Robot automatic oil taking docking mechanism

Abstract

The utility model relates to an automatic oil-taking docking mechanism for a robot, which at least solves the problem that the existing transformer oil sample collecting robot cannot be effectively and automatically docked, and comprises a female joint module and a male joint module, a primary positioning module, a primary butt joint structure, a primary butt joint self-locking structure, a high-precision positioning structure and a complete butt joint structure are arranged between the female joint module and the male joint module; when the female joint module and the male joint module are in butt joint, primary positioning is completed through the primary positioning module, primary butt joint is completed through the primary butt joint structure, primary butt joint self-locking is completed through the primary butt joint self-locking structure, and high-precision positioning is completed through the high-precision positioning structure. And complete butt joint is completed through the complete butt joint structure.

Description

Technical Field

[0001] The present application relates to the technical field of oil extraction robots, and in particular to an automatic oil extraction docking mechanism for a robot. Background Art

[0002] Insulating oil chromatography detection technology can effectively detect and diagnose whether abnormal faults such as discharge and overheating occur inside oil-filled equipment. Transformers and oil-immersed reactors are large oil-filled equipment. If they fail inside, there is a certain risk of explosion. If manual offline oil sampling is carried out on site at this time, there is a high-risk operation risk, which seriously endangers the personal safety of operators.

[0003] The operators collect oil samples through syringes, exposing the oil samples to the air, causing oil sample contamination. This makes the test results unable to fully reflect the true situation of the transformer. At the same time, the manual oil pressure collection is unstable, resulting in inaccurate gas content in the oil sample, causing the test data to be unable to accurately reflect the situation of the transformer station.

[0004] Existing automatic oil extraction robots are usually manually connected to oil sampling piles and other oil sample temporary storage equipment or transformers, and automatic connection cannot be effectively achieved. Summary of the invention

[0005] The present application provides a robot automatic oil sampling docking mechanism to at least solve the problem that the existing transformer oil sampling robot cannot effectively and automatically dock.

[0006] In order to achieve the above-mentioned purpose, the present application provides a robot automatic oil extraction docking mechanism, including a female joint module and a male joint module, and a preliminary positioning module, a primary docking structure, a primary docking self-locking structure, a high-precision positioning structure, and a complete docking structure are provided between the female joint module and the male joint module. When the female joint module and the male joint module are docked, the preliminary positioning is completed by the preliminary positioning module, the primary docking is completed by the primary docking structure, the primary docking self-locking is completed by the primary docking self-locking structure, the high-precision positioning is completed by the high-precision positioning structure, and the complete docking is completed by the complete docking structure.

[0007] Preferably, the preliminary positioning includes an identification code provided on the female connector module and a depth camera provided on the male connector module, and the identification code is recognized by the depth camera to complete the preliminary positioning of the female connector module and the male connector module.

[0008] Preferably, the identification code is a QR code.

[0009] Preferably, the initial docking structure is provided with a preliminary positioning pin on the male connector module, and the female connector module includes a docking correction ring and a preliminary docking photoelectric sensor. The initial docking is completed when the preliminary positioning pin is inserted into the docking correction ring and the preliminary docking photoelectric sensor senses the preliminary positioning pin.

[0010] Preferably, the male connector module includes a correction docking plate, and the end faces of the correction docking plate and the docking correction ring are both provided with docking planes. After the male connector module and the female connector module are docked, the docking planes of the correction docking plate and the docking correction ring are tightly fitted.

[0011] Preferably, a 3D floating structure is provided on the mechanical arm of the robot, which is conducive to the docking of the correction docking plate and the docking correction ring.

[0012] Preferably, the female connector module is also provided with a correction hole.

[0013] Preferably, the initial docking self-locking structure includes an in-place positioning bead provided on the male connector module, and the female connector module includes a rotation-in-place photoelectric on the robot's mechanical arm. After the initial docking is completed, the mechanical arm rotates until the rotation-in-place photoelectric senses the preliminary positioning pin and the in-place positioning bead hole, and the initial docking horizontal and rotational self-locking is completed.

[0014] Preferably, the high-precision positioning structure includes a motor, a trapezoidal screw, and a positioning pin hole of the male connector module, and the female connector module includes a positioning pin. After the initial horizontal docking and rotational self-locking are completed, the motor is started, the trapezoidal screw moves horizontally toward the female connector module, and the positioning pin is inserted into the positioning pin hole to complete high-precision positioning.

[0015] Preferably, the fully docking structure includes a male connector, a male connector approaching photoelectric device, and a male connector fixing plate arranged on the male connector module, and the female connector module is provided with a female connector approaching photoelectric device, a female connector, and a female connector floating plate. After the female connector approaching photoelectric device senses the male connector fixing plate and the male connector approaching photoelectric device senses the female connector floating plate, the motor stops and the male connector and the female connector are fully docked.

[0016] According to the above content, the beneficial effects of this application are:

[0017] The automatic oil extraction docking mechanism of the robot in the present application is equipped with a male docking module and a female docking module, and the docking joint at the end of the robotic arm completes pressurized and sealed docking with the docking joint of the oil extraction pile or the transformer station, thereby ensuring the reliability of the oil sample. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0019] Figure 1 It is a schematic diagram of the overall scheme of this application;

[0020] Figure 2 This is a partial illustration of this application Figure 1 ;

[0021] Figure 3 This is a partial illustration of this application Figure 2 ;

[0022] Figure 4 It is a cross-sectional view of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0024] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0025] Unless otherwise defined, the technical terms or scientific terms used in this application shall have the common meanings understood by persons with ordinary skills in the technical field to which this application belongs. The words "a", "an", "a", "the" and the like used in this application do not indicate quantity restrictions and may indicate the singular or plural. The terms "include", "comprising", "having" and any variations thereof involved in the present application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connected", "connected", "coupled" and the like involved in the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in the present application means greater than or equal to two. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships. For example, "A and / or B" may represent: A exists alone, A and B exist at the same time, and B exists alone. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0026] The present embodiment provides a robot automatic oil extraction docking mechanism. The present application provides a robot automatic oil extraction docking mechanism, including a female connector module 1, a male connector module 2 and a robot arm 3. The male connector module 2 is arranged at the front end of the robot arm 3, and the female connector module 1 is arranged on the oil extraction temporary storage device. The male connector module 2 and the female connector module 1 are driven by the movement of the robot arm 3 to complete automatic docking. The robot arm is provided with an oil pipe 211 passing through the male connector module 2.

[0027] Among them, a preliminary positioning module, a primary docking structure, a primary docking self-locking structure, a high-precision positioning structure, and a complete docking structure are provided between the female connector module 1 and the male connector module 2. When the female connector module 1 and the male connector module 2 are docked, the preliminary positioning is completed by the preliminary positioning module, the primary docking is completed by the primary docking structure, the primary docking self-locking is completed by the primary docking self-locking structure, the high-precision positioning is completed by the high-precision positioning structure, and the complete docking is completed by the complete docking structure.

[0028] Specifically, the preliminary positioning includes an identification code 110 provided on the female connector module 1 and a depth camera 207 provided on the male connector module 2. The depth camera 207 recognizes the identification code 110 to complete the preliminary positioning of the female connector module 1 and the male connector module 2. Preferably, the identification code 110 is a QR code, and a fill light 206 is provided on the robotic arm 3 to provide illumination at night or when the light is dim, to assist the depth camera 207 in recognizing the QR code on the oil extraction pile, to complete the docking, and to ensure all-weather docking.

[0029] The initial docking structure is provided with a preliminary positioning pin 203 on the male connector module 2, and the female connector module 1 includes a docking correction ring 104 and a primary docking photoelectric 102. The initial docking is completed when the preliminary positioning pin 203 is inserted into the docking correction ring 104 and the primary docking photoelectric 102 senses the preliminary positioning pin 203. The docking correction ring 104 is provided with a correction hole 108.

[0030] The male connector module 2 includes a correction docking plate 209, and the end faces of the correction docking plate 209 and the docking correction ring 104 are both provided with docking planes. After the male connector module 2 and the female connector module 1 are docked, the correction docking plate 209 and the docking planes of the docking correction ring 104 fit tightly.

[0031] The robot arm 3 is provided with a 3D floating structure 208 which is conducive to the docking of the correction docking plate 209 and the docking correction ring 104 .

[0032] The initial docking self-locking structure includes an in-place positioning bead 205 arranged on the male connector module 2, and the female connector module includes a rotation-in-place photoelectric 103 on the robot's mechanical arm 3. After the initial docking is completed, the mechanical arm 3 rotates until the rotation-in-place photoelectric 103 senses the preliminary positioning pin 203 and the in-place positioning bead 205 hole, and the initial docking horizontal and rotational self-locking is completed.

[0033] The high-precision positioning structure includes a motor 212, a trapezoidal screw 213, a synchronous pulley 210, and a positioning pin hole 202 arranged on the male connector module 2, and the female connector module 1 includes a positioning pin 107. After the initial docking horizontal and rotational self-locking are completed, the motor 212 is started, the trapezoidal screw 213 moves horizontally toward the female connector module, and the positioning pin 107 is inserted into the positioning pin hole 202 to complete high-precision positioning.

[0034] The fully docking structure includes a male connector 201, a male connector approaching photoelectric device 204, and a male connector fixing plate 214 arranged on the male connector module 2; the female connector module is provided with a female connector approaching photoelectric device 105, a female connector 106, a female connector floating plate 109, and a floating fixing member 101; after the female connector approaching photoelectric device 105 senses the male connector fixing plate 214 and the male connector approaching photoelectric device 204 senses the female connector floating plate 109, the motor 212 stops, and the male connector 201 and the female connector 106 are fully docked.

[0035] The automatic docking principle of the present invention:

[0036] The depth camera 207 on the robotic arm 3 completes the preliminary positioning of the male docking module on the robotic arm and the female connector module 1 on the oil extraction and temporary storage device or the transformer station by identifying the QR code on the female connector module 1 of the oil extraction and temporary storage device. Multiple preliminary positioning pins 203 are inserted into the corresponding correction holes 108 of the docking correction ring 104. When the initial docking photoelectric 102 senses at least one preliminary positioning pin 203, the initial docking is completed.

[0037] In order to ensure the parallelism of the two parts, the correction docking plate 209 and the docking correction ring 104, and to ensure that the two parts are closely fitted, a 3D floating structure 208 is designed.

[0038] After the initial docking is completed, the robot arm 3 rotates 30 degrees, and rotates to the position where the photoelectric 103 senses at least one preliminary positioning pin 203, and at the same time, it is in the position of the positioning bead 205 hole, and the initial docking level and rotation self-locking are completed, the motor 212 starts to start, and the trapezoidal screw 213 starts to move horizontally toward the female docking module on the oil temporary storage device or the transformer station, and the positioning pin 107 is inserted into the positioning pin hole 202 to complete high-precision positioning. When the female connector approaches the photoelectric 105 and senses the male connector fixing plate 214, and the male connector approaches the photoelectric 204 and senses the female connector floating plate 109, after the two photoelectric senses at the same time, the motor 212 stops, which ensures that the male connector 201 and the female connector 106 are fully docked, and oil production work can be carried out, such as Figure 4 As shown, in order to ensure the docking pressure and sealing, a trapezoidal screw is selected, which has self-locking properties, ensuring the reliability of docking after the motor is powered off. After the oil is taken out, the motor 212 flips and performs the actions in reverse order to complete the separation of the automatic docking module.

[0039] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A robot automatic oil extraction docking mechanism, comprising a female connector module (1) and a male connector module (2), characterized in that: A preliminary positioning module, a primary docking structure, a primary docking self-locking structure, a high-precision positioning structure, and a complete docking structure are provided between the female connector module (1) and the male connector module (2). When the female connector module (1) and the male connector module (2) are docked, preliminary positioning is completed by the preliminary positioning module, primary docking is completed by the primary docking structure, primary docking self-locking is completed by the primary docking self-locking structure, high-precision positioning is completed by the high-precision positioning structure, and complete docking is completed by the complete docking structure.

2. The robot automatic oil extraction docking mechanism according to claim 1, characterized in that: The preliminary positioning includes an identification code (110) provided on the female connector module (1) and a depth camera (207) provided on the male connector module (2), and the depth camera (207) recognizes the identification code (110) to complete the preliminary positioning of the female connector module (1) and the male connector module (2).

3. The robot automatic oil extraction docking mechanism according to claim 2, characterized in that: The identification code (110) is a two-dimensional code.

4. The robot automatic oil extraction docking mechanism according to claim 1, characterized in that: The initial docking structure is provided with a preliminary positioning pin (203) on the male connector module (2), and the female connector module (1) comprises a docking correction ring (104) and a preliminary docking photoelectric sensor (102). The preliminary docking is completed when the preliminary positioning pin (203) is inserted into the docking correction ring (104) and the preliminary docking photoelectric sensor (102) senses the preliminary positioning pin (203).

5. The robot automatic oil extraction docking mechanism according to claim 4, characterized in that: The male connector module (2) comprises a correction docking plate (209), and the end faces of the correction docking plate (209) and the docking correction ring (104) are both provided with docking planes. After the male connector module (2) and the female connector module (1) are docked, the docking planes of the correction docking plate (209) and the docking correction ring (104) are tightly fitted.

6. The robot automatic oil extraction docking mechanism according to claim 4, characterized in that: The robot arm (3) is provided with a 3D floating structure (208) which is conducive to the docking of the correction docking plate (209) and the docking correction ring (104).

7. The robot automatic oil extraction docking mechanism according to claim 4, characterized in that: The female connector module (1) is also provided with a correction hole (108).

8. The robot automatic oil extraction docking mechanism according to claim 4, characterized in that: The initial docking self-locking structure includes a positioning bead (205) arranged on the male connector module (2), and the female connector module includes a rotation-in-place photoelectric device (103) on the robot's mechanical arm (3). After the initial docking is completed, the mechanical arm (3) rotates until the rotation-in-place photoelectric device (103) senses the initial positioning pin (203) and the positioning bead (205) hole, and the initial docking horizontal and rotational self-locking is completed.

9. The robot automatic oil extraction docking mechanism according to claim 8, characterized in that: The high-precision positioning structure includes a motor (212), a trapezoidal screw (213), and a positioning pin hole (202) of the male connector module (2); the female connector module (1) includes a positioning pin (107); after the initial docking horizontal and rotational self-locking is completed, the motor (212) is started, the trapezoidal screw (213) moves horizontally toward the female connector module, and the positioning pin (107) is inserted into the positioning pin hole (202), thereby completing high-precision positioning.

10. The robot automatic oil extraction docking mechanism according to claim 9, characterized in that: The fully docking structure comprises a male connector (201), a male connector proximity photoelectric device (204), and a male connector fixing plate (214) arranged on the male connector module (2); the female connector module is provided with a female connector proximity photoelectric device (105), a female connector (106), and a female connector floating plate (109); after the female connector proximity photoelectric device (105) senses the male connector fixing plate (214), and the male connector proximity photoelectric device (204) senses the female connector floating plate (109), the motor (212) stops, and the male connector (201) and the female connector (106) are fully docked.

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