Intelligent rotary butt joint special-shaped self-locking connector structure

Abstract

The utility model discloses an intelligent rotary butt joint special-shaped self-locking joint structure, which relates to the technical field of robots, and comprises a robot tool quick-change male head and a movable workbench, the robot tool quick-change male head is arranged on one side of the front end of the movable workbench, and a workbench moving mechanism is arranged at the bottom of the movable workbench. A special-shaped self-locking connector male head is arranged on the other side of the front end of the movable workbench, and a gas-phase connector male head is arranged on the top of the movable workbench. The utility model provides an intelligent rotary butt-joint special-shaped self-locking joint structure which innovatively solves the problems that multiple tools of a robot are switched, multiple purposes are achieved through one machine, when a butt-joint male head has position deviation in a three-dimensional space, butt joint and separation of multiple types of joint male heads and joint female heads are difficult to achieve, and when the position of a robot quick-change mechanism fluctuates, the joint male head and the joint female head are difficult to achieve. Accurate positioning is difficult to achieve, and the problems of gas-phase joint and self-locking joint positioning accuracy, gas-phase joint female joint and self-locking joint female joint clamp design and the like are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an intelligent rotary docking special-shaped self-locking joint structure. Background Art

[0002] With the development of robotics technology, robots are moving towards a "modular" direction. The modularization of robots is to combine certain elements of robots to form a subsystem with specific functions, and then combine this subsystem as a universal module with other subsystems to form a complete robot, and even produce multiple different functions or the same function but different performance effects.

[0003] As a robot tool changing device, it can replace the tools used as needed while maintaining multiple tools for various operations, so as to give the robot the ability to switch between multiple tools and achieve multi-purpose capabilities. It can also solve the problem of position deviation of the docking male head in three-dimensional space, and still achieve the functionality of docking and separation of multiple types of male and female connectors.

[0004] Therefore, in view of this, the existing structural deficiencies are studied and improved, and an intelligent rotating docking special-shaped self-locking joint structure is proposed. Utility Model Content

[0005] The purpose of the utility model is to provide an intelligent rotary docking special-shaped self-locking joint structure to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: an intelligent rotating docking special-shaped self-locking joint structure, comprising a robot tool quick-change male head and a mobile workbench, the robot tool quick-change male head is arranged on one side of the front end of the mobile workbench, and a workbench moving mechanism is arranged at the bottom of the mobile workbench, a special-shaped self-locking joint male head is arranged on the other side of the front end of the mobile workbench, and a gas phase joint male head is arranged on the top of the mobile workbench.

[0007] Furthermore, a tool fixing bracket is provided on one side of the movable workbench, and a D camera end quick-change female head is provided on the top of the tool fixing bracket, a D camera and a quick-change tooling are provided on the top of the D camera end quick-change female head, and a D camera is provided at the front end of the D camera end quick-change female head.

[0008] Furthermore, a quick tool fixing cylinder is arranged on the top of the tool fixing bracket, and a gas phase joint and a quick change tool are arranged at the front end of the quick tool fixing cylinder, a gas phase female head telescopic cylinder is arranged at the bottom of the gas phase joint and the quick change tool, and a gas phase joint is arranged at the front end of the gas phase female head telescopic cylinder.

[0009] Furthermore, a special-shaped self-locking joint female head is arranged on one side of the gas phase joint, and a special-shaped self-locking joint quick-change female head is arranged on one side of the special-shaped self-locking joint female head, and a special-shaped self-locking joint female head and a quick-change tooling are arranged on the top of the special-shaped self-locking joint quick-change female head, and a pipe joint is arranged below the special-shaped self-locking joint female head and the quick-change tooling.

[0010] Furthermore, a robot fixing frame is arranged on the side of the tool fixing frame away from the movable workbench.

[0011] Furthermore, a robot is fixed on the top of the robot fixing frame, a six-dimensional force sensor is arranged between the robot six-axis flange and the robot tool quick-change male head, and a robot tool quick-change male head is arranged at the end of the robot.

[0012] Furthermore, a gas phase joint quick-change female head is provided on one side of the gas phase joint, and a special-shaped self-locking joint pipe bearing is provided on the other side of the gas phase joint.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The utility model solves the problems of switching between multiple tools of the robot and realizing multi-purpose use of one machine. When the male docking head has position deviation in three-dimensional space, it is difficult to dock and separate the male and female heads of multiple types of connectors. When the position of the robot's quick-change mechanism fluctuates, it is difficult to achieve precise positioning. The positioning accuracy of gas phase connectors and self-locking connectors, the design of gas phase connector female heads and self-locking connector female head fixtures, etc.

[0015] 2. The humanoid robot used in the utility model uses algorithms, deep learning and other methods, and takes advantage of the humanoid robot's strong adaptability and ability to operate in complex environments. It can autonomously identify the male and female head positions of special-shaped self-locking joints and complete their docking and separation. In addition, it is also compatible with multi-joint docking and separation programs. It has the advantages of simple mechanical structure, small size, high docking success rate, high positioning accuracy, strong compatibility, high flexibility, strong safety, and remote control. It uses a multi-functional drone plus a multi-joint actuator, and realizes the search of the aircraft for the target (special-shaped self-locking joint) through the guidance of the GPS positioning system and 2D vision, as well as the auxiliary positioning of 3D vision, accurately obtains the position of the male and female heads of the special-shaped self-locking joint, and adopts the original quick-change structure to achieve docking and separation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the overall axonometric diagram of the utility model;

[0017] Figure 2 It is a schematic side view of the utility model as a whole;

[0018] Figure 3 It is a schematic diagram of the overall top view of the utility model;

[0019] Figure 4 This is an axonometric diagram of the 3D camera and quick-change tooling of the utility model;

[0020] Figure 5 This is an axonometric diagram of the gas phase connector and quick-change tooling of the utility model;

[0021] Figure 6 It is an axonometric diagram of the special-shaped self-locking connector female head and quick-change tooling of the utility model.

[0022] In the figure: 1. Robot tool quick-change male head; 2. 3D camera end quick-change female head; 3. 3D camera and quick-change fixture; 4. Quick fixture fixing cylinder; 5. Gas phase connector and quick-change fixture; 6. Gas phase female head telescopic cylinder; 7. Gas phase connector; 8. Mobile workbench; 9. Workbench moving mechanism; 10. Special-shaped self-locking joint male head; 11. Tool fixing bracket; 12. Special-shaped self-locking joint female head; 13. Special-shaped self-locking joint quick-change female head; 14. Special-shaped self-locking joint female head and quick-change fixture; 15. 3D camera; 16. Robot fixing bracket; 17. Six-dimensional force sensor; 18. Robot; 19. Pipe joint; 20. Gas phase connector male head; 21. Gas phase connector quick-change female head; 22. Special-shaped self-locking joint pipe bearing. DETAILED DESCRIPTION

[0023] The following is a further detailed description of the implementation of the present utility model in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0024] like Figures 1 to 6As shown, an intelligent rotary docking special-shaped self-locking joint structure includes a robot tool quick-change male head 1 and a mobile workbench 8, the robot tool quick-change male head 1 is arranged on one side of the front end of the mobile workbench 8, and a workbench moving mechanism 9 is arranged at the bottom of the mobile workbench 8, a special-shaped self-locking joint male head 10 is arranged on the other side of the front end of the mobile workbench 8, and a gas phase joint male head 20 is arranged on the top of the mobile workbench 8, a tool fixing bracket 11 is arranged on one side of the mobile workbench 8, and a 3D camera end quick-change female head 2 is arranged on the top of the tool fixing bracket 11, and a 3D camera end quick-change female head 2 is arranged on the top of the 3D camera end quick-change female head 2 3D camera and quick-change tooling 3, and the front end of the quick-change female head 2 at the 3D camera end is provided with a 3D camera 15, a quick tooling fixing cylinder 4 is provided on the top of the tool fixing bracket 11, and a gas phase connector and quick-change tooling 5 are provided at the front end of the quick tooling fixing cylinder 4, which is compatible with multi-connector docking and separation procedures and has the advantages of simple mechanical structure, small size, high docking success rate, high positioning accuracy, strong compatibility, high flexibility, strong safety, and remote control, etc., a gas phase female head telescopic cylinder 6 is provided at the bottom of the gas phase connector and the quick-change tooling 5, and a gas phase connector 7 is provided at the front end of the gas phase female head telescopic cylinder 6, and a gas phase connector 7 is provided at the bottom of the gas phase connector and the quick-change tooling 5. A special-shaped self-locking joint female head 12 is arranged on one side of the joint 7, and a special-shaped self-locking joint quick-change female head 13 is arranged on one side of the special-shaped self-locking joint female head 12, and a special-shaped self-locking joint female head and a quick-change tooling 14 are arranged on the top of the special-shaped self-locking joint quick-change female head 13, and a pipe joint 19 is arranged below the special-shaped self-locking joint female head and the quick-change tooling 14, a robot fixing frame 16 is arranged on the side of the tool fixing bracket 11 away from the movable workbench 8, a robot 18 is fixed on the top of the robot fixing frame 16, and a six-dimensional force sensor is arranged between the six-axis flange of the robot 18 and the robot tool quick-change male head 1 The sensor 17 is provided, and a robot tool quick-change male head 1 is provided at the end of the robot 18, a gas phase connector quick-change female head 21 is provided on one side of the gas phase connector 7, and a special-shaped self-locking connector pipe bearing 22 is provided on the other side of the gas phase connector 7, which solves the problem of switching multiple tools of the robot 18 and realizing multiple uses of one machine. When the docking male head has a position deviation in the three-dimensional space, it is difficult to realize the docking and separation of multiple types of male and female connectors. When the position of the quick-change mechanism of the robot 18 fluctuates, it is difficult to achieve precise positioning, gas phase connector, self-locking connector positioning accuracy problems, gas phase connector female head, self-locking connector female head fixture design and other problems.

[0025] Working principle: When using this intelligent rotary docking special-shaped self-locking joint structure, place the 3D camera and quick-change tooling 3, the gas phase joint and quick-change tooling 5, the special-shaped self-locking joint female head and the quick-change tooling 14 on the tool fixing bracket 11.

[0026] Step 1: The robot 18 switches the tool to a 3D camera and a quick-change tool 3, and takes pictures of the special-shaped self-locking connector male head 10 and the gas phase connector male head 20 on the mobile workbench 8 to obtain their positions in space;

[0027] Step 2: Perform motion position compensation on the obtained offset;

[0028] Step 3: The robot 18 switches the tool to the special-shaped self-locking connector female head and the quick-change tool 14, and performs precise positioning according to the offset of the camera;

[0029] Step 4: While the robot 18 rotates to screw the female head in, it obtains the data of the six-dimensional force sensor 17 in real time to compensate for the angle and torque, so as to realize the locking function of the male and female heads of the special-shaped connector;

[0030] Step 5: The robot 18 switches the tool to the gas phase connector and the quick-change tool 5, and docks the male and female heads of the gas phase connector after accurate positioning according to the offset of the camera;

[0031] Step 6: After the two joints are docked, the robot 18 returns to the safety position and waits for the joint separation command;

[0032] Step 7: After receiving the joint separation instruction, the robot 18 switches the tool to the 3D camera and the quick-change tool 3, takes pictures of the special-shaped self-locking joint female head and the front of the quick-change tool 14 and the gas phase joint and the front of the quick-change tool 5, and obtains the offset to perform motion position compensation;

[0033] Step 8: The robot 18 moves to the position of the special-shaped self-locking joint female head and the quick-change tooling 14, separates the special-shaped self-locking joint, and obtains the data of the six-dimensional force sensor 17 in real time to compensate for the angle and torque to avoid errors so that the male and female heads of the special-shaped self-locking quick joint can be separated smoothly, and the special-shaped self-locking joint female head and the quick-change tooling 14 are returned to the initial test position;

[0034] Step nine: the robot 18 moves to the gas phase connector and the quick-change fixture position 5, separates the gas phase connector, and puts the gas phase connector and the quick-change fixture 5 back to the initial position.

[0035] 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. An intelligent rotating docking special-shaped self-locking joint structure, characterized in that: The invention comprises a robot tool quick-change male head (1) and a mobile workbench (8), wherein the robot tool quick-change male head (1) is arranged at one side of the front end of the mobile workbench (8), and a workbench moving mechanism (9) is arranged at the bottom of the mobile workbench (8), a special-shaped self-locking joint male head (10) is arranged at the other side of the front end of the mobile workbench (8), and a gas phase joint male head (20) is arranged at the top of the mobile workbench (8), a tool fixing bracket (11) is arranged at one side of the mobile workbench (8), and a 3D camera end quick-change female head (2) is arranged at the top of the tool fixing bracket (11), a 3D camera and a quick-change tool (3) are arranged at the top of the 3D camera end quick-change female head (2), and a 3D camera (15) is arranged at the front end of the 3D camera end quick-change female head (2), a quick tool fixing cylinder (4) is arranged at the top of the tool fixing bracket (11), and a gas phase joint and a quick-change tool (5) are arranged at the front end of the quick tool fixing cylinder (4), and the gas phase joint and a quick-change tool (5) are arranged at the front end of the gas phase joint A gas phase female head telescopic cylinder (6) is arranged at the bottom of the head and quick-change tooling (5), and a gas phase joint (7) is arranged at the front end of the gas phase female head telescopic cylinder (6), and a special-shaped self-locking joint female head (12) is arranged on one side of the gas phase joint (7), and a special-shaped self-locking joint quick-change female head (13) is arranged on one side of the special-shaped self-locking joint female head (12), and a special-shaped self-locking joint quick-change female head (13) is arranged on the top of the special-shaped self-locking joint quick-change female head (13), and the special-shaped self-locking joint quick-change female head (14) is arranged. A pipe joint (19) is arranged below the head female head and the quick-change tooling (14); a robot fixing frame (16) is arranged on the side of the tool fixing bracket (11) facing away from the movable workbench (8); a robot (18) is fixed on the top of the robot fixing frame (16); a six-dimensional force sensor (17) is arranged between the six-axis flange of the robot (18) and the robot tool quick-change male head (1); and a robot tool quick-change male head (1) is arranged at the end of the robot (18).

2. According to claim 1, the intelligent rotating docking special-shaped self-locking joint structure is characterized in that: A gas phase joint quick-change female head (21) is provided on one side of the gas phase joint (7), and a special-shaped self-locking joint pipe bearing (22) is provided on the other side of the gas phase joint (7).

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