The harmonic reducer 320819 is fixed (using an M4 screw 320821) through the motor mounting washer 320820 and is set in the reducer mounting hole. The output shaft of the screw drive motor 320818 is connected to the input end of the harmonic reducer 320819. A driving gear 320822 (fixed by an M5 screw 320823) is installed on the output end of the harmonic reducer 320819. The mounting plate 320812 is slidably connected to the two optical shafts 3206 through two linear extended circular flange bearings 3204.

[0069] The end body includes a pipe clamping thread side body 320804 and a pipe clamping through hole side body 320806; the inner walls of the pipe clamping thread side body 320804 and the pipe clamping through hole side body 320806 are both half polygonal inner walls (preferably half hexagonal inner walls) that match the shape of one end of the long pipe 320805, and the pipe clamping thread side body 320804 and the pipe clamping through hole side body 320806 are relatively arranged on the outside of one end of the long pipe 320805, and the pipe clamping thread side body 320804 and the pipe The through-hole clamping body 320806 is detachably fixedly connected (via four M3 screws 320807) (four threaded holes 2 are provided in a matrix on both end faces of the pipe clamping threaded body 320804. Long holes corresponding to the four threaded holes 2 are symmetrically provided along the arc-shaped outer side of the side wall of the pipe clamping through-hole body 320806. The pipe clamping threaded body 320804 and the pipe clamping through-hole body 320806 pass through the long holes and are fastened to the threaded holes 2, thereby clamping one end of the long pipe 320805).

[0070] An extension tube 320809 is mounted on the long pipe 320805. A lower baffle 320802 is detachably fixedly connected (using a flat-head screw 320801) to the pipe clamping threaded side body 320804 and the lower end surface of the pipe clamping through-hole side body 320806. An upper baffle 320808 is fixedly connected (via a fourth shoulder screw 320803) to the pipe clamping threaded side body 320804, the pipe clamping through-hole side body 320806, and the lower end surface of the extension tube 320809 (to limit axial movement of the long pipe 320805). A bearing hole is provided on the mounting plate 320812. A second deep groove ball bearing 320813 is mounted in the bearing hole. The outer ring of the second deep groove ball bearing 320813 is fixedly connected (via a second M4 screw 320816) to the bearing outer ring end cover 320814 and the upper end surface of the mounting plate 320812.

[0071] The upper end surface of the extension tube 320809 is fixedly connected (through the shoulder screw 320817) to the driven gear 320810, the bearing inner ring fixing seat 320811 and the bearing inner ring end cover 320815 (clamping the inner ring of the deep groove ball bearing 2 320813). The bearing inner ring end cover 320815 is set inside the bearing outer ring end cover 320814. The driven gear 320810 and the driving gear 320822 are meshed with each other. The long pipe 320805 passes through the center circle hole 2 of the bearing inner ring fixing seat 320811 (the bearing inner ring fixing seat 320811 is in the deep groove ball The inside of the inner ring of bearing 2 320813); deep groove ball bearing 2 320813 is used to support the driven gear 320810 (both axially and radially. Specifically: the inner ring of deep groove ball bearing 2 320813 is fixedly connected to the extension tube 320809, the driven gear 320810, the bearing inner ring fixing seat 320811, the bearing inner ring end cover 320815, the long pipe 320805 and the end body through the shaft shoulder screw 5 320817; the outer ring of deep groove ball bearing 2 320813 is fixedly connected to the mounting plate 320812 and the bearing outer ring end cover 320814).

[0072] Furthermore, the screw drive assembly further includes two micro switch fixing plates 3214, two micro switch pads 3217 and two micro switches 3213;

[0073] Micro switch fixing plates 3214 are respectively installed at the upper and lower ends of the linear guide rail 3218 , micro switch pads 3217 are respectively fixed on the two micro switch fixing plates 3214 , and micro switches 3213 (for soft limit) are respectively installed on the two micro switch pads 3217 .

[0074] Furthermore, an emergency stop controller is installed on the pulley base plate 3108 of the pulley chassis 31, and the emergency stop controller is electrically connected to the chassis drive motor 3111 of the chassis drive assembly, the screw drive motor 320818 of the screw drive assembly and the screw drive motor 3201 of the vertical motion mechanism.

[0075] When controlling the track-type hose twisting robot of the present invention, manual operation and visual operation can be adopted. The specific operation steps are as follows:

[0076] (1) Manual operation - movement: According to visual observation, the pulley 3 is moved along the track 2 by operating the remote control device (the remote control device is connected to the main control board stm32F407VET6 signal, and the main control board stm32F407VET6 controls the chassis drive motor 3111 through the signal connection; the main control board stm32F407VET6 is also electrically connected to the chassis drive motor 3111 to provide the power required for the motor operation); when the pulley 3 moves to the top of the pipe adapter assembly 1, the laser positioning assembly (two sets of laser beam tubes 3106) automatically adjusts the position of the robot (the remote control device signal is connected to the main control board stm32F407VET6, and the signal given is "advance to the next filling position", and then the main control board stm32F407VET6 drives the chassis drive motor 3111 to rotate, thereby realizing automatic adjustment of the robot position).

[0077] (2) Manual operation - descent: After the adjustment is completed, start the screw drive motor 3201 of the vertical motion mechanism, the copper nut 3216 moves downward on the screw 3220, and drives the screwing device 3208 to descend through the guide rail copper nut connector 3212 and the shoulder screw 3207. The auxiliary positioning component of the pipe adapter assembly performs secondary positioning to complete the contact and positioning of the long pipe 320805 in the screwing device 3208 and the pipe adapter 103.

[0078] (3) Manual operation - tightening: The screwing drive assembly of the screwing device 3208 drives the clamping assembly with the end of the long pipe 320805 to rotate, and the end of the long pipe 320805 is firmly connected to the pipe adapter 103 (specifically: the screwing drive motor 320818 of the screwing drive assembly is started, and the driving gear 320822 rotates. Since the driving gear 320822 and the driven gear 320810 of the clamping assembly are engaged with each other, the driven gear 320810 is driven to rotate, and the driven gear 320810 drives the extension pipe 320809 to rotate, and the extension pipe 320809 drives the long pipe 320805 to rotate until the end of the long pipe 320805 is firmly connected to the pipe adapter 103).

[0079] (4) Manual operation - loosening: The screwing drive assembly of the screwing device 3208 drives the clamping assembly clamping the end of the long pipe 320805 to rotate until the end of the long pipe 320805 is separated from the pipe adapter 103 (the specific operation process is the same as step (3), the difference is that the rotation direction of the screwing drive motor 320818 is opposite to that of step (3)).

[0080] (5) Manual operation - raising: The vertical motion mechanism raises the screwing device 3208 until it is fully raised (the specific operation process is the same as step (2), the difference is that the rotation direction of the screw drive motor 3201 is opposite to that of step (2)).

[0081] (6) Automatic operation - continuous operation: In normal use, when the pulley 3 is at the origin and the start button is pressed (the start button is fixed on the pulley bottom plate 3108 and the start button is electrically connected to the main control board stm32F407VET6), the pulley 3 performs each working step repeatedly under the drive of the chassis drive motor 3111.

[0082] (7) Visual operation - movement: Based on the recognition of the camera (industrial camera 3105), the pulley 3 of the track-type hose twisting robot is moved along the track 2 by remote control. When the robot moves to the top of the pipe adapter assembly 1, the camera will perform position calculation on the position of the pipe adapter assembly 1, calculate the relative value of the current position of the pipe adapter assembly 1 and the pulley 3, and compare it with the preset value to determine whether to continue moving forward or backward until the relative value is equal to the preset value, which means that the pulley 3 has moved to the correct position.

[0083] (8) Visual operation - descent: After the adjustment is completed, the vertical motion mechanism lowers the screwing device, and according to the camera recognition, the position of the end of the long pipe 320805 at the end of the vertical motion mechanism is solved, and the relative value of the position of the end of the long pipe 320805 and the pipe adapter assembly 1 is calculated and compared with the preset value to determine whether to continue to descend or rise until the height of the end of the long pipe 320805 is equal to the preset value. At this time, it means that the contact and positioning of the end of the long pipe 320805 and the pipe adapter 103 are completed.

[0084] (9) Visual operation - tightening: The screwing drive assembly of the screwing device 3208 drives the clamping assembly with the end of the long pipe 320805 to rotate (specifically: the screwing drive motor 320818 of the screwing drive assembly is started, the driving gear 320822 rotates, and the driving gear 320822 and the driven gear 320810 of the clamping assembly are engaged with each other, thereby driving the driven gear 320810 to rotate, and the driven gear 320810 drives the extension tube 320809 to rotate, and the extension tube 320809 drives the long pipe 320805 to rotate). According to the camera recognition, the position of the end of the long pipe 320805 is solved to determine whether the height of the end of the long pipe 320805 after being screwed down reaches the preset value, so as to determine whether to continue tightening or loosening until the height of the end of the long pipe 320805 reaches the preset value, at which time it is indicated that the pipe adapter 103 is firmly connected.

[0085] (10) Visual operation - loosening: The screwing drive assembly of the screwing device 3208 drives the clamping assembly with the end of the long pipe 320805 to rotate (the specific operation process is the same as step (9), the difference is that the rotation direction of the screwing drive motor 320818 is opposite to that of step (9)). According to the camera recognition, the position of the end of the long pipe 320805 is calculated to determine whether the height of the end of the long pipe 320805 after screwing reaches the preset value, so as to determine whether to continue loosening until the height of the end of the long pipe 320805 reaches the preset value. At this time, it is indicated that the end of the long pipe 320805 is detached from the pipe adapter 103.

[0086] (11) Visual operation - rising: The vertical motion mechanism raises the screwing device 3208, and according to the camera recognition, the position of the end of the long pipe 320805 is calculated to determine whether the height of the end of the long pipe 320805 after rising reaches the preset value, and thus determines whether to continue rising or falling until the height of the end of the long pipe 320805 reaches the preset value, at which time it indicates that the vertical motion mechanism is fully raised.

[0087] (12) Visual operation - continuous operation: During normal use, when the pulley 3 is at the origin and the start button is pressed, the pulley 3 is controlled by the visual servo (the main control board STM32F407VET6 is used in conjunction with the industrial camera 3105, the mini PC is connected to the main control board STM32F407VET6 signal, the content recognized by the industrial camera 3105 is settled by the mini PC, and then the mini PC transmits instructions to the STM32F407VET6), and each work step is performed repeatedly.

[0088] When filling liquid, one end of the long pipe 320805 is connected to the filling machine, which provides liquid and power. The other end of the long pipe 320805 is connected to the short pipe through the pipe adapter 103, and the other end of the short pipe is connected to the container filled with liquid (filling machine-long pipe 320805-pipe adapter 103-short pipe-container).

[0089] The present invention mainly studies liquid filling, improves the filling method and realizes automation, making the filling process an efficient and automated independent unit.

[0090] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A track-type hose twisting robot, characterized by: The robot comprises a track (2), a pulley (3) and a plurality of pipe adapter assemblies (1); the pulley (3) is placed on the track (2) and can perform reciprocating motion along the track (2); the plurality of pipe adapter assemblies (1) are arranged in a straight line and mounted on the track (2), and the pipe adapters (103) of the plurality of pipe adapter assemblies (1) pass through the top of the track (2); the long pipe (320805) is driven by the vertical motion mechanism of the pulley (3) to achieve vertical lifting and tightening or loosening with the pipe adapter (103) of the pipe adapter assembly (1); The plurality of pipe adapter assemblies (1) have the same structure and all include an auxiliary positioning assembly and a pipe adapter (103), wherein the auxiliary positioning assembly includes a pipe adapter guide (101), a pipe adapter pressure ring (102), a pipe adapter anti-rotation ring (104), and a pipe adapter base (105); The center of the pipe adapter anti-rotation ring (104) is provided with a polygonal inner hole, the pipe adapter anti-rotation ring (104) is embedded in the pipe adapter base (105), and the bottom of the pipe adapter base (105) is provided with a central through hole; a polygonal boss (10301) is provided on the outer wall of the pipe adapter (103), and the polygonal boss (10301) of the pipe adapter (103) is embedded in the polygonal inner hole of the pipe adapter anti-rotation ring (104); the upper end of the polygonal boss (10301) of the pipe adapter (103) is provided with a pipe adapter pressure ring (102), and the upper end of the pipe adapter pressure ring (102) is provided with a pipe adapter pressure ring (102). The end is provided with a pipe adapter guide (101), the pipe adapter guide (101), the pipe adapter pressure ring (102), the pipe adapter anti-rotation ring (104) and the pipe adapter base (105) are detachably fixedly connected, and the pipe adapter base (105) is detachably fixedly connected to the upper end surface of the track (2); the lower end of the pipe adapter (103) passes through the central through hole 1 of the pipe adapter base (105) and the top of the track (2); the pipe adapter guide (101) is provided with a central through hole 2, and the upper end of the pipe adapter (103) is fastened to one end of the long pipe (320805); The vertical motion mechanism includes a screw drive assembly and a sliding table assembly; the screw drive assembly includes a linear guide assembly, a screw drive motor (3201), a screw (3220) and a coupling (3221); the linear guide assembly includes a slide rail copper nut connector (3212), a copper nut (3216), a linear guide slider (3215), a linear guide rail (3218) and a linear guide rail fixing plate (3219); the sliding table assembly includes two optical axes (3206) and a screwing device (3208); The screw drive motor (3201) is fixedly mounted on the frame upper plate (3202), the output shaft of the screw drive motor (3201) is arranged downward and connected to one end of the screw rod (3220) through a coupling (3221), the screw rod (3220) is threadedly connected to the copper nut (3216), the lower end of the copper nut (3216) is fixedly connected to the slide rail copper nut connector (3212), the slide rail copper nut connector (3212) is fixedly connected to the linear guide slider (3215), the linear guide slider (3215) is slidably connected to the linear guide rail (3218), the linear guide rail (3218) is vertically fixed to the linear guide rail fixing plate (3219), and the linear guide rail fixing plate (3219) is fixed to the profile frame (3209); Two optical axes (3206) are vertically arranged in the profile frame (3209), and the upper and lower ends of the two optical axes (3206) are fixedly connected to the frame upper plate (3202) and the pulley bottom plate (3108) respectively. The screwing device (3208) is slidably connected to the two optical axes (3206) through two linear extended circular flange bearings (3204). The two linear extended circular flange bearings (3204) are fixed in two bearing mounting holes of the mounting plate (320812) of the screwing device (3208); the long pipe (320805) passes through the screwing device (3208); A through hole three is vertically opened on the upper edge of the slide rail copper nut connector (3212), and the through hole three is slidingly connected to the shoulder screw three (3207). A threaded hole one is provided on the screwing device (3208), and the shoulder screw three (3207) is screwed together with the threaded hole one; an opening is provided on the frame upper plate (3202).

2. The track-type hose twisting robot according to claim 1, characterized in that: The pulley (3) includes a pulley chassis (31) and an upper frame (32); the pulley chassis (31) includes a pulley bottom plate (3108), a chassis drive component, a laser positioning component, and a camera component; the upper frame (32) includes a profile frame (3209), a frame upper plate (3202), a circuit placement plate (3211), and a vertical motion mechanism; The upper end surface of the pulley base plate (3108) is fixedly mounted with a profile frame (3209), the upper end of the profile frame (3209) is fixedly mounted with a frame upper plate (3202), the circuit placement plate (3211) and the vertical motion mechanism are fixedly mounted on the profile frame (3209), the lower end surface of the pulley base plate (3108) is fixedly mounted with a chassis drive assembly and a laser positioning assembly, the camera assembly is fixedly mounted on the lower end surface of the pulley base plate (3108), and the pulley base plate (3108) is provided with a pipe through hole; a circuit board is fixed on the circuit placement plate (3211), the camera assembly is connected to a mini PC signal, and the mini PC is connected to a main control board stm32F407VET6 of the circuit board; the vertical motion mechanism is used to drive the long pipe (320805) to rise and fall and to screw or loosen.

3. The track-type hose twisting robot according to claim 2, characterized in that: The chassis drive assembly includes a friction wheel drive assembly and ten bearing fixing members; the friction wheel drive assembly includes a chassis drive motor (3111), a chassis motor bracket (3112) and a friction wheel (3109); the ten bearing fixing members are four side bearing fixing members (3103), two lower bearing fixing members (3104) and four surface bearing fixing members (3113); The chassis drive motor (3111) is mounted on a chassis motor bracket (3112), the chassis motor bracket (3112) is fixedly mounted on the lower end surface of the pulley bottom plate (3108), the output shaft of the chassis drive motor (3111) is fixedly connected to the friction wheel (3109), and the friction wheel (3109) is arranged on the track (2); The lower end surface of the pulley base plate (3108) is fixed with four side bearing fixing members (3103), two lower bearing fixing members (3104) and four surface bearing fixing members (3113). The four side bearing fixing members (3103) are symmetrically arranged in a matrix at the four corners of the lower end surface of the pulley base plate (3108). A lower bearing fixing member (3104) is respectively arranged between the two side bearing fixing members (3103) on the left and between the two side bearing fixing members (3103) on the right. The two lower bearing fixing members (3104) are symmetrically arranged. The four surface bearing fixing members (3113) are symmetrically arranged in a matrix on the lower end surface of the pulley base plate (3108). Each bearing fixing member is installed with a deep groove ball bearing (3101). The deep groove ball bearing (3101) is in contact with the track (2) and is used to support the pulley (3) and achieve positioning between the pulley and the track (2).

4. The track-type hose twisting robot according to claim 3, characterized in that: The lower ends of the two opposite surfaces of the two lower bearing fixing members (3104) are both provided with cylindrical bosses, and the deep groove ball bearing (3101) is fixedly mounted on the cylindrical bosses; The lower ends of the four side bearing fixing members (3103) are each provided with a through hole one in the vertical direction, and a shoulder screw one (3102) passes through the through hole one, and the end of the shoulder screw one (3102) is fixedly mounted on the deep groove ball bearing one (3101); the four deep groove ball bearings one (3101) are in contact with two opposite side surfaces of the track (2); The lower ends of the four surface bearing fixing members (3113) are each provided with a through hole two in the left-right direction, and the shoulder screw two (3114) passes through the through hole two, and the end of the shoulder screw two (3114) is fixedly installed with the deep groove ball bearing one (3101).

5. The track-type hose twisting robot according to claim 2, characterized in that: The laser positioning assembly comprises two groups of laser beam tubes (3106), which are symmetrically mounted on the lower end surface of the pulley bottom plate (3108), and the laser beam tubes (3106) are signal-connected to the main control board stm32F407VET6 of the circuit board.

6. The track-type hose twisting robot according to claim 1, characterized in that: The screwing device (3208) includes a screwing drive assembly and a clamping assembly; the screwing drive assembly includes a screwing drive motor (320818), a harmonic reducer (320819), a motor mounting ring (320820), a mounting plate (320812), and a driving gear (320822); the clamping assembly includes an end body, an upper baffle (320808), a lower baffle (320802), a bearing outer ring end cover (320814), a second deep groove ball bearing (320813), a driven gear (320810), a bearing inner ring fixing seat (320811), and a bearing inner ring end cover (320815); A reducer mounting hole is provided on the mounting plate (320812); a screw drive motor (320818) is fixed to the reducer mounting hole of the mounting plate (320812) through a motor mounting gasket (320820); a harmonic reducer (320819) is fixed through the motor mounting gasket (320820) and is arranged in the reducer mounting hole; an output shaft of the screw drive motor (320818) is connected to an input end of the harmonic reducer (320819); a driving gear (320822) is installed on the output end of the harmonic reducer (320819); and the mounting plate (320812) is slidably connected to the two optical shafts (3206) through two linear extended circular flange bearings (3204); The end body includes a pipe clamping threaded side body (320804) and a pipe clamping through-hole side body (320806); the inner walls of the pipe clamping threaded side body (320804) and the pipe clamping through-hole side body (320806) are both half polygonal inner walls that match the outer shape of one end of the long pipe (320805); the pipe clamping threaded side body (320804) and the pipe clamping through-hole side body (320806) are relatively arranged on the outside of one end of the long pipe (320805); the pipe clamping threaded side body (320804) and the pipe clamping through-hole side body (320806) are detachably fixedly connected; An extension tube (320809) is mounted on the long pipe (320805), a lower baffle (320802) is detachably fixedly connected to the pipe clamping threaded side body (320804) and the lower end face of the pipe clamping through-hole side body (320806), an upper baffle (320808) is fixedly connected to the pipe clamping threaded side body (320804), the pipe clamping through-hole side body (320806) and the lower end face of the extension tube (320809), a bearing hole is provided on the mounting plate (320812), a deep groove ball bearing (320813) is mounted in the bearing hole, and an outer ring of the deep groove ball bearing (320813) is fixedly connected to the bearing outer ring end cover (320814) and the upper end face of the mounting plate (320812); The upper end surface of the extension tube (320809) is fixedly connected to the driven gear (320810), the bearing inner ring fixing seat (320811) and the bearing inner ring end cover (320815). The bearing inner ring end cover (320815) is arranged inside the bearing outer ring end cover (320814). The driven gear (320810) and the driving gear (320822) are engaged with each other. The long pipe (320805) passes through the second center circle hole of the bearing inner ring fixing seat (320811); the second deep groove ball bearing (320813) is used to support the driven gear (320810).

7. The track-type hose twisting robot according to claim 1, characterized in that: The screw drive assembly further includes two micro switch fixing plates (3214), two micro switch pads (3217) and two micro switches (3213); Micro switch fixing plates (3214) are respectively installed at the upper and lower ends of the linear guide rail (3218), micro switch pads (3217) are respectively fixed on the two micro switch fixing plates (3214), and micro switches (3213) are respectively installed on the two micro switch pads (3217).

8. The track-type hose twisting robot according to claim 1, characterized in that: An emergency stop controller is installed on the pulley bottom plate (3108) of the pulley chassis (31), and the emergency stop controller is electrically connected to the chassis drive motor (3111) of the chassis drive assembly, the screw drive motor (320818) of the screw drive assembly, and the screw drive motor (3201) of the vertical motion mechanism.

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