CN113036577B - Power plug inserts electric detection and uses puts right device - Google Patents
Power plug inserts electric detection and uses puts right device Download PDFInfo
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- CN113036577B CN113036577B CN202110263246.8A CN202110263246A CN113036577B CN 113036577 B CN113036577 B CN 113036577B CN 202110263246 A CN202110263246 A CN 202110263246A CN 113036577 B CN113036577 B CN 113036577B
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- plug
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- vision camera
- fixing base
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/26—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for engaging or disengaging the two parts of a coupling device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
Abstract
The invention discloses a power plug inserts electricity and detects with putting right device, including: the power cord fixing base, hold-down mechanism, angle adjusting mechanism, push up tight mechanism, first machine vision camera and snatch the robot, be provided with two parallel arrangement's power cord fixing base on the workstation, power cord fixing base top is provided with the opening of "V" style of calligraphy, the cable of plug is placed in the opening, hold-down mechanism and angle adjusting mechanism symmetrical arrangement are in power cord fixing base both sides, the power cord fixing base, push up tight mechanism and first machine vision camera and arrange along the straight line in proper order, the positional information of plug on the power cord fixing base is gathered to first machine vision camera, snatch robot fixed mounting on the workstation, it is provided with second machine vision camera on the snatch the robot. The invention discloses a correcting device for power plug plugging detection, which automatically corrects according to the horizontal deviation angle of a power plug and is convenient for a robot to accurately grab and insert into a socket at a fixed position.
Description
Technical Field
The invention belongs to the field of household appliance power plug detection, and particularly relates to a power plug detection aligning device.
Background
In the field of industrial robots, the core purpose of adopting the robots is to replace manpower and produce efficiently. In the production of household appliances or small household appliances, one of the most important process steps is to insert electricity into the assembled finished products or semi-finished products and detect whether the products work normally, so as to determine whether the products can work normally.
The power cord of the existing electric appliance, especially the high-power electric appliance, is directly and fixedly connected with the host. When the electric appliance is detected, the power plugs of the electric appliance are randomly placed, and the pins of the power plugs are presented at different angles, so that the power plugs need to be manually grabbed, and the plugs are inserted into power sockets to perform related detection work. Manual operation inefficiency influences production efficiency, and uses the robot to replace artifically, needs to ensure that the robot can accurately snatch the plug.
Disclosure of Invention
The invention aims to: the utility model provides a power plug inserts electricity and detects with putting device, according to power plug's horizontal deviation angle automatic correction to power plug be the horizontality, the accurate plug of snatching of the robot of being convenient for to insert in the socket of fixed position.
In order to achieve the purpose, the invention adopts the following technical scheme: a power plug inserts electric detection and uses pendulum device includes: the power cord fixing base, hold-down mechanism, angle adjusting mechanism, push up tight mechanism, first machine vision camera and snatch the robot, be provided with two parallel arrangement's power cord fixing base on the workstation, power cord fixing base top is provided with the opening of "V" style of calligraphy, the cable of plug is placed in the opening, hold-down mechanism and angle adjusting mechanism symmetrical arrangement are in power cord fixing base both sides, the power cord fixing base, push up tight mechanism and first machine vision camera and arrange along the straight line in proper order, the positional information of plug on the power cord fixing base is gathered to first machine vision camera, snatch robot fixed mounting on the workstation, it is provided with second machine vision camera on the snatch the robot.
As a further description of the above technical solution:
the power line fixing seat comprises a seat body which is fixedly installed on the workbench, two positioning plates which are arranged in parallel are arranged on the seat body, and an opening is formed in the top of each positioning plate.
As a further description of the above technical solution:
the pressing mechanism comprises a first pneumatic sliding table, a pressing cylinder fixing seat, a pressing cylinder and a roller bracket, the first pneumatic sliding table is fixedly installed on the workbench, the pressing cylinder fixing seat is fixedly installed on the first workbench of the first pneumatic sliding table, the pressing cylinder is fixedly installed on the pressing cylinder fixing seat, the roller bracket is fixedly installed on the pressing cylinder, and two rollers which are symmetrically arranged in parallel are arranged on the roller bracket.
As a further description of the above technical solution:
two power cord fixing bases are symmetrically arranged on two sides of the roller bracket.
As a further description of the above technical solution:
the angle adjusting mechanism comprises a turnover line pressing seat, a rotary air cylinder, bearing strips and a servo driving sliding table, wherein the workbench is provided with two turnover line pressing seats which are arranged in parallel, the two turnover line pressing seats are connected through a rotating shaft, one end of the rotating shaft is fixedly installed on the rotary air cylinder, two ends of the rotating shaft are respectively provided with one bearing strip, the bearing strips are sleeved on the rotating shaft, one bearing strip corresponds to one power line fixing seat, the servo driving sliding table is provided with a servo driving sliding block, the end part of the servo driving sliding block is correspondingly arranged below the roller bracket, and cables are placed on the servo driving sliding block.
As a further description of the above technical solution:
the jacking mechanism comprises a second pneumatic sliding table and a jacking block, the second pneumatic sliding table is fixedly installed on the workbench, and the jacking block is fixedly installed on a second workbench of the second pneumatic sliding table.
As a further description of the above technical solution:
the end part of the jacking block is provided with a notch matched with the plug in shape.
As a further description of the above technical solution:
the jacking block is provided with through holes arranged along the length direction of the jacking block, and the plug, the through holes and the first machine vision camera are arranged on the same straight line.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. according to the invention, the power plug which is randomly placed is placed into the power line fixing seat by the grabbing robot, although the pins of the power plug are shown at different angles, the pressing mechanism, the angle adjusting mechanism and the jacking mechanism are matched to quickly align the power plug, so that the grabbing robot can accurately grab the power plug to a correct position, the power plug is inserted into the socket at the fixed position, the power plugging is completed, and various tests are carried out on an electric appliance.
2. According to the invention, the aligning device is compatible with two/three-phase plugs and power cables with different thicknesses, and has wide application range and strong practicability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of a top view angle structure of a power plug plugging detection aligning device.
Fig. 2 is a schematic view of a principle of a clamping plug of the aligning device for detecting the power plug insertion.
Fig. 3 is a schematic working diagram of a pressing mechanism and an angle adjusting mechanism in the aligning device for detecting the power plug insertion.
Fig. 4 is a schematic side view angle structure diagram of a jacking mechanism in a swing device for power plug plugging detection.
Fig. 5 is a schematic structural view of a power cord fixing seat in an aligning device for detecting power plug insertion.
Illustration of the drawings:
1. a power line fixing seat; 11. an opening; 12. a base body; 13. positioning a plate; 2. a hold-down mechanism; 21. a first pneumatic sliding table; 22. a pressing cylinder fixing seat; 23. a pressing cylinder; 24. a roller bracket; 241. a roller; 3. an angle adjusting mechanism; 31. turning over the wire pressing base; 311. a rotating shaft; 32. a rotating cylinder; 33. a bearing strip; 34. servo-driving the slide table; 35. a servo drive slider; 4. a jacking mechanism; 41. a second pneumatic slide table; 42. a jacking block; 421. a notch; 422. a through hole; 5. a first machine vision camera; 6. a grabbing robot; 61. a second machine vision camera; 7. a work table; 8. a plug; 81. a cable.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a power plug inserts electric detection and uses pendulum device includes: power cord fixing base 1, hold-down mechanism 2, angle adjusting mechanism 3, tight mechanism 4 in top, first machine vision camera 5 with snatch robot 6, be provided with two parallel arrangement's power cord fixing base 1 on the workstation 7, 1 top of power cord fixing base is provided with the opening 11 of "V" style of calligraphy, the cable 81 of plug 8 is placed in opening 11, hold-down mechanism 2 and 3 symmetrical arrangement of angle adjusting mechanism are in 1 both sides of power cord fixing base, power cord fixing base 1, tight mechanism 4 in top and first machine vision camera 5 arrange along the straight line in proper order, first machine vision camera 5 gathers the positional information of location plug 8 on power cord fixing base 1, snatch robot 6 fixed mounting on workstation 7, be provided with second machine vision camera 61 on the snatching robot 6.
Power cord fixing base 1 includes pedestal 12, and pedestal 12 fixed mounting is provided with two locating plates 13 of parallel arrangement on the pedestal 12 on workstation 7, and opening 11 sets up at locating plate 13 top, better support cable 81 to location bearing strip 33.
Hold-down mechanism 2 includes first pneumatic slip table 21, compress tightly cylinder fixing base 22, compress tightly cylinder 23 and gyro wheel bracket 24, and first pneumatic slip table 21 fixed mounting is on workstation 7, compresses tightly cylinder fixing base 22 fixed mounting on the first workstation of first pneumatic slip table 21, compresses tightly cylinder 23 fixed mounting on compressing tightly cylinder fixing base 22, and gyro wheel bracket 24 fixed mounting is provided with two gyro wheels 241 of symmetrical parallel arrangement on compressing tightly cylinder 23. Two power cord fixing bases 1 are symmetrically arranged on two sides of the roller bracket 24.
The tight mechanism 4 in top includes the pneumatic slip table of second 41 and pushes up tight piece 42, and the pneumatic slip table of second 41 fixed mounting is on workstation 7, pushes up tight piece 42 fixed mounting on the second workstation of the pneumatic slip table of second 41, pushes up the embedded setting of tight piece 42 on the second workstation, guarantees to push up tight in-process and pushes up tight piece 42 disappearance installation not hard up, guarantees to push up tight effect.
The end of the tightening block 42 is provided with a notch 421 of a shape matching with the plug 8, so that the plug 8 can be fixed conveniently, and the plug 8 is ensured not to deviate in position in the tightening process.
The through hole 422 arranged along the length direction of the jacking block 42 is arranged, the plug 8, the through hole 422 and the first machine vision camera 5 are arranged on the same straight line, the first machine vision camera 5 collects the posture information of the plug 8 through the through hole 422, the collecting effect is better, and the horizontal error angle can be calculated more accurately.
The working principle is as follows: taking a three-phase plug as an example, the grabbing robot 6 finds the plug 8 and the cable 81 through the second machine vision camera 61, clamps the cable 81, and places the cable 81 into the power cord fixing base 1. The pressing cylinder 23 in the pressing mechanism 2 drives the roller bracket 24 to move downwards, the two rollers 241 of the roller bracket 24 press the cable 81 on the servo driving slide block 35 of the angle adjusting mechanism 3, and simultaneously the rotating cylinder 32 of the angle adjusting mechanism 3 drives the rotating shaft 311 to rotate, so that the bearing strip 33 presses the cable 81 in the power cord fixing seat 1, and the bearing strip 33 is located between the two positioning plates 13. According to the attitude information of the plug 8 acquired by the first machine vision camera 5, the horizontal error angle of the plug 8 is calculated, the servo driving sliding table 34 drives the servo driving sliding block 35 to move, and then the cable 81 is driven to rotate, so that the plug 8 rotates to a horizontal state (the pins are vertically downward), and the automatic correction of the plug 8 is realized. Finally, the tightening block 42 of the tightening mechanism 4 moves towards the power line fixing seat 1, and the plug 8 (the plug 8 is clamped in the notch 421) is tightened, so that the position of the plug 8 is locked. After the grabbing robot 6 grabs the plug 8, the jacking block 42 moves backwards and loosens the plug 8, the rotating cylinder 32 drives the rotating shaft 311 to rotate, the bearing strip 33 is driven to be separated from the cable 81 (the bearing strip 33 rotates 180 degrees), the pressing cylinder 23 drives the roller bracket 24 to move upwards (the two rollers 241 are separated from the cable 81), and the pressing cylinder 23 retreats under the driving of the first pneumatic sliding table 21, so that the plug 8 is conveniently placed next time. Finally the gripping robot 6 inserts the socket 8 into a fixed position socket.
The process of setting up a two-phase plug is substantially the same as for a three-phase plug, except that the pins of the plug 8 are rotated to be horizontal.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (4)
1. The utility model provides a power plug inserts electricity and detects with putting device upright which characterized in that includes: the device comprises a power line fixing seat (1), a pressing mechanism (2), an angle adjusting mechanism (3), a jacking mechanism (4), a first machine vision camera (5) and a grabbing robot (6), wherein the two power line fixing seats (1) which are arranged in parallel are arranged on a workbench (7), a V-shaped opening (11) is formed in the top of each power line fixing seat (1), cables (81) of plugs (8) are placed in the openings (11), the pressing mechanism (2) and the angle adjusting mechanism (3) are symmetrically arranged on two sides of each power line fixing seat (1), the power line fixing seats (1), the jacking mechanism (4) and the first machine vision camera (5) are sequentially arranged along a straight line, the first machine vision camera (5) collects position information of the plugs (8) positioned on the power line fixing seats (1), the grabbing robot (6) is fixedly installed on the workbench (7), and a second machine vision camera (61) is arranged on the grabbing robot (6);
the power line fixing seat (1) comprises a seat body (12), the seat body (12) is fixedly arranged on the workbench (7), two positioning plates (13) which are arranged in parallel are arranged on the seat body (12), and the opening (11) is arranged at the top of the positioning plates (13);
the pressing mechanism (2) comprises a first pneumatic sliding table (21), a pressing cylinder fixing seat (22), a pressing cylinder (23) and a roller bracket (24), the first pneumatic sliding table (21) is fixedly installed on the workbench (7), the pressing cylinder fixing seat (22) is fixedly installed on a first workbench of the first pneumatic sliding table (21), the pressing cylinder (23) is fixedly installed on the pressing cylinder fixing seat (22), the roller bracket (24) is fixedly installed on the pressing cylinder (23), and the roller bracket (24) is provided with two rollers (241) which are symmetrically arranged in parallel;
the two power line fixing seats (1) are symmetrically arranged at two sides of the roller bracket (24);
angle adjustment mechanism (3) are including upset line ball seat (31), revolving cylinder (32), bearing strip (33) and servo drive slip table (34), be provided with two parallel arrangement on workstation (7) upset line ball seat (31), two connect through pivot (311) between upset line ball seat (31), pivot (311) one end fixed mounting be in on revolving cylinder (32), pivot (311) both ends are provided with one respectively bearing strip (33), bearing strip (33) cover is established in pivot (311), and one bearing strip (33) position corresponds one power cord fixing base (1), be provided with servo drive slider (35) on the servo workstation of servo drive slip table (34), servo drive slider (35) tip correspondence sets up gyro wheel bracket (24) below, place cable (81) on servo drive slider (35).
2. The power plug inserts electric detection and uses pendulum positive device of claim 1, characterized in that, the tight mechanism in top (4) includes second pneumatic slip table (41) and top tight piece (42), second pneumatic slip table (41) fixed mounting is in on workstation (7), top tight piece (42) fixed mounting is in on the second workstation of second pneumatic slip table (41).
3. The power plug electricity insertion detection straightening device according to claim 2, characterized in that the end of the tightening block (42) is provided with a notch (421) with a shape matched with that of the plug (8).
4. The aligning apparatus for detecting the power plug insertion according to claim 2 or 3, wherein the tightening block (42) is provided with a through hole (422) arranged along the length direction thereof, and the plug (8), the through hole (422) and the first machine vision camera (5) are in the same straight line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110263246.8A CN113036577B (en) | 2021-03-10 | 2021-03-10 | Power plug inserts electric detection and uses puts right device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110263246.8A CN113036577B (en) | 2021-03-10 | 2021-03-10 | Power plug inserts electric detection and uses puts right device |
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| Publication Number | Publication Date |
|---|---|
| CN113036577A CN113036577A (en) | 2021-06-25 |
| CN113036577B true CN113036577B (en) | 2022-12-06 |
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| CN202110263246.8A Active CN113036577B (en) | 2021-03-10 | 2021-03-10 | Power plug inserts electric detection and uses puts right device |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500266B (en) * | 2021-07-02 | 2023-02-03 | 中船黄埔文冲船舶有限公司 | Marine aviation plug welding auxiliary device |
| CN113783068B (en) * | 2021-08-06 | 2023-11-24 | 上海工程技术大学 | Automatic wire pressing method for electric connector assembly |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3017044B2 (en) * | 1995-04-07 | 2000-03-06 | 住友重機械工業株式会社 | Automatic power supply and electric signal connection device in batch process system |
| JP4441615B2 (en) * | 2005-06-09 | 2010-03-31 | 独立行政法人産業技術総合研究所 | Robot arm control device for inserting 3-pin plug for power supply |
| US9266440B2 (en) * | 2011-09-26 | 2016-02-23 | GM Global Technology Operations LLC | Robotically operated vehicle charging station |
| JP5680005B2 (en) * | 2012-02-24 | 2015-03-04 | 株式会社東芝 | INSPECTION METHOD AND INSPECTION DEVICE FOR INSPECTING FITTING CONNECTION OF CONNECTOR AND ELECTRONIC DEVICE ASSEMBLY METHOD WITH CONNECTOR |
| DE102012014936A1 (en) * | 2012-07-27 | 2014-01-30 | Kuka Roboter Gmbh | Charging system and method for electrically charging a motor vehicle |
| JP2016207565A (en) * | 2015-04-27 | 2016-12-08 | 株式会社村田製作所 | Connection device for connectors, and connection method |
| CN106410510B (en) * | 2016-10-19 | 2019-05-03 | 上海发那科机器人有限公司 | A kind of vision positioning magnetic plug electricity getting device |
| IT201800005738A1 (en) * | 2018-05-25 | 2019-11-25 | Automated system for electrical connection and disconnection of refrigerated containers and / or electrically powered mobile devices to an electricity distribution and / or data transmission network | |
| CN110957624A (en) * | 2019-11-05 | 2020-04-03 | 许继电源有限公司 | Shore power connector and auxiliary plugging device thereof |
| CN210897954U (en) * | 2019-12-06 | 2020-06-30 | 昆山普纳德自动化设备有限公司 | Automatic clamping device for automobile power line connector |
| CN111661082B (en) * | 2020-05-29 | 2021-05-28 | 鞍钢股份有限公司 | Automatic power supply plugging system of torpedo tank car and plugging control method thereof |
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