Equipment for intelligent rotary butt joint of special-shaped self-locking connector

Abstract

The utility model discloses an intelligent rotary butt joint equipment of special-shaped self-locking joint relates to self-locking joint technical field, including robot hoisting platform and special-shaped self-locking joint, the both sides of robot hoisting platform bottom are provided with truss, and the bottom of truss is equipped with fixed mount, and the fixed mount is equipped with the special-shaped self-locking joint. A quick-change tool fixing end is arranged in the fixing frame, the special-shaped self-locking connector is arranged in a truss bottom quick-change tool, a special-shaped self-locking connector male head is arranged on the outer surface of the top of the bottom testing table, and a quick-change tool is installed at the bottom of the quick-change tool fixing end. According to the equipment for intelligent rotary butt joint of the special-shaped self-locking connector, the problems of automatic tightening and separation of the special-shaped self-locking connector, tightening speed, tightening in-place judgment, random direction deviation of the quick change position of a female head after tightening and connector positioning precision are solved, the posture can be adjusted through five-axis wrist swing of a robot in the connector inserting and pulling process, and the positioning precision of the connector is improved. And the situation that the visually given coordinates are inaccurate after the special-shaped self-locking butt joint offset is large is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of self-locking joints, in particular to a device for intelligently rotating and docking special-shaped self-locking joints. Background Art

[0002] We often see pipe joints on pipe fittings everywhere in our daily life. For this kind of product, we need to install it effectively to ensure that it can play its role better. For example, the special-shaped self-locking joints in the joints, the special-shaped self-locking joints rotate the docking equipment to assist the connection when docking.

[0003] Currently, manual operations are used without any automated applications. Manual operations are inefficient and dangerous.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and a device for intelligent rotating docking special-shaped self-locking joints is proposed. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a device for intelligently rotating and docking special-shaped self-locking joints, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above objectives, the utility model is implemented through the following technical solutions: a device for intelligently rotating and docking special-shaped self-locking joints, comprising a robot lifting platform and a special-shaped self-locking joint, trusses are arranged on both sides of the bottom of the robot lifting platform, and a fixed frame is installed at the bottom of the truss, a quick-change tool fixed end is arranged inside the fixed frame, the special-shaped self-locking joint is arranged on one side of the bottom of the truss, a quick-change tool fixed end is arranged on one side of the robot lifting platform, and a quick-change tool is installed at the bottom of the quick-change tool fixed end, a robot is arranged on the side of the robot lifting platform away from the quick-change tool, and a six-dimensional force sensor is installed at the end of the robot, a robot-end quick-change male head is arranged at the bottom of the six-dimensional force sensor, a bottom test bench is arranged below the robot-end quick-change male head, and a special-shaped self-locking joint male head is arranged on the top outer surface of the bottom test bench, and a pipeline interface is arranged at the upper end of the special-shaped self-locking joint.

[0007] Furthermore, a lifting platform support frame is provided on the outer surface of one side of the robot lifting platform, and a pipe fixing frame is installed on the outer surface of one side of the lifting platform support frame.

[0008] Furthermore, the length of the pipeline fixing frame is greater than the length of the lifting platform supporting frame, and the lifting platform supporting frame is an "L"-shaped structure.

[0009] Furthermore, the hoisting platform support frame is a partially hollow structure, and an electrical cabinet is provided on a side of the hoisting platform support frame away from the bottom test bench.

[0010] Furthermore, on one side of the bottom test bench, there are two side-mounted positions for special-shaped self-locking male connectors.

[0011] Furthermore, at the bottom of the bottom test bench, there are four test bench moving mechanisms.

[0012] Furthermore, there are three sets of trusses, and the structures of the three sets of trusses are exactly the same.

[0013] Furthermore, the truss is in a "day" - shaped structure, and the truss and the fixing frame form a fixed structure through screws.

[0014] Furthermore, the pipe fixing frame and the hoisting platform support frame are distributed in a cross shape, and the width of the pipe fixing frame is smaller than the width of the robot hoisting platform.

[0015] Furthermore, the quick-change tool is a gas-phase joint quick-change tool, a camera quick-change tool, or a special-shaped self-locking joint quick-change tool.

[0016] The utility model provides a device for intelligently rotating and docking special-shaped self-locking joints, which has the following beneficial effects:

[0017] 1. This device for intelligently rotating and docking special-shaped self-locking joints solves the problems of automatic tightening and separation of special-shaped self-locking joints, tightening speed, tightening judgment, random direction offset of the quick-change position of the female head after tightening, and joint positioning accuracy. During the process of joint insertion and extraction, the robot's five-axis wrist can swing to adjust the posture, avoiding inaccurate coordinates given by vision when the object deviates greatly.

[0018] 2. This device for intelligently rotating and docking special-shaped self-locking joints enables the humanoid robot to autonomously identify the positions of the male and female heads of the special-shaped self-locking joints and complete their docking and separation through algorithms, deep learning, etc., by leveraging the advantages of strong adaptability and the ability to operate in complex environments of the humanoid robot.

[0019] 3. This device for intelligently rotating and docking special-shaped self-locking joints can search for the target (special-shaped self-locking joint) through the guidance of the GPS positioning system and 2D vision, and use 3D vision for auxiliary positioning to accurately obtain the positions of the male and female heads of the special-shaped self-locking joint, and adopt the original quick-change structure to achieve docking and separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an isometric structural view of a device for intelligently rotating and docking special-shaped self-locking joints of the utility model;

[0021] Figure 2 It is a side view structural view of a device for intelligently rotating and docking special-shaped self-locking joints of the utility model;

[0022] Figure 3 It is a front view structural schematic diagram of a device for intelligently rotating and docking special-shaped self-locking joints of the utility model;

[0023] Figure 4 This is a schematic diagram of the top view of a device for intelligently rotating and docking special-shaped self-locking joints of the utility model;

[0024] Figure 5 The utility model is a schematic diagram of a partial connection structure of a robot hoisting platform of a device for intelligently rotating and docking special-shaped self-locking joints, viewed from above.

[0025] In the figure: 1. Robot lifting platform; 2. Quick-change tool; 3. Quick-change male head at the robot end; 4. Fixed end of quick-change tool; 5. Special-shaped self-locking joint; 6. Special-shaped self-locking joint male head; 7. Side mounting position of special-shaped self-locking male head; 8. Bottom test bench; 9. Test bench moving mechanism; 10. Electrical cabinet; 11. Lifting platform support frame; 12. Pipe fixing frame; 13. Pipe interface; 14. Robot; 15. Six-dimensional force sensor; 16. Truss; 17. Fixing frame. DETAILED DESCRIPTION

[0026] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0027] like Figure 1-Figure 5As shown in the figure, the present utility model provides a technical solution: a device for an intelligent rotary docking special-shaped self-locking joint, including a robot hoisting platform 1, a quick-change tool 2, a robot-end quick-change male head 3, a quick-change tool fixed end 4, a special-shaped self-locking joint 5, a special-shaped self-locking joint male head 6, a side mounting position for the special-shaped self-locking male head 7, a bottom test bench 8, a test bench moving mechanism 9, an electrical cabinet 10, a hoisting platform support frame 11, a pipe fixing frame 12, a pipe interface 13, a robot 14, a six-axis force sensor 15, a truss 16, and a fixing frame 17. Trusses 16 are provided on both sides of the bottom of the robot hoisting platform 1, and a fixing frame 17 is installed at the bottom of the truss 16. There are three groups of trusses 16, and the structures of the three groups of trusses 16 are exactly the same. The truss 16 is in a "day" - shaped structure, and the truss 16 and the fixing frame 17 form a fixed structure through screws. Two groups of trusses 16 are symmetrically distributed about the longitudinal central axis of the robot hoisting platform 1, and the other group of trusses 16 coincides with the longitudinal central axis of the robot hoisting platform 1. A hoisting platform support frame 11 is provided on the outer surface of one side of the robot hoisting platform 1, and a pipe fixing frame 12 is installed on the outer surface of one side of the hoisting platform support frame 11. The pipe fixing frame 12 and the hoisting platform support frame 11 are distributed in a cross shape, and the width of the pipe fixing frame 12 is less than the width of the robot hoisting platform 1. The hoisting platform support frame 11 is in a partially hollow structure, and an electrical cabinet 10 is provided on the outer side of the hoisting platform support frame 11 away from the bottom test bench 8. The length of the pipe fixing frame 12 is greater than the length of the hoisting platform support frame 11, and the hoisting platform support frame 11 is in an "L" - shaped structure. The quick-change tool fixed end 4 is arranged inside the fixing frame 17. The special-shaped self-locking joint 5 is arranged on one side of the bottom of the truss 16. The quick-change tool fixed end 4 is arranged on one side of the robot hoisting platform 1, and a quick-change tool 2 is installed at the bottom of the quick-change tool fixed end 4. A robot 14 is arranged on the side of the robot hoisting platform 1 away from the quick-change tool 2, and a six-axis force sensor 15 is installed at the end of the robot 14. A pipe interface 13 is arranged at the upper end of the special-shaped self-locking joint 5. The special-shaped self-locking joint 5 is placed at the fixed position of the truss 16. The robot 14 switches the tool to a camera quick-change tool, takes pictures of two special-shaped self-locking joint male heads 6 on the moving trolley, obtains the offset amount for motion position compensation. The robot 14 switches the tool to a special-shaped self-locking joint quick-change tool, and performs precise positioning according to the offset amount of the quick-change tool 2.

[0028] As Figure 1-Figure 4As shown, a robot-end quick-change male head 3 is provided at the bottom of the six-dimensional force sensor 15, a bottom test bench 8 is provided below the robot-end quick-change male head 3, and a special-shaped self-locking joint male head 6 is provided on the top outer surface of the bottom test bench 8, and a special-shaped self-locking male head side mounting position 7 is installed on one side of the bottom test bench 8, and two groups of special-shaped self-locking male head side mounting positions 7 are provided, and a test bench moving mechanism 9 is provided at the bottom of the bottom test bench 8, and four test bench moving mechanisms 9 are provided. While the robot 14 rotates to screw the female head in, the data of the six-dimensional force sensor 15 is obtained in real time to compensate for the angle and torque to realize the locking function of the male and female heads of the special-shaped joint. After the docking is completed, the robot 14 returns to the safe position to wait for the joint separation instruction. After receiving the instruction, the robot 14 switches the tool to the camera quick-change tool, takes a picture above the special-shaped joint female head, and obtains the offset for motion position compensation. The robot 14 moves to the female quick-change position, separates the special-shaped self-locking joint, and obtains the data of the six-dimensional force sensor 15 in real time to compensate for the angle and torque, so that the male and female heads of the special-shaped self-locking quick joint can be separated smoothly.

[0029] In summary, if Figure 1-Figure 5 As shown, the device for intelligently rotating and docking special-shaped self-locking joints, when in use, the special-shaped self-locking joint 5 is placed in a fixed position on the truss 16, the robot 14 switches the tool to a camera quick-change tool, takes pictures of the special-shaped joint and the gas phase quick-change joint on the mobile cart, obtains the offset for motion position compensation, the robot 14 switches the tool to a special-shaped self-locking joint quick-change tool, and performs precise positioning according to the offset of the quick-change tool 2. While the robot 14 rotates to screw in the female head, it obtains the data of the six-dimensional force sensor 15 in real time to compensate for the angle and torque to realize the locking function of the male and female heads of the special-shaped joint. After the docking is completed, the robot 14 returns to the safe position and waits for the joint separation instruction. After receiving the instruction, the robot 14 switches the tool to a camera quick-change tool, takes pictures above the female head of the special-shaped joint, and obtains the offset for motion position compensation. The robot 14 moves to the special-shaped self-locking joint quick-change tool, separates the special-shaped self-locking joint, and obtains the data of the six-dimensional force sensor 15 in real time to compensate for the angle and torque, so that the male and female heads of the special-shaped self-locking quick joint can be separated smoothly. Finally, the robot 14 puts the robot-end quick-change male head 3 into the initial position of the special-shaped self-locking docking female head.

[0030] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A device for intelligently rotating and docking special-shaped self-locking joints, comprising a robot hoisting platform (1) and a special-shaped self-locking joint (5), characterized in that: On both sides of the bottom of the robot hoisting platform (1), trusses (16) are provided, and a fixing frame (17) is installed at the bottom of the truss (16). Inside the fixing frame (17), a quick-change tool fixed end (4) is provided. The special-shaped self-locking joint (5) is arranged on one side of the bottom of the truss (16). On one side of the robot hoisting platform (1), a quick-change tool fixed end (4) is provided, and a quick-change tool (2) is installed at the bottom of the quick-change tool fixed end (4). On the side of the robot hoisting platform (1) away from the quick-change tool (2), a robot (14) is provided, and a six-axis force sensor (15) is installed at the end of the robot (14). At the bottom of the six-axis force sensor (15), a robot-side quick-change male head (3) is provided. Below the robot-side quick-change male head (3), a bottom test bench (8) is provided, and a special-shaped self-locking joint male head (6) is arranged on the outer surface of the top of the bottom test bench (8). At the upper end of the special-shaped self-locking joint (5), a pipe interface (13) is provided.

2. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 1 is characterized in that: On the outer surface of one side of the robot hoisting platform (1), a hoisting platform support frame (11) is provided, and a pipe fixing frame (12) is installed on the outer surface of one side of the hoisting platform support frame (11).

3. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 2 is characterized in that: The length of the pipe fixing frame (12) is greater than the length of the hoisting platform support frame (11), and the hoisting platform support frame (11) is in an "L" shape structure.

4. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 2 is characterized in that: The hoisting platform support frame (11) is in a partially hollow structure, and an electrical cabinet (10) is arranged on the side of the hoisting platform support frame (11) away from the bottom test bench (8).

5. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 1 is characterized in that: On one side of the bottom test bench (8), a special-shaped self-locking male head side mounting position (7) is installed, and there are two groups of the special-shaped self-locking male head side mounting positions (7).

6. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 1 is characterized in that: At the bottom of the bottom test bench (8), a test bench moving mechanism (9) is provided, and there are four test bench moving mechanisms (9).

7. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 1 is characterized in that: There are three groups of the trusses (16), and the structures of the three groups of the trusses (16) are exactly the same.

8. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 1 is characterized in that: The truss (16) is in a "day" shape structure, and the truss (16) and the fixing frame (17) form a fixed structure through screws.

9. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 2 is characterized in that: The pipe fixing frame (12) and the hoisting platform support frame (11) are distributed in a cross shape, and the width of the pipe fixing frame (12) is less than the width of the robot hoisting platform (1).

10. The device for intelligent rotary docking of special-shaped self-locking joints according to claim 1 is characterized in that: The quick-change tool (2) is a gas-phase joint quick-change tool, a camera quick-change tool or a special-shaped self-locking joint quick-change tool.

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