Ton barrel multi-station truss robot system

Abstract

The utility model belongs to the technical field of cleaning and filling of ton barrels, and discloses a multi-station truss robot system for the ton barrels. Comprising a truss device, a conveying assembly, a manipulator, a plugging device and a positioning device, the manipulator is arranged on the truss device through the conveying assembly, and a plurality of stations used for containing ton barrels are arranged in the conveying direction of the conveying assembly; the positioning device is used for identifying and positioning the liquid injection pipe joint and the ton barrel interface; the inserting and pulling device is installed on the mechanical arm, the mechanical arm drives the inserting and pulling device to be arranged at the clamping position of the liquid injection pipe connector or the inserting and pulling position of the ton barrel connector, and the inserting and pulling device is used for clamping the liquid injection pipe connector and inserting the liquid injection pipe connector into the ton barrel connector or pulling the liquid injection pipe connector out of the ton barrel connector; and the control device is electrically connected with the conveying assembly, the manipulator, the positioning device and the plugging device. According to the utility model, ton barrel interface insertion of multiple stations can be completed, unmanned operation is realized, the production efficiency is improved, the investment of a mechanical arm is reduced, and the cost is saved.

Description

Technical Field

[0001] The utility model belongs to the technical field of ton barrel cleaning and filling, and relates to a ton barrel multi-station truss robot system. Background Art

[0002] With the rapid development of the lithium battery industry, the demand for electrolyte production is also growing. As an important component of lithium-ion batteries, the electrolyte storage container is usually a large-capacity barrel with a special structure.

[0003] A plurality of ton barrel interfaces are arranged on the ton barrel, which generally include a liquid inlet, a liquid outlet and a spray port. A ball valve is arranged on each ton barrel interface, a male quick-connect connector is arranged at the front end of the ball valve, and a female quick-connect connector matched with the male quick-connect connector is connected to one end of the electrolyte injection pipe joint. During the filling or cleaning of the ton barrel, the female quick-connect connector of the injection pipe joint needs to be inserted into or pulled out of the male quick-connect connector of the ton barrel interface.

[0004] The current plug-in and unplug process has the following problems:

[0005] (1) Most of the operations are done manually, which results in high workload, time-consuming and labor-intensive work, low operating efficiency, high production costs, and potential safety hazards during operation.

[0006] (2) The electrolyte is a chemical product. During the plugging and unplugging process, a small amount of electrolyte will leak into the external environment from the barrel. When it comes into contact with water vapor in the air, it will react to produce acidic gas, which will endanger the health of the operator.

[0007] (3) Currently, plug-in and pull-out devices are used to achieve mechanical automation of plug-in and pull-out of ton barrels, but the degree of mechanical automation is low, resulting in low production efficiency. Utility Model Content

[0008] In view of the above problems existing in the prior art, the purpose of the present invention is to provide a ton barrel multi-station truss robot system.

[0009] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0010] A ton barrel multi-station truss robot system, comprising a truss device, a transmission component, a manipulator, a plug-in device, a positioning device and a control device, wherein:

[0011] The conveying assembly is arranged on the truss device, and the manipulator is arranged on the conveying assembly;

[0012] A plurality of workstations for placing ton barrels are provided along the conveying direction of the conveying assembly;

[0013] The positioning device is used to identify and locate the injection pipe joint and the ton barrel interface;

[0014] The plugging and pulling device is installed on a manipulator, and the manipulator drives the plugging and pulling device to be placed at the clamping position of the liquid injection pipe joint or the plugging and pulling position of the ton barrel interface. The plugging and pulling device is used to clamp the liquid injection pipe joint, and insert the liquid injection pipe joint into the ton barrel interface or pull it out from the ton barrel interface;

[0015] The control device is electrically connected to the transmission component, the manipulator, the positioning device, and the plugging and unplugging device.

[0016] Furthermore, the conveying assembly includes an X-axis conveying unit and a Z-axis conveying unit, the manipulator is arranged on the Z-axis conveying unit, and the Z-axis conveying unit is arranged on the X-axis conveying unit. The X-axis conveying unit is used to drive the Z-axis conveying unit to move along the X-axis, and the Z-axis conveying unit is used to drive the manipulator to move along the Z-axis. The manipulator is driven by the conveying assembly and can move in two directions along the X and Z axes.

[0017] Further preferably, the X-axis transmission unit includes an X-axis guide rail arranged in the horizontal direction, an X-axis slider and an X-axis driving unit are arranged on the X-axis guide rail, and a Z-axis mounting plate is vertically arranged at one end of the X-axis slider.

[0018] Further preferably, the Z-axis transmission unit comprises a Z-axis driving unit and a Z-axis slider which are arranged on the Z-axis mounting plate, and the Z-axis slider is slidably arranged on the Z-axis mounting plate via a Z-axis guide rail.

[0019] Further preferably, the manipulator is arranged on a Z-axis slider.

[0020] Furthermore, a female quick-connect connector is provided at one end of the injection pipe joint, and a male quick-connect connector is provided on the ton barrel interface. The male quick-connect connector and the female quick-connect connector cooperate to form a quick-connect plug. A circular ring for unlocking or locking the quick-connect plug is provided on the female quick-connect connector. The plug-in and pull-out device includes: a first clamping part; a first clamping drive, driving the first clamping part to clamp the injection pipe joint; a second clamping part; a second clamping drive, driving the second clamping part to clamp the circular ring on the female quick-connect connector; a plug-in and pull-out drive, driving the first clamping part that clamps the injection pipe joint and the second clamping part that clamps the circular ring to move as a whole along the plug-in and pull-out direction of the injection pipe joint.

[0021] Further preferably, a first mounting plate is provided at the driving end of the plug-in drive, a first clamping portion and an unlocking drive are provided on the first mounting plate, a second mounting plate is provided at the driving end of the unlocking drive, and a second clamping portion is provided on the second mounting plate.

[0022] Further preferably, the first clamping drive includes a first double-output shaft motor arranged on the first mounting plate and two first movable blocks respectively arranged at the two driving ends of the first double-output shaft motor; the first clamping part includes at least two first claws fixed to the first movable block by a first connecting rod and arranged opposite to each other.

[0023] Further preferably, the driving end of the first double-output shaft motor is fixedly connected with a first screw rod, and one side of the first screw rod is threadedly connected to the first moving block. During operation, the driving end drives the first screw rod to drive the two first moving blocks to approach or move away from each other, so that the distance between the two first claws is reduced or increased to achieve the purpose of clamping or releasing.

[0024] Further preferably, the clamping end of the first clamping claw is arc-shaped, which fits the tube wall of the liquid injection pipe joint and can better clamp the liquid injection pipe joint.

[0025] Further preferably, the first clamping drive is provided with a first housing, the first double-output shaft motor and the first moving block are both arranged in the first housing, the first housing is provided with a first strip groove for the first connecting rod to pass through, and the first strip groove is arranged along the length direction of the first screw rod.

[0026] Furthermore, the second clamping drive includes a second double-output shaft motor and two second moving blocks respectively arranged at two driving ends of the second double-output shaft motor; the second clamping part includes at least two second claws fixed to the second moving block by a second connecting rod and arranged oppositely.

[0027] Further preferably, the driving end of the second double-output shaft motor is fixedly connected with a second screw rod, and one side of the second screw rod is threadedly connected to the second moving block. During operation, the driving end drives the second screw rod to drive the two second moving blocks to approach or move away, so that the distance between the two second claws is reduced or increased to achieve the purpose of clamping or releasing.

[0028] Further preferably, the second clamping drive is provided with a second housing, the second double-output shaft motor and the second moving block are both arranged in the second housing, the second housing is provided with a second strip groove for the second connecting rod to pass through, and the second strip groove is arranged along the length direction of the second screw rod.

[0029] Further preferably, the second clamping claw is provided with an upper clamping strip and a lower clamping strip for clamping the two sides of the circular ring, and a limiting groove for accommodating the circular ring is formed between the upper clamping strip and the lower clamping strip.

[0030] Further preferably, the upper clamping bar and the lower clamping bar are parallel to each other and have the same height.

[0031] Further preferably, a convex strip is arranged in the limiting groove, the height of the convex strip is less than the height of the upper clamping strip or the lower clamping strip, and the height difference between the convex strip and the upper clamping strip or the lower clamping strip is less than the width of the circular ring. When the circular ring is placed in the limiting groove, the upper clamping strip and the lower clamping strip are used for limiting the upper and lower sides of the circular ring respectively, and the convex strip is arranged to abut against the outer arc surface of the circular ring to prevent the upper clamping strip or the lower clamping strip from abutting against the outer surface of the female head of the quick-connect connector when clamping, resulting in failure to effectively clamp the circular ring.

[0032] Further preferably, the convex strip is detachably arranged in the limiting groove.

[0033] Furthermore, the plug-in drive is a third cylinder.

[0034] Furthermore, the unlocking drive is a fourth cylinder.

[0035] Furthermore, each workstation is equipped with a pipe joint placement rack for placing liquid injection pipe joints.

[0036] Further preferably, the pipe joint placement rack includes a fixing frame, a fixing plate, and a sensor module. The fixing plate is arranged on the fixing frame, and a quick-connect male connector is arranged on the fixing plate. The quick-connect male connector is adapted to the quick-connect female connector of the injection pipe joint. The sensor module is used to sense whether the quick-connect male connector on the fixing plate is connected to the quick-connect female connector.

[0037] Further preferably, the ton barrel interface includes a liquid injection port located at the top of the ton barrel and a liquid outlet located at the lower part of the side wall of the ton barrel. The pipe joint placement rack includes an upper pipe joint placement rack corresponding to the liquid injection port at the top of the ton barrel and a lower pipe joint placement rack corresponding to the liquid outlet at the lower part of the side wall of the ton barrel.

[0038] Further preferably, the upper pipe joint placement rack includes an upper fixed frame, an upper fixed plate, and an upper sensing module. The upper fixed plate is horizontally arranged on the upper fixed frame. A quick-connect connector male head is arranged on the upper fixed plate. The quick-connect connector male head is adapted to the quick-connect connector female head of the injection pipe joint. The upper sensing module is used to sense whether the quick-connect connector female head is connected to the quick-connect connector male head on the upper fixed plate.

[0039] More preferably, the upper sensing module comprises an upper identification block, an upper guide column, an upper sensing switch and a spring, and the spring is sleeved on the outer wall of the upper guide column;

[0040] The upper identification block is arranged on the upper fixing plate at one side of the female head of the quick-plug connector through a spring. The up-sensing switch and the upper guide column are arranged on the upper fixing plate. The upper guide column is located in the spring, and one end of the upper guide column passes through the upper identification block. The up-sensing switch abuts against the upper identification block. When the injection pipe joint is plugged into the female head of the quick-plug connector arranged on the upper fixing plate, the upper identification block is pressed. The spring under the upper identification block is compressed, and the up-sensing switch detects the upper identification block.

[0041] Furthermore, the lower pipe joint placement rack includes a lower fixing frame, a lower fixing plate, and a lower sensor module. The lower fixing plate is vertically arranged on the lower fixing frame. A quick-connect connector male head is arranged on the lower fixing plate. The quick-connect connector male head is adapted to the quick-connect connector male head of the injection pipe joint. The lower sensor module is used to sense whether a quick-connect connector female head is plugged into the quick-connect connector male head on the lower fixing plate.

[0042] Further preferably, the lower sensor module includes a lower identification block, a lower sensor switch, and a lower guide column. The lower identification block is arranged on the lower fixed plate on one side of the quick-plug connector female head through a spring. The lower sensor switch and the lower guide column are arranged on the lower fixed plate. The lower guide column is located in the spring, and one end of the lower guide column can pass through the lower identification block. The lower sensor switch abuts against the lower identification block. When the injection tube connector is inserted into the quick-plug connector female head arranged on the lower fixed plate, the lower identification block will be pressed, the spring under the lower identification block will be compressed, and the lower sensor switch detects the lower identification block.

[0043] Furthermore, the positioning device is a 3D camera arranged on a manipulator or a plug-in device.

[0044] Furthermore, a weighing device is provided at each workstation, and the weighing device is electrically connected to the control device.

[0045] Furthermore, it also includes an AGV transfer vehicle, and the AGV transfer vehicle is electrically connected to the control device.

[0046] Compared with the prior art, the beneficial effects of the utility model are:

[0047] (1) The utility model can complete the plugging of ton barrel interfaces at multiple workstations through a truss device, a conveying assembly, a manipulator and a plug-in device, thereby realizing unmanned operation, improving production efficiency, and reducing the investment in robot arms to save costs.

[0048] (2) The utility model can complete the transfer of ton barrels that need to be operated through the AGV transfer vehicle, realize the automatic transportation of ton barrels, transfer the manipulator to the working position through the truss device and the transmission component, and realize the plugging and unplugging of the liquid filling pipe joint and the ton barrel interface through the plug-in device and the positioning device. No human operation is required, the economic benefit is high, and it is easy to apply industrially. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 This is a structural schematic diagram of the ton barrel multi-station truss robot system of the utility model;

[0051] Figure 2 It is a structural schematic diagram of the plugging and unplugging device of the utility model;

[0052] Figure 3 The structure diagram of the plug-in device and the injection pipe joint of the utility model is shown in FIG. Figure 1 ;

[0053] Figure 4 The structure diagram of the plug-in device and the injection pipe joint of the utility model is shown in FIG. Figure 2 ;

[0054] Figure 5 It is a structural schematic diagram of the liquid injection pipe joint of the utility model;

[0055] Figure 6 It is a schematic diagram of the structure explosion of the liquid injection pipe joint of the utility model;

[0056] Figure 7 This is a schematic diagram of the structure of the ton barrel of the utility model;

[0057] Figure 8 It is a structural schematic diagram of the male head of the quick-insert connector of the utility model;

[0058] Fig. 9 It is a structural schematic diagram of the female quick-plug connector of the utility model;

[0059] Fig.10 It is a structural schematic diagram of the upper pipe joint placement rack of the utility model;

[0060] Fig.11 It is a partial structural schematic diagram of the upper pipe joint placement rack of the utility model;

[0061] Fig.12 It is a structural schematic diagram of the lower pipe joint placement rack of the utility model;

[0062] Fig.13 It is a structural schematic diagram of the truss device of the utility model;

[0063] Fig.14 It is a structural schematic diagram of the transmission component of the utility model;

[0064] Fig.15 It is a structural schematic diagram of the manipulator and the plugging and unplugging device of the utility model;

[0065] Fig.16 It is a structural schematic diagram of the first clamping drive and the first clamping part of the utility model;

[0066] Fig.17 It is a structural schematic diagram of the second clamping drive and the second clamping part of the utility model;

[0067] in:

[0068] 1-ton barrel, 11-liquid outlet, 12-liquid injection port, 13-spray ball;

[0069] 2—truss device, 21—column, 22—beam;

[0070] 3—plug-in and pull-out device, 31—fixed plate, 32—third cylinder, 33—linear slide rail, 34—first clamping drive, 341—first double-output shaft motor, 342—first screw rod, 343—first moving block, 344—first connecting rod, 345—first strip groove, 35—first claw, 36—fourth cylinder, 37—second clamping drive, 371—second double-output shaft motor, 372—second screw rod, 373—second moving block, 374—second connecting rod, 375—second strip groove, 38—second claw, 381—upper clamping strip, 382—lower clamping strip, 383—convex strip, 39—first mounting plate, 310—second mounting plate, 311—3D camera;

[0071] 4—transmission assembly, 41—X-axis guide rail, 42—X-axis slider, 43—X-axis drive unit, 44—Z-axis mounting plate, 45—Z-axis guide rail, 46—Z-axis drive unit, 47—Z-axis slider;

[0072] 5—lower pipe joint placement rack, 51—lower fixing rack, 52—tension balancer, 53—lower sensor switch, 54—lower identification block, 55—lower fixing plate;

[0073] 6—upper pipe joint placement rack, 61—upper fixing rack, 62—upper fixing plate, 63—upper identification block, 64—upper guide column, 65—upper sensing switch;

[0074] 7—liquid injection pipe joint, 71—quick lock joint, 72—one-way joint, 73—thread joint, 74—stop valve joint, 75—pipe joint extension positioning rod;

[0075] 8—Quick-connect female connector;

[0076] 9—quick-plug male connector;

[0077] 10—manipulator, 101—manipulator control chassis. DETAILED DESCRIPTION

[0078] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively and carefully below in conjunction with the accompanying drawings and preferred embodiments of the specification, but the protection scope of the present invention is not limited to the following specific embodiments.

[0079] Unless otherwise defined, all professional terms used below have the same meanings as those generally understood by those skilled in the art. The professional terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the scope of protection of the present utility model.

[0080] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0081] Example

[0082] See also Figures 1 to 17 This embodiment discloses a ton barrel multi-station truss robot system, including a truss device 2, a conveying component 4, a manipulator 10, a plugging device 3, a positioning device and a control device, wherein:

[0083] The conveying assembly 4 is arranged on the truss device 2, and the manipulator 10 is arranged on the conveying assembly 4;

[0084] A plurality of stations for placing the ton barrels 1 are provided along the conveying direction of the conveying assembly 4;

[0085] The positioning device is used to identify and locate the liquid injection pipe joint 7 and the ton barrel interface;

[0086] The plugging and pulling device 3 is installed on the manipulator 10, and the manipulator 10 drives the plugging and pulling device 3 to be placed at the clamping position of the liquid injection pipe joint 7 or the plugging and pulling position of the ton barrel interface. The plugging and pulling device 3 is used to clamp the liquid injection pipe joint 7, and insert the liquid injection pipe joint 7 into the ton barrel interface or pull it out from the ton barrel interface;

[0087] The control device is electrically connected to the conveying assembly 4 , the robot 10 , the positioning device, and the plugging and unplugging device 3 .

[0088] As one of the preferred solutions of this embodiment, the truss device 2 includes a column 21 and a beam 22 arranged on the column 21 .

[0089] As one of the preferred solutions of this embodiment, the transmission assembly 4 includes an X-axis guide rail 41 arranged on the crossbeam 22 in the horizontal direction, an X-axis slider 42 and an X-axis driving unit 43 are arranged on the X-axis guide rail 41, a Z-axis mounting plate 44 is vertically arranged at one end of the X-axis slider 42, a Z-axis driving unit 46 and a Z-axis slider 47 are arranged on the Z-axis mounting plate 44, and the Z-axis slider 47 is slidably arranged on the Z-axis mounting plate 44 through the Z-axis guide rail 45. The manipulator 10 is arranged at the end of the Z-axis slider 47, and the manipulator control chassis 91 of the manipulator 10 is arranged on the X-axis slider 42.

[0090] Specifically, the transmission component 4 drives the X-axis slider 42 to move on the X-axis guide rail 41 through the X-axis drive unit 43, thereby driving the robot 10 to move in the X-axis direction; the Z-axis drive unit 46 drives the Z-axis slider 47 to move on the Z-axis guide rail 45, thereby driving the robot 10 to move in the Z-axis direction.

[0091] Specifically, the X-axis drive unit 43 and the Z-axis drive unit 46 adopt commonly used motors on the market or other drive units that can achieve the effects in the present application; the drive method adopts chain drive, gear drive or other drive methods that can achieve the effects in the present application, thereby adopting a corresponding transmission mechanical structure and connection method of the X-axis slider 42 and the X-axis guide rail 41, and a transmission mechanical structure and connection method of the Z-axis slider 47 and the Z-axis guide rail 45.

[0092] In this embodiment, the ton barrel interface includes a liquid injection port 12 located at the top of the ton barrel 1, a liquid outlet 11 located at the lower part of the side wall of the ton barrel 1, and a spray ball 13 is also provided on the top of the ton barrel 1. A quick-connect male connector 9 is provided at the liquid outlet 11, the liquid injection port 12, and the spray ball 13.

[0093] In this embodiment, the injection pipe joint 7 includes a quick-lock joint 71, a one-way joint 72, a thread joint 73, a stop valve joint 74, a pipe joint extension positioning rod 75 and a quick-plug joint female 8 which are connected in sequence.

[0094] In this embodiment, the quick-connect female connector 8 is adapted to the quick-connect male connector 9 and is unlocked or locked by the up-and-down movement of a ring disposed on the quick-connect female connector 8 .

[0095] As one of the preferred schemes of this embodiment, the plug-in device 3 is used to clamp the liquid injection pipe joint 7, a quick-connect connector female head 8 is arranged at one end of the liquid injection pipe joint 7, a quick-connect connector male head 9 is arranged on the ton barrel interface, the quick-connect connector male head 9 and the quick-connect connector female head 8 cooperate to form a quick-connect plug, and a circular ring for unlocking or locking the quick-connect plug is arranged on the quick-connect connector female head 8.

[0096] As one of the preferred solutions of this embodiment, the plugging and unplugging device 3 includes:

[0097] a first clamping portion;

[0098] A first clamping drive 34 drives the first clamping part to clamp the liquid injection pipe joint 7;

[0099] a second clamping portion;

[0100] A second clamping drive 37 drives the second clamping part to clamp the ring on the female quick-connect connector 8;

[0101] Insertion and extraction drive, driving the first clamping part clamping the injection pipe joint 7 and the second clamping part clamping the ring to move as a whole along the insertion and extraction direction of the injection pipe joint;

[0102] The unlocking drive drives the second clamping portion of the clamping ring to move in the unlocking or locking direction.

[0103] Specifically:

[0104] As one of the preferred schemes of this embodiment, a first mounting plate 39 is provided at the driving end of the plug-in drive, a first clamping portion and an unlocking drive are provided on the first mounting plate 39, a second mounting plate 310 is provided at the driving end of the unlocking drive, and a second clamping portion is provided on the second mounting plate 310.

[0105] As one of the preferred solutions of this embodiment, Figure 2 and Fig.16 As shown, the first clamping drive 34 includes a first double-output shaft motor 341 arranged on the first mounting plate 39, and two first moving blocks 343 arranged at the two driving ends of the first double-output shaft motor 341; the first clamping part includes at least two first claws 35 fixed on the first moving block 343 by a first connecting rod 344 and arranged oppositely.

[0106] The driving end of the first double-output shaft motor 341 is fixedly connected with a first screw rod 342, and one side of the first screw rod 342 is threadedly connected to the first moving block 343. During operation, the driving end drives the first screw rod 342 to drive the two first moving blocks 343 to approach or move away from each other, so that the distance between the two first claws 35 is reduced or increased to achieve the purpose of clamping or releasing.

[0107] The first clamping drive is provided with a first shell, the first double-output shaft motor 341 and the first moving block 343 are both arranged in the first shell, and the first shell is provided with a first strip groove 345 for the first connecting rod 344 to pass through, and the first strip groove 345 is arranged along the length direction of the first screw rod 342.

[0108] In this embodiment, the clamping end of the first clamping claw 35 is arc-shaped and fits against the wall of the liquid injection pipe joint, so as to better clamp the liquid injection pipe joint 7.

[0109] As one of the preferred schemes of this embodiment, the first clamping claw 35 of the plug-in device clamps the pipe joint extension positioning rod 75 of the liquid injection pipe joint 7, and the clamping wall profile of the arc-shaped clamping claw of the first clamping claw 35 is adapted to the side wall of the pipe joint extension positioning rod 75. When clamping, the relatively arranged arc-shaped clamping claws simultaneously contact the side walls of the pipe joint extension positioning rod 75, and the upper and lower ends of the first clamping claw 35 respectively abut against the two circular protrusions set on the pipe joint extension positioning rod 75 to limit the first clamping claw 35.

[0110] As one of the preferred solutions of this embodiment, Figure 2 and Fig.17 As shown, the second clamping drive 37 includes a second double-output shaft motor 371 and two second movable blocks 373 respectively arranged at the two driving ends of the second double-output shaft motor 371; the second clamping part includes at least two second claws 38 fixed on the second movable block 373 by a second connecting rod 374 and arranged oppositely.

[0111] In this embodiment, the driving end of the second double-output shaft motor 371 is fixedly connected with a second screw rod 372, and one side of the second screw rod 372 is threadedly connected to the second moving block 373. During operation, the second screw rod 372 is driven by the driving end to drive the two second moving blocks 373 to move closer to or away from each other, so that the distance between the two second claws 38 is reduced or increased to achieve the purpose of clamping or releasing.

[0112] In this embodiment, the second clamping drive is provided with a second shell, the second dual-output shaft motor 371 and the second moving block 373 are both arranged in the second shell, and a second strip groove 375 is opened on the second shell for the second connecting rod 374 to pass through, and the second strip groove 375 is arranged along the length direction of the second screw rod 372.

[0113] As one of the preferred schemes of this embodiment, the second clamping claw 38 of the plug-in device clamps the circular ring of the quick-connect female connector 8 of the liquid injection pipe connector 7, and the second clamping claw 38 is provided with an upper clamping strip 381 and a lower clamping strip 382 on both sides of the clamping ring, and a limiting groove for accommodating the circular ring is formed between the upper clamping strip 381 and the lower clamping strip 382.

[0114] In this embodiment, the upper clamping bar 381 and the lower clamping bar 382 are parallel to each other and have the same height.

[0115] In this embodiment, a convex strip 383 is provided in the limiting groove, and the height of the convex strip 383 is less than the height of the upper clamping strip 381 or the lower clamping strip 382, ​​and the height difference between the convex strip 383 and the upper clamping strip 381 or the lower clamping strip 382 is less than the width of the circular ring. When clamping, the circular ring is placed in the limiting groove, and the upper clamping strip 381 and the lower clamping strip 382 are used for limiting the upper and lower sides of the circular ring respectively. The convex strip 383 is provided to abut against the outer arc surface of the circular ring to prevent the upper clamping strip 381 or the lower clamping strip 382 from abutting against the outer surface of the quick-connect female connector 8 when the height of the upper clamping strip 381 or the lower clamping strip 382 is greater than the width of the circular ring, so that the upper clamping strip 381 or the lower clamping strip 382 will abut against the outer surface of the quick-connect female connector 8 when clamping, resulting in failure to effectively clamp the circular ring.

[0116] In this embodiment, the protruding strip 383 is detachably disposed in the limiting groove by means of bolts.

[0117] As one of the preferred solutions of this embodiment, the plug-in and pull-out drive is a third cylinder 32, which can be a guide cylinder.

[0118] As one of the preferred solutions of this embodiment, the unlocking drive is a fourth cylinder 36, which can be a guide cylinder.

[0119] More specifically:

[0120] As one of the preferred schemes of this embodiment, the plug-in device 3 is fixed to the end of the manipulator through a fixing plate 31, a third cylinder 32 is arranged at the bottom of the fixing plate 31, a mounting plate 39 is fixed to the driving end of the third cylinder 32, a first clamping claw 35 for clamping the pipe joint extension positioning rod 75 of the injection pipe joint 7 and a first clamping drive 34 for driving the first clamping claw 35 are arranged at the bottom of the mounting plate 39, a second side plate is vertically arranged on one side of the mounting plate 39, a fourth cylinder 36 and a second clamping claw 38 and a second clamping drive 37 installed at the driving end of the fourth cylinder 36 are arranged on the second side plate, and the second clamping drive 37 is used to drive the second clamping claw 38 to clamp the quick-connect female connector 8 at one end of the injection pipe joint 7.

[0121] As one of the preferred solutions of this embodiment, the driving direction of the third cylinder 32 is the plugging and unplugging direction of the injection pipe joint 7, usually in two directions along the same straight line; the driving direction of the fourth cylinder 36 is the unlocking or locking direction of the ring on the female quick-plug connector 8, usually in two directions along the same straight line. The driving direction of the first clamping drive 34 is the clamping or releasing direction of the first claw 35; the driving direction of the second clamping drive 37 is the clamping or releasing direction of the second claw 38.

[0122] As one of the preferred solutions of this embodiment, the upper and lower positions of the cylinder are monitored by output through a magnetic switch, and the exhaust part of the cylinder adopts an exhaust throttle valve for voltage stabilization control.

[0123] As one of the preferred schemes of this embodiment, a first side plate is vertically arranged at one end of the fixed plate 31, a linear slide rail 33 is arranged on the first side plate, the direction of the linear slide rail 33 is the plugging and unplugging direction of the injection pipe joint 7, and a linear slider matching the linear slide rail 33 is arranged on the second side plate of the mounting plate 39.

[0124] In this embodiment, the plugging device 3 is installed on the manipulator 10 through the fixing plate 31. The manipulator 10 drives the plugging device 3 to be placed at the gripping position of the liquid injection pipe joint 7 or the plugging position of the ton barrel interface. The plugging device 3 is used to insert the liquid injection pipe joint 7 into the ton barrel interface or pull it out from the ton barrel interface;

[0125] As one of the preferred solutions of this embodiment, the positioning device is a 3D camera 311 arranged on the plug-in device 3, and the 3D camera 311 is electrically connected to the control device. After the manipulator 10 is located above the ton barrel 1, the 3D camera 311 is used to take pictures to detect whether the ton barrel 1 is in the open position, determine the positions of the liquid injection port 12 and the spray ball 13 of the ton barrel 1, calculate the spatial coordinates of the liquid injection port 12 of the ton barrel 1 relative to the manipulator 10 or the plug-in device 3, and then determine the position coordinates in combination with the corresponding spatial position of the manipulator 10 or the plug-in device 3 to complete the positioning.

[0126] As one of the preferred solutions of this embodiment, the manipulator 10 adopts a six-axis manipulator. This embodiment uses the transmission component 4 to cooperate with the six-axis manipulator, the 3D camera 311, and the plugging and unplugging device 3 to complete the plugging and unplugging of the liquid injection pipe joint 7.

[0127] In this embodiment, each workstation is equipped with an upper pipe joint placement rack 6, which is located near the liquid filling port 12 on the top of the corresponding ton barrel 1. The upper pipe joint placement rack 6 includes an upper fixing rack 61, an upper fixing plate 62, an upper identification block 63, an upper guide column 64, an upper sensing switch 65 and a spring (not shown). The spring is sleeved on the outer wall of the upper guide column 64, and a quick-connect connector male head 9 is provided on the upper fixing plate 62, and the quick-connect connector female head 8 is adapted to the quick-connect connector male head 9.

[0128] Specifically, the upper fixing frame 61 is fixed next to the workstation, and an upper fixing plate 62 is horizontally arranged on the upper fixing frame 61. A quick-connect male connector 9 is arranged on the upper fixing plate 62, and an upper identification block 63 is arranged on one side of the quick-connect male connector 9. The upper identification block 63 is fixed to the upper fixing plate 62 by a spring, and an up-switching switch 65 and an upper guide column 64 are arranged on the upper fixing plate 62. The upper guide column 64 is located in the spring, and one end of the upper guide column 64 can pass through the upper identification block 63, which plays a guiding role when the upper identification block 63 moves. The up-switching switch 65 abuts against the upper identification block 63. When the injection pipe joint 7 is plugged into the quick-connect male connector 9 arranged on the upper fixing plate 62, the upper identification block 63 will be pressed, and the spring under the upper identification block 63 will be compressed. The up-switching switch 65 detects the upper identification block 63, thereby judging that the injection pipe joint 7 is plugged into the upper pipe joint placement rack 6.

[0129] In this embodiment, each workstation is equipped with a lower pipe joint placement rack 5, which is located near the liquid outlet 11 at the lower part of the side wall of the corresponding ton barrel 1. The lower pipe joint placement rack 5 includes a lower fixed frame 51, a lower fixed plate 55, a lower identification block 54, a lower sensor switch 53, a lower guide column, a quick-connect male connector 9, and a tension balancer 52.

[0130] In this embodiment, one end of the tension balancer 52 is connected to the incoming material pipeline connected to the injection pipe joint 7, and the other end is connected to the lower pipe joint placement rack 5; the function of the tension balancer 52 is to constrain the incoming material pipeline. The incoming material pipeline is connected behind the injection pipe joint 7. The pipeline has a certain flexibility. Using the tension balancer 52 to provide a certain constraint force can better control the direction of the pipeline.

[0131] Specifically, the lower fixing frame 51 is fixed next to the workstation, and a side panel is vertically arranged on the lower fixing frame 51, and the lower fixing plate 55 is fixed on the side panel. A quick-connect male connector 9 is arranged on the lower fixing plate 55, and a lower identification block 54 is arranged on one side of the quick-connect male connector 9. The lower identification block 54 is fixed to the lower fixing plate 55 by a spring, and a lower sensor switch 53 and a lower guide column are arranged on the lower fixing plate 55. The lower guide column is located in the spring, and one end of the lower guide column can pass through the lower identification block 54, which plays a guiding role when the lower identification block 54 moves. The lower sensor switch 53 abuts against the lower identification block 54, and when the injection pipe joint 7 is plugged into the quick-connect male connector 9 set on the lower fixing plate 55, the lower identification block 54 will be pressed, and the spring under the lower identification block 54 will be compressed. The lower sensor switch 53 detects the lower identification block 54, thereby judging that the injection pipe joint 7 is plugged into the lower pipe joint placement rack 5.

[0132] The upper pipe joint placement rack 6 and the lower pipe joint placement rack 5 of this embodiment are used to place and position the injection pipe joint 7, and the positioning function is achieved by relying on a mechanical structure and a sensor switch that matches the quick-connect female connector 8 arranged at one end of the injection pipe joint 7 and the quick-connect male connector 9 arranged on the upper pipe joint placement rack 6 and the lower pipe joint placement rack 5.

[0133] In this embodiment, an AGV transfer vehicle is also included for transferring the ton barrel 1 into or out of the workstation, and the AGV transfer vehicle is electrically connected to the control device.

[0134] In this embodiment, a weighing device is provided at each workstation, and the weighing device is electrically connected to the control device.

[0135] In this embodiment, the control device is a PLC control device.

[0136] As one of the preferred solutions of this embodiment, in each station of the ton barrel multi-station truss robot system, the pipe insertion process of the ton barrel is as follows:

[0137] The AGV forklift is controlled to deliver the ton barrel to the designated workstation. The control device detects whether there is a ton barrel at the workstation through a weighing device. If it is confirmed that there is a ton barrel, the transmission component on the gantry device is controlled to drive the manipulator to move above the ton barrel at the workstation.

[0138] Use the 3D camera 311 to take pictures and determine the position coordinates of the liquid injection pipe joint 7 on the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5.

[0139] After determining the position coordinates, the plug-in device 3 at the end of the manipulator 10 is controlled to clamp the injection pipe joint 7 at the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5 corresponding to the ton barrel interface; when clamping, the first clamping drive 34 drives the first clamping claw 35 to clamp the pipe joint extension positioning rod 75, the second clamping drive 37 drives the second clamping claw 38 to clamp the quick-connect connector female head 8, the fourth cylinder 36 drives to unlock the quick-connect connector male head 9 and the quick-connect connector female head 8, and the third cylinder 32 drives to remove the injection pipe joint 7 from the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5.

[0140] After the plugging and pulling device 3 takes out the liquid injection pipe joint 7, the conveying assembly 4 on the truss device 2 is controlled to drive the manipulator 10 to move to the ton barrel interface of the ton barrel 1.

[0141] Use 3D camera 311 to take pictures to detect whether the red hand valve on ton barrel 1 is in the open position. 3D camera 311 takes pictures to determine the position of the ton barrel interface of ton barrel 1. The spatial coordinates of the ton barrel interface relative to the manipulator 10 are calculated through software, and then sent to the corresponding spatial position of the manipulator 10 to determine the position coordinates.

[0142] The manipulator 10 is controlled to drive the plug-in device 3 to move to the specific position coordinates, and the third cylinder 32 of the plug-in device 3 is driven to descend so that the liquid injection pipe joint 7 is inserted into the ton barrel interface. The fourth cylinder 36 drives the circular ring of the quick-connect female head 8 of the liquid injection pipe joint 7 to return to its original position, and locks the quick-connect male head 9 inserted into the ton barrel 1. Then the third cylinder 32 is driven to retract and reverse the liquid injection pipe joint 7. If there is no signal from the cylinder return sensor, it proves that the liquid injection pipe joint 7 is inserted in place and is not loose. The first clamping drive 34 drives the first claw 35 to release the pipe joint extension positioning rod 75, and the second clamping drive 37 drives the second claw 38 to release the quick-connect female head 8. The manipulator 10 is controlled to drive the plug-in device 3 back to its original position; the insertion process of the ton barrel is completed.

[0143] As one of the preferred solutions of this embodiment, in each station of the ton barrel multi-station truss robot system, the pipe pulling process of the ton barrel is as follows:

[0144] The conveying assembly 4 on the control frame device 2 drives the manipulator 10 to move to the ton barrel interface of the ton barrel 1.

[0145] Use the 3D camera 311 to take pictures and determine the position of the liquid injection pipe joint 7 at the ton barrel interface of the ton barrel 1. Use software to calculate the spatial coordinates of the ton barrel interface relative to the manipulator 10, and then send them to the corresponding spatial position of the manipulator 10 to determine the position coordinates.

[0146] The manipulator 10 is controlled to drive the plug-in device 3 to move to a specific position coordinate, and the plug-in device 3 at the end of the manipulator 10 is controlled to clamp the liquid injection pipe joint 7 at the interface of the ton barrel; when clamping, the first clamping drive 34 drives the first clamping claw 35 to clamp the pipe joint extension positioning rod 75, the second clamping drive 37 drives the second clamping claw 38 to clamp the quick-connect connector female head 8, the fourth cylinder 36 drives to unlock the quick-connect connector male head 9 and the quick-connect connector female head 8, and the third cylinder 32 drives to remove the liquid injection pipe joint 7 from the ton barrel interface.

[0147] After the plugging and unplugging device 3 takes out the injection pipe joint 7, the conveying assembly 4 on the truss device 2 is controlled to drive the manipulator 10 to move to the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5 corresponding to the ton barrel interface. The 3D camera 311 is used to take pictures to determine the position coordinates of the quick-connect male connector 9 on the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5.

[0148] After determining the position coordinates, the manipulator 10 is controlled to drive the plug-in device 3 to move to the specific position coordinates, and the third cylinder 32 of the plug-in device 3 is driven to descend so that the liquid injection pipe joint 7 is inserted into the quick-connect male joint 9 on the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5. The fourth cylinder 36 drives the circular ring of the quick-connect female joint 8 of the liquid injection pipe joint 7 to return to its original position, and locks the quick-connect male joint 9 inserted into the upper pipe joint placement rack 6 or the lower pipe joint placement rack 5. Then the third cylinder 32 is driven to retract and reversely pull the liquid injection pipe joint 7. If there is no signal from the cylinder return sensor, it proves that the liquid injection pipe joint 7 is inserted in place and is not loose. The first clamping drive 34 drives the first clamping claw 35 to release the pipe joint extension positioning rod 75, and the second clamping drive 37 drives the second clamping claw 38 to release the quick-connect female joint 8. The manipulator 10 is controlled to drive the plug-in device 3 back to its original position; the pipe extraction process of the ton barrel is completed.

[0149] Control the AGV forklift to transfer the unpipe-pulled barrel out of the workstation.

[0150] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the scope of the present invention.

Claims

1. A multi-station truss robot system for ton barrels, characterized in that: It includes a truss device, a transmission component, a manipulator, a plug-in device, a positioning device and a control device, wherein: The conveying assembly is arranged on the truss device, and the manipulator is arranged on the conveying assembly; A plurality of workstations for placing ton barrels are provided along the conveying direction of the conveying assembly; The positioning device is used to identify and locate the injection pipe joint and the ton barrel interface; The plugging and pulling device is installed on a manipulator, and the manipulator drives the plugging and pulling device to be placed at the clamping position of the liquid injection pipe joint or the plugging and pulling position of the ton barrel interface. The plugging and pulling device is used to clamp the liquid injection pipe joint, and insert the liquid injection pipe joint into the ton barrel interface or pull it out from the ton barrel interface; The control device is electrically connected to the transmission component, the manipulator, the positioning device, and the plugging and unplugging device.

2. The ton barrel multi-station truss robot system according to claim 1, characterized in that: The manipulator is driven by the conveying assembly and can move in two directions along the X and Z axes; the conveying assembly includes an X-axis conveying unit and a Z-axis conveying unit, the manipulator is arranged on the Z-axis conveying unit, and the Z-axis conveying unit is arranged on the X-axis conveying unit, the X-axis conveying unit is used to drive the Z-axis conveying unit to move along the X axis, and the Z-axis conveying unit is used to drive the manipulator to move along the Z axis.

3. The ton barrel multi-station truss robot system according to claim 1, characterized in that: A female quick-connect connector is arranged at one end of the liquid injection pipe joint, and a male quick-connect connector is arranged on the ton barrel interface. The male quick-connect connector and the female quick-connect connector cooperate to form a quick-connect plug. A circular ring for unlocking or locking the quick-connect plug is arranged on the female quick-connect connector. The plug-in and pull-out device comprises: a first clamping part; a first clamping drive, driving the first clamping part to clamp the liquid injection pipe joint; a second clamping part; a second clamping drive, driving the second clamping part to clamp the circular ring on the female quick-connect connector; and a plug-in and pull-out drive, driving the first clamping part clamping the liquid injection pipe joint and the second clamping part clamping the circular ring to move as a whole along the plug-in and pull-out direction of the liquid injection pipe joint.

4. The ton barrel multi-station truss robot system according to claim 3, characterized in that: A first mounting plate is arranged at the driving end of the plug-in drive, a first clamping portion and an unlocking drive are arranged on the first mounting plate, a second mounting plate is arranged at the driving end of the unlocking drive, and a second clamping portion is arranged on the second mounting plate.

5. The ton barrel multi-station truss robot system according to claim 4, characterized in that: The first clamping drive includes a first double-output shaft motor arranged on a first mounting plate and two first moving blocks respectively arranged at two driving ends of the first double-output shaft motor; the first clamping part includes two first claws respectively fixed to the first moving block by first connecting rods and arranged opposite to each other.

6. The ton barrel multi-station truss robot system according to claim 4, characterized in that: The second clamping drive includes a second double-output shaft motor and two second moving blocks respectively arranged at two driving ends of the second double-output shaft motor; the second clamping part includes two second claws respectively fixed to the second moving blocks through second connecting rods and arranged oppositely.

7. The ton barrel multi-station truss robot system according to claim 1, characterized in that: Each workstation is equipped with a pipe joint placement rack for placing injection pipe joints; the pipe joint placement rack includes a fixing frame, a fixing plate, and a sensor module. The fixing plate is arranged on the fixing frame, and a male quick-connect connector is arranged on the fixing plate. The male quick-connect connector is adapted to the female quick-connect connector of the injection pipe joint. The sensor module is used to sense whether the male quick-connect connector on the fixing plate is connected to the female quick-connect connector.

8. The ton barrel multi-station truss robot system according to claim 1, characterized in that: The positioning device is a 3D camera arranged on a manipulator or an insertion and extraction device.

9. The ton barrel multi-station truss robot system according to claim 1, characterized in that: A weighing device is arranged on each workstation, and the weighing device is electrically connected to the control device.

10. The ton barrel multi-station truss robot system according to claim 1, characterized in that: It also includes an AGV transfer vehicle, which is electrically connected to the control device.

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