CN112366478A - Automatic power supply plugging and unplugging device - Google Patents
Automatic power supply plugging and unplugging device Download PDFInfo
- Publication number
- CN112366478A CN112366478A CN202011186810.2A CN202011186810A CN112366478A CN 112366478 A CN112366478 A CN 112366478A CN 202011186810 A CN202011186810 A CN 202011186810A CN 112366478 A CN112366478 A CN 112366478A
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- connecting rod
- speed reducing
- power supply
- motor
- automatic power
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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
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/46—Bases; Cases
- H01R13/502—Bases; Cases composed of different pieces
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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
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/62—Means for facilitating engagement or disengagement of coupling parts or for holding them in engagement
- H01R13/629—Additional means for facilitating engagement or disengagement of coupling parts, e.g. aligning or guiding means, levers, gas pressure electrical locking indicators, manufacturing tolerances
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- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses an automatic power supply plugging device which comprises a rack 1, wherein the rack 1 comprises a rack bottom plate 11 and a speed reducing motor fixing plate 12 vertically fixed on the rack bottom plate 11; the three speed reducing motors 3 which are arranged in a triangular manner are arranged on the speed reducing motor fixing plate 12; the device also comprises a mobile platform 5, wherein the mobile platform 5 is respectively connected with the three speed reducing motors 3 through three parallel branched chains 4, and a monitoring device 2 is fixed on a rack bottom plate 11. The device has three degrees of freedom, namely the mobile platform 5 can translate up and down, left and right and back and forth, the device has higher flexibility, and can position and accurately plug and pull the power jack on the automatic production line under the assistance of the monitoring device 2; in addition, the device has simple structure and relatively low cost, and can provide certain reference value and reference significance for the automation industry.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to an automatic power supply plugging device.
Background
The utility model provides an online automatic plug mechanism of power for cement prefabricated member production line in prior art CN201310178052.3, including connection socket, the connection socket body, the connection plug body, connection socket guide rail, outside guide rail, striking formula switch, switch hit piece and magnet piece, the connection socket body movably establish on the connection socket guide rail, the connection plug body movably establish on the outside guide rail, striking formula switch and connection socket establish in the connection socket body, the switch hit the piece and be connected with the connection plug body, the magnet piece establish on connection socket. The problem of manual plugging is solved, but the technology does not meet the requirement of intelligent manufacturing.
At present, the manufacturing industry of China is facing transformation and upgrading, and intelligent manufacturing becomes a research hotspot of the manufacturing process. In the context of smart manufacturing, the research and practice of smart factories is directed towards creating a manufacturing system that integrates high automation, product personalization and production intelligence, which puts high demands on the robots used in the factories.
Most industrial robots adopted by the plugging device in the factory at the present stage are series mechanisms, and although the series mechanisms have the advantages of simple structure, relatively low control difficulty and the like, the series mechanisms also have the defects of low rigidity, weak bearing capacity, low precision and the like.
Disclosure of Invention
The invention mainly provides a power supply plugging device based on a parallel mechanism, which can realize accurate plugging of various power supply sockets in a factory under the cooperation of an industrial camera and can solve the problems of low flexibility, low precision and the like of the plugging device in the prior art.
In order to solve the technical problems, the invention adopts a technical scheme that: provides an automatic power supply plugging device.
The device comprises a frame 1, wherein the frame 1 comprises a frame bottom plate 11 and a speed reducing motor fixing plate 12 vertically fixed on the frame bottom plate 11; the three speed reducing motors 3 which are arranged in a triangular manner are arranged on the speed reducing motor fixing plate 12; the device also comprises a mobile platform 5, wherein the mobile platform 5 is respectively connected with the three speed reducing motors 3 through three parallel branched chains 4.
Preferably, the three gear motors 3 are dual-output-shaft gear motors.
Preferably, the three parallel branched chains 4 comprise a motor connecting rod 42 and a movable platform connecting rod 44, one end of the motor connecting rod 42 is connected with an output shaft of the speed reducing motor 3 through a coupler 41, the other end of the motor connecting rod 42 is connected with one end of the movable platform connecting rod 44 through a bearing, and the other end of the movable platform connecting rod 44 is connected with the movable platform 5 through a movable platform connecting shaft 45.
Preferably, the motor connecting rod 42 and the movable platform connecting rod 44 both comprise an upper connecting rod and a lower connecting rod which are parallel to each other, and the upper connecting point and the lower connecting point of the motor connecting rod 42 and the movable platform connecting rod 44 are connected through an upper connecting rod and a lower connecting rod 43.
Preferably, the motor connecting rod 42 is respectively connected with two output ends of the double-output-shaft speed reducing motor through an upper connecting rod and a lower connecting rod which are parallel.
Preferably, the movable platform connecting shaft 45 is connected with the movable platform 5 through a sliding sleeve 51.
Preferably, the monitoring device 2 is fixed on the rack bottom plate 11.
Preferably, the monitoring device 2 is an industrial camera.
Preferably, the three speed reducing motors 3 are fixed on the speed reducing motor fixing plate 12 through bolts.
Preferably, the central area of the mobile platform 5 is fixedly connected with a power plug 6.
The invention has the beneficial effects that: (1) different from the prior art, the three speed reducing motors 3 which are arranged in a triangular mode are connected through the three parallel branched chains 4, so that the mobile platform 5 can translate up and down, horizontally, forwards and backwards, and the device has the characteristic of high flexibility; (2) a monitoring device 2 is fixed on the rack bottom plate 11, the monitoring device 2 can be an industrial camera, and a power jack on an automatic production line can be positioned and accurately plugged and pulled under the assistance of the industrial camera, so that the automation degree of a factory is improved; (3) the branched chains 4 in the device adopt a parallel structure, and the device has the advantages of high rigidity and strong bearing capacity by matching with the frame bottom plate 11.
Drawings
FIG. 1 is a schematic structural diagram of an automatic power plugging device according to the present invention;
FIG. 2 is a schematic diagram of an automatic power plugging device with a monitoring device added thereto according to the present invention;
FIG. 3 is a front view of the device of FIG. 2;
FIGS. 4 and 5 are schematic diagrams of the structures of single branched chains in the device;
fig. 6 is a mobile platform-sliding sleeve assembly.
The reference numbers in the figures illustrate: 1. a frame; 2. a monitoring device; 3. three speed reducing motors; 4. three parallel branched chains; 5. a mobile platform; 6. a power plug; 11. a chassis base plate; 12. a speed reducing motor fixing plate; 41. a coupling; 42. a motor connecting rod; 43. an upper rod and a lower rod are connected with a shaft; 44. a movable platform connecting rod; 45. a movable platform connecting shaft; 46. a bearing between the motor connecting rod and the movable platform connecting rod; 47. a bearing between the movable platform connecting rod and the movable platform connecting shaft; 51. a sliding sleeve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and more complete, the following embodiments are further illustrated in the accompanying drawings.
Example 1
In an exemplary embodiment, as shown in fig. 1, an automatic power plugging device is provided.
The device comprises a frame 1, wherein the frame 1 comprises a frame bottom plate 11 and a speed reducing motor fixing plate 12 vertically fixed on the frame bottom plate 11; the three speed reducing motors 3 which are arranged in a triangular manner are arranged on the speed reducing motor fixing plate 12; the device also comprises a mobile platform 5, wherein the mobile platform 5 is respectively connected with the three speed reducing motors 3 through three parallel branched chains 4.
The working principle of the device is as follows: during the use, open three gear motor 3 and drive the motion of three parallelly connected branch chains 4, because three gear motor 3 are the triangle and arrange, correspond the branch chain 4 of connecting and be parallelly connected, three parallelly connected branch chains 4 drive moving platform 5 and move in the space, finally realize controlling power plug 6 on moving platform 5, three gear motor 3 simultaneous movement for moving platform 5 can be the translation from top to bottom, control translation and translation from beginning to end, let the device adapt to different environment and carry out the power plug operation.
In terms of mechanisms, the essence of a "series robot" refers to a series mechanism capable of realizing expected movement, and a "power supply plugging device of a parallel mechanism" refers to a parallel mechanism capable of realizing plugging and unplugging actions and meeting plugging and unplugging requirements, so the difference between the "series robot" and the "power supply plugging device of a parallel mechanism" lies in the difference between the series mechanism and the parallel mechanism, if a movable platform and a fixed platform are connected end to end through only one independent kinematic chain, the mechanism is a series mechanism, and if the movable platform and the fixed platform are connected through two or more independent kinematic chains, the mechanism is a parallel mechanism; the parallel mechanism belongs to a closed-loop mechanism, and the series mechanism belongs to an open-loop mechanism. Compared with a series mechanism, the parallel mechanism mainly has the advantages of high precision, good rigidity, better stability of the mechanism and the like.
Further, as shown in fig. 4, in the automatic power plugging device, the three parallel branched chains 4 are three identical simple branched chains, namely a simple branched chain i, a simple branched chain ii and a simple branched chain iii.
Simple branch chain I, simple branch chain II and simple branch chain III all include motor connecting rod 42 and move platform connecting rod 44, motor connecting rod 42 one end pass through shaft coupling 41 with gear motor 3's output shaft links to each other, the motor connecting rod 42 other end pass through the bearing with the one end of moving platform connecting rod 44 is connected, the other end of moving platform connecting rod 44 through move platform connecting axle 45 with moving platform 5 connects.
Further, the automatic power supply plugging device comprises a motor connecting rod 42 and a movable platform connecting rod 44 which are parallel to each other from top to bottom, wherein the upper connecting point and the lower connecting point of the motor connecting rod 42 and the movable platform connecting rod 44 are connected through an upper connecting rod connecting shaft 43 and a lower connecting rod connecting shaft 43.
As shown in fig. 5, the other end of the motor connecting rod 42 is connected to the movable platform connecting rod 44 and the upper and lower rod connecting shafts 43 through bearings 46, the upper and lower rod connecting shafts 43 are connected to the two motor connecting rods 42 and the two movable platform connecting rods 44 on the left and right sides through four bearings 46, and the movable platform connecting rod 44 is connected to the movable platform connecting shaft 45 through a bearing 47.
Further, a power automatic plugging device, motor connecting rod 42 through two upper and lower parallel connecting rods respectively with two output ends of dual output shaft gear motor are connected.
Example 2
In order to improve the power supply plugging precision of the device, the device in the embodiment 1 is improved, and as shown in fig. 2, an automatic power supply plugging device is provided.
The device comprises a frame 1, wherein the frame 1 comprises a frame bottom plate 11 and a speed reducing motor fixing plate 12 vertically fixed on the frame bottom plate 11; the three speed reducing motors 3 which are arranged in a triangular manner are arranged on the speed reducing motor fixing plate 12; the device also comprises a mobile platform 5, wherein the mobile platform 5 is respectively connected with the three speed reducing motors 3 through three parallel branched chains 4.
Further, as shown in fig. 3, in the automatic power supply plugging device, three speed reduction motors 3 are respectively a speed reduction motor a, a speed reduction motor b and a speed reduction motor c, the speed reduction motors a, the speed reduction motor b and the speed reduction motor c are double-output-shaft speed reduction motors, and output shafts of the speed reduction motor a, the speed reduction motor b and the speed reduction motor c are respectively located on three sides of an equilateral triangle.
Further, an automatic plug device of power, be fixed with monitoring devices 2 on the frame bottom plate 11, monitoring devices 2 are the industry camera, and the industry camera is used for the accurate positioning to various power jacks.
When the plugging device works, the position of a power supply jack in a coordinate system is determined through an industrial camera, and then the rotation quantity of each motor is calculated through a control algorithm, so that the plugging purpose is achieved. Specifically, the jack moves to a certain position along with the branched chain 4; the industrial camera identifies the position of the power jack to obtain a coordinate value of the power jack; the rotation/movement amount of each joint of the mechanism and the rotation amount of the motor are solved through the coordinate values and the inverse solution of the kinematics of the mechanism by an internal algorithm;
further, according to the obtained value, the controller controls the speed reduction motor 3 to rotate by a corresponding angle, and drives the moving platform 5 of the plugging mechanism to move, so that the plugging purpose is achieved.
Further, the three speed reducing motors 3 are fixed on the speed reducing motor fixing plate 12 through bolts.
This embodiment is fixed with monitoring devices 2 on the frame bottom plate 11, and monitoring devices 2 can be the industry camera, can fix a position and accurate plug to the power jack on the automation line under the supplementary of industry camera, improves the degree of automation of mill.
Example 3
On the basis of embodiment 2, the device is further improved, and the embodiment provides an automatic power supply plugging and unplugging device. The device comprises a frame 1, wherein the frame 1 comprises a frame bottom plate 11 and a speed reducing motor fixing plate 12 vertically fixed on the frame bottom plate 11; the three speed reducing motors 3 which are arranged in a triangular manner are arranged on the speed reducing motor fixing plate 12; the device also comprises a mobile platform 5, wherein the mobile platform 5 is respectively connected with the three speed reducing motors 3 through three parallel branched chains 4.
Further, as shown in fig. 6, in the automatic power supply plugging device, the movable platform connecting shaft 45 is connected with the movable platform 5 through a sliding sleeve 51, and the movable platform connecting shaft 45 can axially slide back and forth after being connected with the sliding sleeve 51.
Further, an automatic power plugging device is characterized in that a power plug 6 is fixedly connected to the central area of the mobile platform 5.
The device of this embodiment further improves the flexibility ratio of the automatic plug of power, improves automatic effect.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides an automatic plug device of power, includes frame (1), its characterized in that: the rack (1) comprises a rack bottom plate (11) and a speed reducing motor fixing plate (12) vertically fixed on the rack bottom plate (11); three speed reducing motors (3) which are arranged in a triangular shape are arranged on the speed reducing motor fixing plate (12); the device further comprises a moving platform (5), wherein the moving platform (5) is respectively connected with the three speed reducing motors (3) through three parallel branched chains (4).
2. The automatic power supply plugging and unplugging device according to claim 1, characterized in that: and the three speed reducing motors (3) are speed reducing motors with double output shafts.
3. The automatic power supply plugging and unplugging device according to claim 2, characterized in that: three parallelly connected branch chains (4) all include motor connecting rod (42) and move platform connecting rod (44), motor connecting rod (42) one end pass through shaft coupling (41) with the output shaft of gear motor (3) links to each other, motor connecting rod (42) other end pass through the bearing with the one end of moving platform connecting rod (44) is connected, the other end of moving platform connecting rod (44) through move platform connecting axle (45) with moving platform (5) are connected.
4. The automatic power supply plugging and unplugging device according to claim 3, characterized in that: the motor connecting rod (42) and the movable platform connecting rod (44) comprise an upper connecting rod and a lower connecting rod which are parallel, and the upper connecting point and the lower connecting point of the motor connecting rod (42) and the movable platform connecting rod (44) are connected through an upper connecting rod connecting shaft (43) and a lower connecting rod connecting shaft (43).
5. The automatic power supply plugging and unplugging device according to claim 4, characterized in that: the motor connecting rod (42) is respectively connected with two output ends of the double-output-shaft speed reducing motor through an upper connecting rod and a lower connecting rod which are parallel.
6. The automatic power supply plugging and unplugging device according to claim 3, characterized in that: the movable platform connecting shaft (45) is connected with the movable platform (5) through a sliding sleeve (51).
7. The automatic power supply plugging and unplugging device according to claim 1, characterized in that: and a monitoring device (2) is fixed on the frame bottom plate (11).
8. The automatic power supply plugging and unplugging device according to claim 7, characterized in that: the monitoring device (2) is an industrial camera.
9. The automatic power supply plugging and unplugging device according to claim 1, characterized in that: the three speed reducing motors (3) are fixed on the speed reducing motor fixing plate (12) through bolts.
10. The automatic power supply plugging and unplugging device according to claim 1, characterized in that: and a power plug (6) is fixedly connected with the central area of the mobile platform (5).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022205525 | 2020-09-30 | ||
| CN2020222055252 | 2020-09-30 |
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| Publication Number | Publication Date |
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| CN112366478A true CN112366478A (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011186810.2A Pending CN112366478A (en) | 2020-09-30 | 2020-10-30 | Automatic power supply plugging and unplugging device |
| CN202022461139.XU Active CN212935117U (en) | 2020-09-30 | 2020-10-30 | Automatic power supply plugging and unplugging device |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022461139.XU Active CN212935117U (en) | 2020-09-30 | 2020-10-30 | Automatic power supply plugging and unplugging device |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
| US20100122602A1 (en) * | 2008-11-17 | 2010-05-20 | Marcroft Sacha L | Parallel kinematic positioning system |
| CN103286792A (en) * | 2013-03-26 | 2013-09-11 | 上海大学 | Three-freedom-degree parallel robot wrists with aligning mechanisms |
| CN104385282A (en) * | 2014-08-29 | 2015-03-04 | 暨南大学 | Visual intelligent numerical control system and visual measuring method thereof |
| CN204248889U (en) * | 2014-11-26 | 2015-04-08 | 河北工业大学 | A kind of three-branch chain six-freedom degree parallel mechanism |
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of complex large-scale component original position processing multi-robot system equipment |
-
2020
- 2020-10-30 CN CN202011186810.2A patent/CN112366478A/en active Pending
- 2020-10-30 CN CN202022461139.XU patent/CN212935117U/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1355087A (en) * | 2001-12-31 | 2002-06-26 | 天津大学 | Two-freedom translational parallel robot mechanism containing only rotating sets |
| CN2511447Y (en) * | 2001-12-31 | 2002-09-18 | 天津大学 | Parallel robot mechanism with two dimensions |
| US20100122602A1 (en) * | 2008-11-17 | 2010-05-20 | Marcroft Sacha L | Parallel kinematic positioning system |
| CN103286792A (en) * | 2013-03-26 | 2013-09-11 | 上海大学 | Three-freedom-degree parallel robot wrists with aligning mechanisms |
| CN104385282A (en) * | 2014-08-29 | 2015-03-04 | 暨南大学 | Visual intelligent numerical control system and visual measuring method thereof |
| CN204248889U (en) * | 2014-11-26 | 2015-04-08 | 河北工业大学 | A kind of three-branch chain six-freedom degree parallel mechanism |
| CN110509067A (en) * | 2019-07-31 | 2019-11-29 | 清华大学 | A kind of complex large-scale component original position processing multi-robot system equipment |
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| CN212935117U (en) | 2021-04-09 |
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Application publication date: 20210212 |
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