Force-controlled aviation insertion clamping jaw device and using method thereof

Abstract

The invention relates to the technical field of electric power operation tools, and discloses a force control aviation plug clamping jaw device which comprises a force control clamping jaw mechanism, a force control push rod mechanism, a supporting mechanism and a sliding guide rail mechanism. The force control clamping jaw mechanism comprises a fixed base, a left clamping jaw and a right clamping jaw, a linear driver is arranged on the fixed base, and a force sensor is arranged on the left clamping jaw; the force control push rod mechanism comprises a fixing piece and a guide rail base, a driver is installed on the fixing piece and connected with a deflector rod through a push rod, and a linear guide rail is arranged on the guide rail base. The sliding deflector rod mechanism comprises a lead screw, one end of the lead screw is connected to a lead screw fixing piece, the other end of the lead screw is connected to a stepping motor, the lead screw is in threaded connection with a lead screw sliding block, the lead screw sliding block is connected with a fixing piece and a guide rail sliding block, and the guide rail sliding block is connected to the sliding guide rail in a sliding mode. According to the invention, the automatic, high-precision and safe plugging operation of the aviation plug in the electric power cabinet is realized, and the operation efficiency and the intelligent level are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric power operating tools, and more particularly to a force control plug-in jaw device and a use method thereof. BACKGROUND

[0002] As important power control and distribution equipment, power cabinets are usually equipped with various types of plug-in interfaces, which are used to connect multiple power transmission lines or signal control lines and are key components for realizing the functional interconnection of electrical systems. In current practical applications, the plug-in and plug-out operations of the plug-in interfaces in the power cabinet are still mainly completed by manual operation. The operator needs to enter the equipment operation area and manually insert or pull out the plug-in from the corresponding interface to achieve the operation purpose of connecting or disconnecting the line. This traditional manual operation method puts high requirements on the stability of the operator's hands, visual judgment ability and operation accuracy, especially in environments with small plug-in size, compact layout or a large number of interface types, the operation difficulty is further increased.

[0003] In addition, relying on manual operation also brings a series of problems and challenges: first, the manual plug-in and plug-out method has high labor cost, especially in scenarios where multiple power cabinets need to be maintained simultaneously or frequent plug-in and plug-out actions need to be performed, the manual efficiency is difficult to meet the system operation demand; second, manual plug-in and plug-out in the live operation state of the power cabinet has a high safety risk, especially in high-voltage power supply systems or complex high-density wiring environments, the operator faces the potential risks of electric shock, misoperation, interface damage, etc.; third, in testing and verification, high-frequency connector replacement, batch maintenance and other scenarios, manual operation is difficult to meet the high efficiency and high precision requirements of plug-in and plug-out, and is prone to problems such as loose insertion, poor contact or interface wear.

[0004] When the system needs to replace, debug or detect the state of a plug-in during operation, it is usually necessary to stop the system at the present stage, and a professional manually enters the interior of the power cabinet to complete the plug-in and plug-out operation. This not only interrupts the continuous operation of the system, affects the overall operation and maintenance efficiency, but also may delay the time window for fault positioning, signal acquisition or equipment recovery, thereby reducing the system availability. SUMMARY

[0005] Therefore, the present application provides a force control plug-in jaw device and a use method thereof, which can realize automatic grabbing, inserting and pulling out of the plug-in in the power cabinet.

[0006] In order to achieve the above object, the force control navigation plug-in claw device provided by the application comprises a force control claw mechanism, a force control push rod mechanism, a support mechanism and a sliding guide rail mechanism, the support mechanism comprises a rack, a plurality of through holes for line threading and structure installation are formed in the rack, and a flange for connecting with the end of a mechanical arm is arranged on the rack;

[0007] The force control claw mechanism comprises a fixed base and symmetrically arranged left and right clamping claws, the fixed base is arranged on the rack, a linear driver for driving the relative movement of the left and right clamping claws is arranged on the fixed base, and a force sensor for detecting the contact force in the clamping process is arranged on the left clamping claw.

[0008] The force control push rod mechanism comprises a fixed part and a guide rail base connected in sequence, a driver is mounted on the fixed part, the driver is connected with a push rod through a push rod, a linear guide rail is arranged on the guide rail base, and the driver drives the push rod to extend or retract so as to drive the axial movement of the push rod along the linear guide rail.

[0009] The sliding push rod mechanism comprises a lead screw, one end of the lead screw is rotatably connected to a lead screw fixing part, the other end of the lead screw is fixedly connected to the output shaft of a stepping motor, the lead screw fixing part and the stepping motor are arranged on the left and right sides of the rack respectively, a lead screw sliding block is screwed on the lead screw, the lead screw sliding block is connected with the fixed part and a guide rail sliding block through a connecting part, and the guide rail sliding block is slidably connected to the sliding guide rail.

[0010] Preferably, the right clamping claw is fixedly installed on the rack, the left clamping claw is connected to the movable end of the linear driver, the left clamping claw is driven by the movable end of the linear driver to move axially along the fixed base, and the relative movement between the left and right clamping claws is realized.

[0011] Preferably, two linear drivers are arranged, the left and right clamping claws are respectively connected to the movable ends of the two linear drivers, and the two linear drivers respectively drive the left and right clamping claws to move axially along the fixed base.

[0012] Preferably, one force sensor is arranged on each of the left and right clamping claws, and the force sensor is arranged at the root or the end of the left and right clamping claws.

[0013] Preferably, the driver is a force control electric cylinder, the force control electric cylinder is installed on the fixed part through an electric cylinder fixing convex groove, and a position and force sensor is arranged in the force control electric cylinder.

[0014] Preferably, the driver is a servo electric cylinder with force feedback function, and the servo electric cylinder drives the push rod to extend or retract.

[0015] Preferably, the driver is a linear actuator with a resilient compliant element, which drives the push rod to perform the telescopic movement.

[0016] The application provides a use method of the force control jack plug clamping jaw device, which comprises a whole jack plug pulling-out use step, and the whole jack plug pulling-out use step comprises the following steps of:

[0017] S1, the force control jack plug clamping jaw device is installed to the end of the mechanical arm, the three-dimensional coordinates and attitude information of the target jack plug are recognized through a visual recognition algorithm, and the mechanical arm moves the clamping jaw to a rough to-be-grasped position through forward and inverse solutions and Cartesian path planning;

[0018] S2, the stepping motor drives the lead screw to move the lead screw sliding block and the connecting piece to the leftmost end, and the preliminary positioning of the push rod is completed;

[0019] S3, the force control cylinder drives the push rod to drive the push rod to move downward along the linear guide rail, when the push rod contacts the jack plug, the force sensor in the force control cylinder starts to read the force data, the axial displacement compensation value of the jack plug is calculated in combination with the displacement data of the push rod;

[0020] S4, after the contact confirmation of the push rod is completed, the clamping jaw is controlled to clamp the jack plug: the left clamping jaw is driven to translate along the axis to the right clamping jaw direction to clamp the jack plug through the movable end of the linear driver, at this time, the force sensor feeds back the force condition, and the displacement encoder of the movable end reads the movement amount of the clamping jaw, so that the distance between the right clamping jaw and the jack plug is judged, and finally the left and right clamping jaws are accurately attached to the two sides of the jack plug through left and right movement, and the accurate grasping is completed;

[0021] S5, after the grasping is completed, the stepping motor drives the push rod to move to the right again, so that the inclined surface end of the push rod contacts the jack plug pin and drives the lock catch to the completely opened position, until the jack plug head is separated from the jack plug seat, then the push rod mechanism is retreated to the middle position, the force control cylinder retracts the push rod, and the mechanical arm drives the clamping jaw to pull out the whole jack plug.

[0022] Preferably, in step S3, if the compensation value meets the condition, the next operation is performed; if it does not meet the condition, the mechanical arm is adjusted forward and backward, and the force-position compliant adjustment is realized through the admittance control simulation spring damping system, so that the force feedback is reduced when the target position is continuously approached, and flexible contact is realized.

[0023] Preferably, the use method further comprises a use step of reinserting the jack plug head into the jack plug seat, and the use step specifically comprises the following steps of:

[0024] T1, first, the visual recognition module is used to recognize and position the jack plug to be inserted, the spatial attitude information is obtained, the mechanical arm performs trajectory planning based on the information, the clamping jaw clamping the jack plug head is moved to a preset to-be-returned grasping point through forward and inverse kinematics and Cartesian coordinate control, and it is ensured that the initial attitude of the reinsertion operation is correct;

[0025] T2, after reaching the location, the movable end of the linear actuator is translated along the axis of the fixed base of the linear actuator to the right, driving the left gripper to approach the right gripper, achieving clamping of the aviation plug. When the left gripper contacts the surface of the aviation plug, the force sensor on the left gripper begins to read the contact force in real time during clamping. At the same time, the encoder inside the movable end of the linear actuator also synchronously records the displacement. Combining the collected force and displacement information, it is calculated whether the aviation plug is in the center-symmetrical position of the gripper, and further estimating the remaining distance between the right gripper and the aviation plug;

[0026] T3, the admittance control algorithm is started, the left gripper is driven to achieve soft contact with the left surface of the aviation plug, and at the same time, the mechanical arm controls the entire force-controlled gripper device to translate in the left-right direction, so that the force-controlled gripper device as a whole moves to the left until the movable end of the linear actuator reaches the specified position. At this time, the right gripper is in contact with the right surface of the aviation plug, and the entire clamping action is completed, entering the aviation plug insertion operation stage;

[0027] T4, before insertion, the stepper motor drives the lead screw to rotate, driving the lead screw slider and the connecting piece to translate to the right along the lead screw direction, and at the same time, the force-controlled push rod mechanism connected thereto moves as a whole, so that the push rod moves to the rightmost end of the lead screw;

[0028] T5, the force-controlled cylinder starts to perform the extension action, driving the push rod and the push rod to stretch forward, and when the front end of the push rod contacts the rear surface of the aviation plug, the force sensor inside the force-controlled cylinder begins to read the contact force change. At this time, the force detected by the push rod gradually increases, indicating that the push rod has formed effective contact with the aviation plug;

[0029] T6, the mechanical arm starts the small-step forward feeding control strategy, slowly pushing the gripper to move forward to achieve the insertion of the aviation plug into the aviation socket. At the same time, the movable end of the linear actuator is controlled to drive the left gripper to loosen slightly, so that the clamping force of the gripper on the aviation plug does not interfere with the alignment and insertion action during insertion;

[0030] T7, as the mechanical arm continues to feed forward, the admittance controller monitors the displacement sensor data of the force-controlled cylinder in real time to determine whether the push rod has displacement change. When the sensor reads a significant displacement value, it indicates that the aviation plug has entered the preliminary insertion area of the aviation socket, and it is determined that the insertion posture is correct, entering the lock closing stage;

[0031] T8, the stepper motor again drives the lead screw to drive the lead screw slider and the connecting piece to translate to the left along the lead screw direction, so that the lower inclined groove structure of the push rod contacts the aviation plug pin and further pushes it to complete the locking action. The push rod continues to move to the leftmost limit position of the lead screw, i.e. the closure of the lock is completed, ensuring that the aviation plug is securely locked into the aviation socket;

[0032] T9, the stepper motor continuously moves the dial rod to retreat from the left end limit position to the middle position of the lead screw, ensuring that the dial rod is away from the locking structure of the aviation plug to avoid interference;

[0033] T10, the force control cylinder controls the push rod to be recovered, and the dial rod is retracted backward to separate from the surface of the aviation plug;

[0034] T11, the left clamping jaw is driven by the movable end of the linear driver to move away from the right clamping jaw along the axis direction of the fixed base of the linear driver, so that the aviation plug is loosened, and the mechanical arm drives the whole clamping jaw device to vertically lift and retreat, away from the plug-in area, to complete a complete aviation plug-in process.

[0035] According to the technical scheme, compared with the prior art, the force control aviation plug clamping jaw device has the following beneficial effects:

[0036] 1. The force control aviation plug clamping jaw device has high integration and automation operation capability, and can complete the whole process of handling the aviation plug in a complex environment. Specifically, when the operation of the aviation plug is needed, the force control aviation plug clamping jaw device is installed at the end of the mechanical arm, the flange plate of the clamping jaw is connected with the end effector of the mechanical arm, and the mechanical and electrical integration of the clamping jaw and the robot system is realized. Then, the robot identifies and locates the target aviation plug through the integrated visual recognition system, and obtains the six-degree-of-freedom pose information of the aviation plug in space. According to the identification result of the visual system, the robot controls the movement of the mechanical arm, so that the end carries the clamping jaw into the narrow space in the power cabinet, and approaches the aviation plug to be operated.

[0037] 2. After approaching the target, the force control clamping jaw starts to perform the grabbing action. The clamping jaw has the capability of recording the opening and closing displacement of the clamping jaw in real time during the execution of the grabbing task. When the clamping jaw is closed and receives the contact resistance from the aviation plug, the system analyzes the force sensor and the displacement data of the clamping jaw to determine whether the clamping jaw is in a deflection state. If it is detected that the clamping jaw is not aligned with the center of the aviation plug, the system drives the clamping jaw to move left and right with a small amplitude to realize fine left and right direction positioning. This fine positioning strategy based on force control feedback ensures that the clamping jaw can still complete high-precision alignment and clamping under the conditions of limited space and visual obstruction.

[0038] 3、In the left and right jaw pair navigation plug accurate positioning at the same time, the clamping action of the front and rear direction of the clamping jaw is completed by the clamping motor, the motor drives the front end of the clamping jaw to gradually advance forward until the front end of the clamping jaw contacts the surface of the navigation plug, in this process, the navigation plug motor adjusts the response relationship of the output force and displacement in real time according to the information from the force sensor, displacement sensor and motor position feedback through the admittance control strategy, so as to realize the soft adjustment in the front and rear direction, which makes the clamping jaw accurately fit the navigation plug, avoids the failure of clamping caused by excessive pushing or poor contact. Finally, when the front and rear distance is adjusted to the optimal position, it is determined as the best clamping position, and the system enters the next operation.

[0039] At this time, the sliding lever mechanism starts, the lever slides to the navigation plug lock position under the action of the driving mechanism, completes the opening and locking of the navigation plug, accurately drives the lock through the lever, completes the unlocking or locking process of the navigation plug, when the navigation plug lock is successfully opened, the mechanical arm can pull out the navigation plug as a whole through the clamping jaw, realizing the safe picking of the navigation plug. Similarly, the system can also be used to insert the navigation plug into the target interface: the robot controls the clamping jaw to move the navigation plug to the specified position, executes the alignment and insertion operation, and finally controls the lever to drive the lock to the locking state through the clamping jaw, completing the whole navigation plug insertion process.

[0040] 4、The force control navigation plug clamping jaw device of the application has the characteristics of compact structure and composite function, and can complete the grabbing, insertion, pulling out and opening and locking operation of the navigation plug through only one clamping system, greatly simplifying the equipment structure and control process. Especially in the case of visual blind area or obstruction, the force control mechanism can combine sensor feedback to perform front and rear stepping, left and right fine adjustment and other accurate positioning operations, effectively improving the fault tolerance and success rate in the clamping process. The application of the system significantly improves the automation and reliability of the navigation plug operation, and has wide engineering application prospect and technical popularization value. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only embodiments of the application, and those skilled in the art can obtain other drawings according to the provided drawings without creating any inventive labor.

[0042] Fig. 1 It is a whole structure schematic diagram of the force control navigation plug clamping jaw device of the application.

[0043] Fig. 2 It is a structure schematic diagram of the sliding guide rail mechanism of the application.

[0044] Fig. 3 It is a structure schematic diagram of the force control push rod mechanism of the application.

[0045] 11- push rod fixed base; 12- fastener one; 13- fastener two; 14- force sensor; 15- push rod movable end; 16- mounting; 17- left side clamping jaw; 18- right side clamping jaw;

[0046] 21- force control electric cylinder; 22- fixing piece; 23- push rod; 24- linear guide rail; 25- guide rail base; 26- lever; 27- electric cylinder fixing groove;

[0047] 31- rack; 32- flange;

[0048] 41- screw slide; 42- screw; 43- stepper motor; 44- screw fixing piece; 45- connecting piece; 46- guide rail slide; 47- sliding guide rail. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The description of one exemplary embodiment below is actually only illustrative, but not as any limitation on the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0050] Please refer to the drawings Figs. 1-3 The force control plug-in clamping jaw device disclosed in the present application can adapt to various types of plug-in structures, has programmable control capability, and realizes full-process operation of automatic grabbing, accurate alignment, stable insertion and reliable pulling out of the plug-in inside the power cabinet. The system combines with the force control feedback mechanism, can monitor the size and direction of the applied force in real time during the plugging process, dynamically adjusts the action strategy to adapt to complex situations such as different interface resistance, locking mechanism or plugging force changes.

[0051] By applying the force control plug-in clamping jaw device, not only the labor input can be effectively reduced, and the safety hidden danger caused by manual misoperation can be reduced, but also the plugging task can be performed during the operation of the power cabinet, without the need for shutdown processing, thereby significantly improving the maintenance efficiency and system operation continuity. The present application is expected to promote the development of power system operation and maintenance, equipment testing, remote control and other application scenarios towards high intelligence and high reliability, and has wide application prospect and industrial value.

[0052] Embodiment 1:

[0053] As Figs. 1 to 3 shown, the force control plug-in clamping jaw device disclosed in the present embodiment comprises a force control clamping jaw mechanism, a force control push rod mechanism, a support mechanism and a sliding guide rail mechanism, wherein:

[0054] The force control clamping jaw mechanism includes a linear driver fixed base 11, a fastener one 12, a fastener two 13, a force sensor 14, a linear driver movable end 15, a mounting piece 16, a left clamping jaw 17 and a right clamping jaw 18. The left clamping jaw 17 is driven by the linear driver movable end 15 to move axially along the fixed base 11 to achieve clamping of the propeller. The force sensor 14 is arranged on the clamping jaw or the driving mechanism to detect the contact force in the clamping process and feed back to the control system to ensure safe and reliable clamping.

[0055] The force control push rod mechanism includes a force control electric cylinder 21, an electric cylinder fixing piece 22, a push rod 23, a linear guide rail 24, a guide rail base 25, a push rod 26 and an electric cylinder fixing convex slot 27. The force control push rod mechanism is used to realize the precise up and down displacement of the push rod 26 to complete the opening and closing operation of the propeller lock catch. The force control electric cylinder 21 is built-in with a position and force sensor to support the admittance control strategy to realize the compliant adjustment.

[0056] The support mechanism is mainly composed of a rack 31, and a plurality of through holes are formed in the rack to facilitate the wiring and structure installation. A flange 32 is arranged outside the rack to be connected with the end of the mechanical arm to realize the stable integration of the clamping jaw system and the mechanical arm.

[0057] The sliding lever mechanism includes a screw block 41, a screw rod 42, a stepper motor 43, a screw rod fixing piece 44, a connecting piece 45, a guide rail block 46, and a sliding guide rail 47. The stepper motor 43 drives the screw rod 42 to rotate, thereby pushing the screw block 41 and the connecting piece 45 to accurately translate along the screw rod direction, realizing the switching and positioning function of the lever 26 in the left-right direction. The device adopts an "eye-to-hand" visual recognition architecture. The Intel RealSense D435i depth camera is fixed on the top or side of the device frame through a support, used to collect the color image and depth information of the target plug in the operation area, covering the entire operation range. The camera is connected to an external image processing platform through a USB 3.0 cable, which is equipped with an NVIDIA GeForce RTX3090Ti graphics card, runs a visual recognition algorithm, and extracts the three-dimensional coordinates and attitude information (pose) of the target plug. The recognition result is transmitted to the STM32F407VG microcontroller through a serial port (such as USB to UART), which is not installed in the gripper or the end, but is fixed in the electrical control area near the image processing platform, facilitating communication and power management. In actual application, the force control plug gripper device is installed at the end effector position of the mechanical arm. After the visual recognition module provides the pose information of the target plug, the mechanical arm performs spatial positioning based on the information, and through forward and inverse kinematics solving and Cartesian path planning algorithm, the force control plug gripper device is guided to the rough grasping position above the target position. The whole mechanical arm motion is controlled by the mechanical arm control box, which receives the path planning result and grasping instruction, coordinates the opening and closing of the left and right grippers, and the movement of the arm body. The modules are connected through standardized cables, and the wiring is arranged in the wiring slot and cable protection sleeve. The overall structure is clear, easy to install and debug, and has good system integration and engineering feasibility. At this time, the stepper motor 43 drives the screw rod 42 to move the screw block 41 and the connecting piece 45 to the leftmost end, completing the preliminary positioning of the lever 26. Then, the force control cylinder 21 drives the push rod 23 to drive the lever 26 to move downward along the linear guide rail 24. When the lever 26 contacts the plug, the force sensor in the force control cylinder 21 starts to read the force data, and combines with the displacement data of the push rod 23 to calculate the axial displacement compensation value of the plug. If the compensation value meets the condition, the next operation is performed; if not, the mechanical arm is adjusted forward and backward, and the admittance control is used to simulate the spring damping system to realize the force-position compliant adjustment, thereby reducing the force feedback when approaching the target position, realizing flexible contact.

[0058] When the dial lever 26 contacts the confirmation is completed, the system controls the clamping jaw to clamp the plug. The movable end 15 of the linear drive drives the left clamping jaw 17 to translate along the axis to the right clamping jaw 18 direction to clamp the plug. At this time, the force sensor 14 feeds back the force condition, and at the same time, the displacement encoder of the movable end 15 reads the movement amount of the clamping jaw, so as to judge the distance between the right clamping jaw 18 and the plug, and finally make the left and right clamping jaws respectively accurately adhere to the two sides of the plug through left and right movement, so as to complete the accurate grabbing.

[0059] After the grabbing is completed, the stepping motor 43 drives the dial lever system to move right again, so that the inclined end of the dial lever 26 contacts the plug pin and drives the lock catch to the fully open position, until the plug is separated from the socket. Then the system retreats the dial lever mechanism to the middle position, the force control cylinder 21 retracts the push rod 23, and the mechanical arm drives the clamping jaw to pull out the plug as a whole.

[0060] In the working condition that the plug needs to be reinserted into the socket, the system first identifies and locates the plug to be inserted through the visual identification module, and obtains the spatial attitude information. The mechanical arm plans the trajectory based on the information, moves the clamping jaw holding the plug to the preset "to-be-put-back grabbing point" through forward and inverse kinematics and Cartesian coordinate control, and ensures that the initial attitude of the plug insertion operation is correct.

[0061] After reaching the position, the system controls the movable end 15 of the linear drive to translate along the axis direction of the linear drive fixed base 11 to the right, drives the left clamping jaw 17 to approach the right clamping jaw 18, and realizes the clamping of the plug. When the left clamping jaw 17 contacts the surface of the plug, the force sensor 14 starts to read the contact force generated in the clamping process in real time, and at the same time, the encoder inside the movable end 15 of the linear drive also synchronously records the displacement amount. The system calculates whether the plug is in the center symmetric position of the clamping jaw combined with the collected force and position information, and further estimates the remaining distance between the right clamping jaw 18 and the plug.

[0062] Subsequently, the system starts the admittance control algorithm, drives the left clamping jaw 17 to realize soft adhesion with the left surface of the plug. At the same time, the mechanical arm controls the whole force control clamping jaw to translate along the left and right directions, so that the clamping jaw system as a whole moves to the left until the movable end 15 of the linear drive reaches the specified position. At this time, the right clamping jaw 18 and the right surface of the plug are adhered to complete the clamping action, and the system enters the plug insertion operation stage.

[0063] Before insertion, the stepper motor 43 drives the lead screw 42 to rotate, driving the lead screw block 41 and the connecting piece 45 to translate rightward along the lead screw, and simultaneously driving the connected force control push rod mechanism 20 to move as a whole, so that the push rod 26 moves to the rightmost end of the lead screw. At this time, the force control cylinder 21 starts to perform the elongation action, driving the push rod 23 and the push rod 26 to stretch forward. When the front end of the push rod 26 contacts the rear surface of the aviation plug, the force sensor in the force control cylinder 21 starts to read the contact force change. At this time, the system detects that the force borne by the push rod 26 gradually rises, indicating that the push rod forms effective contact with the aviation plug.

[0064] Next, the mechanical arm starts the small-step forward feeding control strategy, slowly pushes the clamping jaw to move forward, and realizes the insertion of the aviation plug into the aviation plug socket. At the same time, the system controls the movable end 15 of the linear driver to drive the left clamping jaw 17 to loosen slightly, so that the clamping force of the clamping jaw on the aviation plug does not interfere with the alignment and plugging action in the insertion process. This step reduces the insertion force by coordinating the loosening of the clamping jaw and the supporting force of the push rod, preventing misplacement or jamming.

[0065] As the mechanical arm continues to feed forward, the admittance controller monitors the displacement sensor data of the force control cylinder 21 in real time, and judges whether the push rod 23 produces displacement change. When the sensor reads a significant displacement value, it indicates that the aviation plug has entered the preliminary insertion area of the aviation plug socket, and the system determines that the insertion posture is correct, and enters the lock closing stage.

[0066] At this time, the stepper motor 43 drives the lead screw 42 to drive the lead screw block 41 and the connecting piece 45 to translate leftward along the lead screw, so that the lower inclined groove structure of the push rod 26 contacts the aviation plug pin, and further pushes it to complete the buckling action. The push rod 26 continuously moves to the leftmost end limit position of the lead screw 42, that is, the closure of the lock is completed, ensuring that the aviation plug is securely locked into the aviation plug socket.

[0067] Finally, the system reverses the operation of the push rod mechanism: the stepper motor 43 continuously moves the push rod 26 from the left end limit position to the middle position of the lead screw 42, ensuring that the push rod 26 is away from the lock structure to avoid interference. Subsequently, the force control cylinder 21 controls the push rod 23 to be retracted, and the push rod 26 is retracted to be away from the surface of the aviation plug.

[0068] At the same time, the movable end 15 of the linear driver drives the left clamping jaw 17 to move away from the right clamping jaw 18 along the axis direction of the linear driver fixed base 11, completing the loosening operation of the aviation plug. The mechanical arm then lifts and retreats the entire clamping jaw device vertically and away from the insertion area, completing a complete aviation plug insertion process.

[0069] Through the above embodiments, the present application realizes the automatic grabbing, plugging and locking control of the aviation plug under complex conditions such as limited space, high force control accuracy and visual obstruction, greatly improving the intelligent level, safety and stability of the operation.

[0070] On the basis of the force control navigation plug-in jaw device proposed in the application, considering the actual needs and equipment compatibility of different application scenarios, part of the structural components, functional devices and operation methods can be appropriately replaced and modified. Without changing the basic principles and functional targets of the system, these alternative schemes still belong to the protection scope of the application.

[0071] Embodiment 2:

[0072] In this embodiment, in the force control jaw mechanism part, a left-right symmetrical jaw structure driven by double motors is used instead of the structure in the original scheme in which the movable end 15 of the linear actuator drives the left jaw 17 to realize the clamping action, that is, the left jaw 17 and the right jaw 18 are each driven by an independent servo motor to realize higher precision symmetrical control, especially suitable for grabbing scenes that require high stability or do not allow eccentric load. In this embodiment, the force sensor 14 can be arranged at the root or the tip of each side jaw for monitoring the force state of the left and right jaws respectively, further enhancing the safety and adaptive ability of the grabbing control.

[0073] Embodiment 3:

[0074] In this embodiment, in the force control push rod mechanism part, a servo electric cylinder with force feedback function or a linear actuator with elastic compliant element is used instead of the force control cylinder 21 in the original scheme to realize similar push rod 23 extension and retraction functions, and also support the compliant control strategy based on the admittance control algorithm. Such alternative structures can reduce system cost or improve response speed in certain cases, suitable for space-limited or special rigidity requirements.

[0075] Embodiment 4:

[0076] In this embodiment, in the sliding lever mechanism, a synchronous belt drive mechanism, a gear and rack linear module or an electric sliding table can be used instead of the linear propulsion structure composed of the lead screw 42 and the stepper motor 43 in the original scheme as an alternative way. Under the premise of keeping the sliding lever moving accurately along the linear guide rail, different transmission mechanisms can be flexibly selected according to actual assembly space, transmission accuracy, cost control and other factors.

[0077] Embodiment 5:

[0078] In this embodiment, in terms of system control strategy, the admittance control method used in the original scheme can be replaced according to the specific project requirements for flexibility and rigidity. For example, if the scene requires higher response speed, impedance control model can be used, or hybrid control (such as position-force hybrid control) can be used to adapt to the plug-in environment with rigid obstacles. For the force control jaw and push rod structure, local adaptive control algorithm can also be embedded to improve the dynamic adaptive ability of the system to unknown rigidity objects.

[0079] In addition, for the positioning accuracy control process between the clamping jaw and the probe, in addition to visual recognition and sensor displacement judgment, a tactile sensor or a camera auxiliary detection can be added to enhance the perception ability of the probe alignment and the clamping jaw closing process, and further improve the success rate of clamping.

[0080] Embodiment 6:

[0081] In terms of the probe insertion and extraction process control logic, the original scheme integrates the probe insertion and extraction operations as an integrated control process. For some application scenarios that only need to perform a one-way task (such as only extracting the probe or only inserting the probe), the system control logic can be trimmed to only retain the clamping jaw fine positioning and the driving function of the lever, thereby reducing the system complexity and optimizing the execution efficiency. In addition, in the known attitude and position environment of the probe, the visual recognition module can be cancelled, and the probe attitude data can be transmitted from the external system to simplify the system integration process.

[0082] It should be noted that the "lever 26" of the present application can also be designed in a replaceable structure, so that it can be replaced according to different models or structures of the probe lock to improve the application range of the system. The shape of the end of the lever, such as bevel, round corner or wedge-shaped end, can be adjusted according to the actual structure of the probe lock to ensure the reliability of the unlocking or locking process.

[0083] It should be noted that all directional indications (such as "up", "down", "left", "right", "front", "back", etc.) mentioned in the embodiments of the present application are only used to describe the relative spatial relationship or motion trend between components in a specific attitude shown in the drawings. If the actual use attitude of the device changes, these directional expressions should also be adjusted accordingly, and do not constitute a limitation on the content of the invention.

[0084] In addition, in the description of the present application, the terms "first", "second", etc. are only used as a purpose of distinguishing description, and do not represent the importance of the technical features or the quantity limitation. Accordingly, the technical features described with "first", "second" can contain one or more than one such element, unless otherwise specified.

[0085] In the present application, unless otherwise specified, the terms "connection", "fixing" and the like should be interpreted broadly. For example, "fixing" can be a non-detachable connection, or a detachable connection; can be a mechanical connection, or an electrical connection or other means; can be a direct connection, or an indirect connection through an intermediate component. For those skilled in the art, the specific meaning of these terms can be understood according to the specific structure and function needs.

[0086] It should be noted that the technical features involved in various embodiments of the present application can be combined with each other according to actual application requirements, provided that they can be realized within the ability of ordinary skilled in the art and do not cause logical conflicts or functional incompatibility and the like. If there are contradictions or cannot be realized between technical features, the combination is not within the protection scope of the present application.

[0087] In summary, various equivalent substitutions and functional optimization designs made on the basis of the above structures, devices or method steps should be considered as reasonable variations of the technical solutions of the present application, and belong to the technical scope of the present application, as long as the basic functions achieve the original purposes and the structure logic is clear and reasonable.

[0088] The above description of disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A force-controlled aircraft inserter gripper device, characterized in that, It includes a force-controlled gripper mechanism, a force-controlled push rod mechanism, a support mechanism and a sliding guide rail mechanism. The support mechanism includes a frame (31), which has several through holes for wiring and structural installation. The frame (31) also has a flange (32) for connecting to the end of the robotic arm. The force-controlled gripper mechanism includes a fixed base (11) and symmetrically arranged left gripper (17) and right gripper (18). The fixed base (11) is mounted on the frame (31). The fixed base (11) is provided with a linear actuator for driving the relative movement of the left gripper (17) and the right gripper (18). The left gripper (17) is provided with a force sensor (14) for detecting the contact force during the gripping process. The force-controlled push rod mechanism includes a fixed member (22) and a guide rail base (25) connected in sequence. A driver is installed on the fixed member (22). The driver is connected to a lever (26) via a push rod (23). A linear guide rail (24) is provided on the guide rail base (25). The driver drives the push rod (23) to extend and retract to drive the lever (26) to move along the axial direction of the linear guide rail (24). The sliding lever mechanism includes a lead screw (42), one end of which is rotatably connected to a lead screw fixing member (44), and the other end of which is fixedly connected to the output shaft of a stepper motor (43). The lead screw fixing member (44) and the stepper motor (43) are respectively located on the left and right sides of the frame (31). A lead screw slider (41) is screwed onto the lead screw (42). The lead screw slider (41) is connected to a fixing member (22) and a guide rail slider (46) through a connecting member (45). The guide rail slider (46) is slidably connected to a sliding guide rail (47).

2. The force-controlled aircraft inserter gripper device according to claim 1, characterized in that, The right gripper (18) is fixedly installed on the frame (31), and the left gripper (17) is connected to the movable end (15) of the linear actuator. The left gripper (17) is driven by the movable end (15) of the linear actuator to move axially along the fixed base (11), thereby realizing the relative movement between the left gripper (17) and the right gripper (18).

3. The force-controlled aircraft inserter gripper device according to claim 1, characterized in that, The linear actuator is provided in two parts. The left jaw (17) and the right jaw (18) are respectively connected to the movable ends (15) of the two linear actuators. The two linear actuators drive the left jaw (17) and the right jaw (18) to move relative to each other along the axial direction of the fixed base (11).

4. The force-controlled aircraft inserter gripper device according to claim 3, characterized in that, A force sensor (14) is provided on each of the left gripper (17) and the right gripper (18), and the force sensor (14) is located at the root or end of the left gripper (17) and the right gripper (18).

5. The force-controlled aircraft inserter gripper device according to claim 1, characterized in that, The driver is a force-controlled electric cylinder (21), which is mounted on a fixing member (22) via an electric cylinder fixing protrusion (27). A position and force sensor is provided inside the force-controlled electric cylinder (21).

6. The force-controlled aircraft inserter gripper device according to claim 1, characterized in that, The driver is a servo electric cylinder with force feedback function, and the servo electric cylinder drives the push rod (23) to perform telescopic movement.

7. The force-controlled aircraft inserter gripper device according to claim 1, characterized in that, The driver is a linear actuator with a flexible element, which drives the push rod (23) to perform telescopic movement.

8. A method of using the force-controlled aircraft inserter gripper device as described in any one of claims 1-7, characterized in that, The procedure includes unplugging the entire connector. S1. Install the force-controlled aerial insertion gripper device to the end of the robotic arm. Use a visual recognition algorithm to identify the three-dimensional coordinates and attitude information of the target aerial insertion. The robotic arm uses forward and inverse kinematics and Cartesian path planning to move the gripper to a rough position to be grasped. S2. The stepper motor (43) drives the lead screw (42) to move the lead screw slider (41) and the connecting piece (45) to the leftmost end, completing the initial positioning of the lever (26); S3. The force-controlled electric cylinder (21) drives the push rod (23) to move the lever (26) downward along the linear guide rail (24). When the lever (26) contacts the aircraft insert, the force sensor in the force-controlled electric cylinder (21) begins to read the force data. Combined with the displacement data of the push rod (23), the axial displacement compensation value of the aircraft insert is calculated. S4. After the contact confirmation of the lever (26) is completed, the control gripper is used to grip the air plug: the left gripper (17) is driven by the linear actuator (15) to move along the axis to the right gripper (18) to clamp the air plug. At this time, the force sensor (14) feeds back the force situation, and the displacement encoder of the movable end (15) reads the movement of the gripper. Based on this, the distance between the right gripper (18) and the air plug is determined. Finally, by moving left and right, the left and right grippers are precisely attached to both sides of the air plug to complete the precise gripping. S5. After the gripping is completed, the stepper motor (43) drives the lever (26) to move to the right again, so that the inclined end of the lever (26) contacts the aviation plug and moves the latch to the fully open position until the aviation plug and the aviation socket are separated. Then the lever mechanism is moved back to the middle position, the force control cylinder (21) retracts the push rod (23), and the robotic arm drives the gripper to pull out the aviation plug as a whole.

9. The method of use according to claim 8, characterized in that, In step S3, if the compensation value meets the conditions, the next operation is executed; if not, the robotic arm makes fine adjustments forward and backward, and at the same time, it achieves force-position compliance adjustment by controlling the simulated spring damping system through admittance control, thereby reducing force feedback as it approaches the target position and achieving flexible contact.

10. The method of use according to claim 8, characterized in that, It also includes the steps for re-inserting the connector into the socket, specifically: T1. First, the visual recognition module identifies and locates the plug to be inserted to obtain its spatial attitude information. The robotic arm plans the trajectory based on this information and moves the gripper holding the plug to the preset point to be put back by forward and inverse kinematics and Cartesian coordinate control to ensure that the initial attitude of the insertion operation is correct. T2. After reaching the position, the linear actuator movable end (15) is controlled to move to the right along the axis of the linear actuator fixed base (11), driving the left gripper (17) to approach the right gripper (18) to achieve the gripping of the aircraft plug. When the left gripper (17) contacts the surface of the aircraft plug, the force sensor (14) on the left gripper (17) begins to read the contact force generated during the gripping process in real time. At the same time, the encoder located inside the linear actuator movable end (15) also records the displacement. Combined with the collected force and position information, it is calculated whether the aircraft plug is in the center symmetrical position of the gripper, and the remaining distance between the right gripper (18) and the aircraft plug is further estimated. T3. Start the admittance control algorithm to drive the left gripper (17) to achieve a smooth fit with the left surface of the plug. At the same time, the robotic arm controls the entire force control gripper device to move in the left and right directions, so that the force control gripper device moves to the left as a whole until the linear actuator moving end (15) reaches the designated position. At this time, the right gripper (18) is fully fitted with the right surface of the plug, the entire gripping action ends, and the plug re-insertion operation stage begins. T4. Before insertion, the stepper motor (43) drives the lead screw (42) to rotate, which drives the lead screw slider (41) and the connecting piece (45) to move to the right along the lead screw direction. At the same time, the force control push rod mechanism (20) connected to it moves as a whole, so that the lever (26) moves to the rightmost end of the lead screw. T5. The force-controlled electric cylinder (21) begins to extend, driving the push rod (23) and the lever (26) to extend forward. When the front end of the lever (26) contacts the rear surface of the plug, the force sensor inside the force-controlled electric cylinder (21) begins to read the change in contact force. At this time, the force on the lever (26) gradually increases, indicating that the lever and the plug have formed effective contact. T6. The robotic arm starts the small step forward control strategy, slowly pushes the gripper forward to realize the insertion of the plug into the socket. At the same time, the linear actuator (15) drives the left gripper (17) to loosen slightly, so that the gripper's clamping force on the plug will not interfere with the alignment and insertion / removal action during the insertion process. T7. As the robotic arm continues to move forward, the admittance controller monitors the displacement sensor data of the force control cylinder (21) in real time to determine whether the push rod (23) has a displacement change. When the sensor reads a significant displacement value, it indicates that the plug has entered the initial insertion area of ​​the socket, and the insertion posture is considered to be correct, and the locking and closing stage is entered. T8, the stepper motor (43) drives the lead screw (42) again, causing the lead screw slider (41) and the connecting piece (45) to move to the left along the lead screw direction, so that the lower inclined groove structure of the lever (26) contacts the aviation plug, and further pushes it to complete the locking action. The lever (26) continues to move to the leftmost extreme position of the lead screw (42), which completes the locking and ensures that the aviation plug is firmly locked into the aviation socket. T9, the stepper motor (43) continuously moves the lever (26) until it retracts from the left extreme position to the middle position of the lead screw (42), ensuring that the lever (26) is away from the locking structure of the plug and avoiding interference; T10, the force-controlled electric cylinder (21) controls the push rod (23) to retract, and the lever (26) then extends and retracts backward to disengage from the surface of the plug; T11. Drive the left gripper (17) away from the right gripper (18) along the axis of the linear actuator fixed base (11) by the moving end (15) of the linear actuator to complete the release operation of the air plug. The robotic arm then drives the entire gripper device to be lifted vertically and retracted away from the insertion area to complete a complete air plug re-insertion process.

Images