CN112582839A - Connector docking system and method - Google Patents
Connector docking system and method Download PDFInfo
- Publication number
- CN112582839A CN112582839A CN202011412646.2A CN202011412646A CN112582839A CN 112582839 A CN112582839 A CN 112582839A CN 202011412646 A CN202011412646 A CN 202011412646A CN 112582839 A CN112582839 A CN 112582839A
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- China
- Prior art keywords
- connector
- mechanical arm
- stress value
- stress
- butt joint
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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
- H01R24/00—Two-part coupling devices, or either of their cooperating parts, characterised by their overall structure
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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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- 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
- H01R13/66—Structural association with built-in electrical component
- H01R13/665—Structural association with built-in electrical component with built-in electronic circuit
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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
- H01R13/66—Structural association with built-in electrical component
- H01R13/665—Structural association with built-in electrical component with built-in electronic circuit
- H01R13/6683—Structural association with built-in electrical component with built-in electronic circuit with built-in sensor
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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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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Manufacturing & Machinery (AREA)
- Manipulator (AREA)
Abstract
The invention provides a butt joint system and a butt joint method of a connector, wherein the connector comprises a male head and a female head, and the butt joint system comprises: the mechanical arm comprises a mechanical arm, a stress detection unit and a control unit, wherein the stress detection unit is respectively connected with the tail end of the mechanical arm and a male head of a connector and is used for detecting the stress value of the mechanical arm when the male head of the connector is in butt joint with a female head of the connector; the control unit is connected with the stress detection unit and used for automatically correcting the mechanical arm according to the stress value. According to the docking system disclosed by the invention, the mechanical arm can be automatically corrected according to the stress of the mechanical arm in the docking process of the connector, so that the accurate docking of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
Description
Technical Field
The invention relates to the technical field of connector butt joint, in particular to a butt joint system of a connector and a butt joint method of the connector.
Background
In the related art, when the male head and the female head of the connector are butted through the mechanical arm, the connector is easily prevented from being accurately butted due to mechanical aging, and therefore the service lives of the connector and the mechanical arm are greatly reduced.
Disclosure of Invention
The invention provides a butt joint system of a connector, aiming at solving the technical problems, and the butt joint system can automatically correct a mechanical arm according to the stress of the mechanical arm in the butt joint process of the connector, thereby ensuring the accurate butt joint of the connector and further greatly prolonging the service life of the connector and the mechanical arm.
The technical scheme adopted by the invention is as follows:
a docking system for a connector, the connector comprising a male and a female, the docking system comprising: the mechanical arm comprises a mechanical arm, a stress detection unit and a control unit, wherein the stress detection unit is respectively connected with the tail end of the mechanical arm and the male head of the connector and is used for detecting the stress value of the mechanical arm when the male head of the connector is in butt joint with the female head of the connector; the control unit is connected with the stress detection unit and used for automatically correcting the mechanical arm according to the stress value.
The stress detection unit includes a stress sensor.
The control unit is specifically configured to: acquiring a deviation stress value according to the stress value and the initial stress value, acquiring a deviation amount of the mechanical arm according to the deviation stress value, and automatically correcting the mechanical arm according to the deviation amount.
A method of mating connectors, the connectors including a male and a female, the method comprising the steps of: detecting a stress value of the mechanical arm when a male head of the connector is in butt joint with a female head of the connector; and automatically correcting the mechanical arm according to the stress value.
The automatically correcting the mechanical arm according to the stress value comprises: acquiring a deviation stress value according to the stress value and the initial stress value; acquiring the deviation amount of the mechanical arm according to the deviation stress value; and automatically correcting the mechanical arm according to the deviation amount.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned connector docking method when executing the computer program.
A non-transitory computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements the docking method of the connector described above.
The invention has the beneficial effects that:
according to the invention, in the butt joint process of the connector, the mechanical arm can be automatically corrected according to the stress of the mechanical arm, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
Drawings
FIG. 1 is a schematic structural diagram of a docking system for a connector according to an embodiment of the present invention;
FIG. 2a is a schematic view of the mating of connectors without misalignment according to one embodiment of the present invention;
FIG. 2b is a schematic view of the mating of connectors in the event of a misalignment according to one embodiment of the present invention;
fig. 3 is a flowchart of a docking method of a connector according to an embodiment of the present invention.
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.
Fig. 1 is a schematic structural diagram of a docking system of a connector according to an embodiment of the present invention. Wherein the connector may include a male and a female.
In the related art, the male end of the connector is generally directly disposed at the end of the robot arm, so that the male end of the connector is butted with the female end of the connector through the robot arm. Specifically, an alignment zero position of the mechanical arm is calibrated, and then the mechanical arm is controlled to drive a male head and a female head of the connector to be in butt joint according to the calibrated alignment zero position. However, during the mechanical aging process, the calibrated zero alignment position will slowly fail, thereby causing the connector to not be accurately butted, and greatly reducing the service life of the connector and the mechanical arm.
Therefore, the embodiment of the invention provides a butt joint system of a connector, which can automatically correct a mechanical arm in the butt joint process of the connector, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
Specifically, as shown in fig. 1, the docking system of the connector according to the embodiment of the present invention may include a robot arm 100, a stress detection unit 200, and a control unit 300.
The stress detection unit 200 is connected with the tail end of the mechanical arm 100 and the male head of the connector respectively, and the stress detection unit 200 is used for detecting the stress value of the mechanical arm 100 when the male head of the connector is in butt joint with the female head of the connector; the control unit 300 is connected to the stress detection unit 200, and the control unit 300 is configured to automatically correct the robot arm 100 according to the stress value. Wherein the control unit 300 may be disposed on the robot arm 100.
According to an embodiment of the present invention, the stress detection unit 200 may include a stress sensor.
According to an embodiment of the present invention, the control unit 300 is specifically configured to: acquiring a deviation stress value according to the stress value and the initial stress value, acquiring a deviation amount of the mechanical arm 100 according to the deviation stress value, and automatically correcting the mechanical arm 100 according to the deviation amount.
Specifically, as shown in fig. 2a, when the male and female connectors are not dislocated, the mechanical arm 100 has no stress, and at this time, the stress value of the mechanical arm 100 is 0, that is, the initial stress value is 0; as shown in fig. 2b, the mechanical arm 100 will be stressed when the male and female connectors are misaligned. At this time, the stress value of the mechanical arm 100 may be detected by the stress detection unit 200, and a deviation stress value may be obtained by the control unit 300 according to the stress value and the initial stress value, for example, a difference operation may be performed on the stress value and the initial stress value to obtain a deviation stress value, and a deviation amount of the mechanical arm 100 may be calculated according to the deviation stress value, where the deviation amount includes a three-dimensional displacement deviation and a three-dimensional angle deviation of the mechanical arm 100, and then, the mechanical arm may be automatically corrected according to the deviation amount to control the mechanical arm 100 to drive the male head of the connector to align with the female head of the connector, so as to achieve accurate docking of the male head and the female head of the connector.
Therefore, in the butt joint process of the connector, the mechanical arm can be automatically corrected according to the stress of the mechanical arm, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
In summary, according to the docking system of the connector in the embodiment of the present invention, the stress detection unit is respectively connected to the end of the mechanical arm and the male head of the connector, so as to detect the stress value of the mechanical arm when the male head of the connector is docked with the female head of the connector, and the control unit is connected to the stress detection unit, so as to automatically correct the mechanical arm according to the stress value. Therefore, in the butt joint process of the connector, the mechanical arm can be automatically corrected according to the stress of the mechanical arm, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
Corresponding to the docking system of the connector in the above embodiment, the invention also provides a docking method of the connector.
Wherein, the connector comprises a male head and a female head.
As shown in fig. 3, the method for mating connectors according to an embodiment of the present invention may include the steps of:
s301, detecting the stress value of the mechanical arm when the male head of the connector is in butt joint with the female head of the connector.
And S302, automatically correcting the mechanical arm according to the stress value.
According to one embodiment of the invention, automatically correcting the mechanical arm according to the stress value comprises: acquiring a deviation stress value according to the stress value and the initial stress value; acquiring the deviation amount of the mechanical arm according to the deviation stress value; and automatically correcting the mechanical arm according to the deviation amount.
It should be noted that, for a more specific implementation of the method for docking a connector according to the embodiment of the present invention, reference may be made to the above-mentioned embodiment of the docking system of the connector, and details are not described herein again.
According to the butt joint method of the connector, the stress value of the mechanical arm is detected when the male head of the connector is in butt joint with the female head of the connector, and the mechanical arm is automatically corrected according to the stress value. Therefore, in the butt joint process of the connector, the mechanical arm can be automatically corrected according to the stress of the mechanical arm, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
The invention further provides a computer device corresponding to the embodiment.
The computer device of the embodiment of the invention comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the program, the docking method of the connector of the embodiment is realized.
According to the computer equipment provided by the embodiment of the invention, in the butt joint process of the connector, the mechanical arm can be automatically corrected according to the stress of the mechanical arm, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
The invention also provides a non-transitory computer readable storage medium corresponding to the above embodiment.
A non-transitory computer-readable storage medium of an embodiment of the present invention stores thereon a computer program that, when executed by a processor, implements the above-described method of docking a connector.
According to the non-transitory computer readable storage medium provided by the embodiment of the invention, in the butt joint process of the connector, the mechanical arm can be automatically corrected according to the stress of the mechanical arm, so that the accurate butt joint of the connector is ensured, and the service lives of the connector and the mechanical arm are greatly prolonged.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. A docking system for a connector, the connector comprising a male and a female, the docking system comprising: a mechanical arm, a stress detection unit and a control unit, wherein,
the stress detection unit is respectively connected with the tail end of the mechanical arm and the male head of the connector and is used for detecting the stress value of the mechanical arm when the male head of the connector is in butt joint with the female head of the connector;
the control unit is connected with the stress detection unit and used for automatically correcting the mechanical arm according to the stress value.
2. The docking system for connectors according to claim 1, wherein the stress detection unit includes a stress sensor.
3. The docking system for connectors according to claim 1, wherein the control unit is specifically configured to: acquiring a deviation stress value according to the stress value and the initial stress value, acquiring a deviation amount of the mechanical arm according to the deviation stress value, and automatically correcting the mechanical arm according to the deviation amount.
4. A method of mating connectors, the connectors including a male and a female, the method comprising the steps of:
detecting a stress value of the mechanical arm when a male head of the connector is in butt joint with a female head of the connector;
and automatically correcting the mechanical arm according to the stress value.
5. The method of claim 4, wherein said automatically correcting said robotic arm based on said stress value comprises:
acquiring a deviation stress value according to the stress value and the initial stress value;
acquiring the deviation amount of the mechanical arm according to the deviation stress value;
and automatically correcting the mechanical arm according to the deviation amount.
6. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the computer program, implements the docking method of the connector according to any one of claims 4 and 5.
7. A non-transitory computer-readable storage medium on which a computer program is stored, the program being characterized by implementing, when executed by a processor, the docking method of the connector according to any one of claims 4 and 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011412646.2A CN112582839A (en) | 2020-12-03 | 2020-12-03 | Connector docking system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011412646.2A CN112582839A (en) | 2020-12-03 | 2020-12-03 | Connector docking system and method |
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| CN112582839A true CN112582839A (en) | 2021-03-30 |
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| CN202011412646.2A Pending CN112582839A (en) | 2020-12-03 | 2020-12-03 | Connector docking system and method |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436912A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of control system and its control method of reconstruction robot docking mechanism |
| CN109531565A (en) * | 2018-08-27 | 2019-03-29 | 苏州博众机器人有限公司 | A kind of control method of mechanical arm, device, service robot and storage medium |
| CN111331589A (en) * | 2020-04-08 | 2020-06-26 | 江苏海事职业技术学院 | Automatic charging system of industrial robot for storage |
| CN111531530A (en) * | 2020-03-13 | 2020-08-14 | 北京卫星制造厂有限公司 | Low-stress installation and adjustment system and method based on six-dimensional force sensing |
-
2020
- 2020-12-03 CN CN202011412646.2A patent/CN112582839A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108436912A (en) * | 2018-03-27 | 2018-08-24 | 山东大学 | A kind of control system and its control method of reconstruction robot docking mechanism |
| CN109531565A (en) * | 2018-08-27 | 2019-03-29 | 苏州博众机器人有限公司 | A kind of control method of mechanical arm, device, service robot and storage medium |
| CN111531530A (en) * | 2020-03-13 | 2020-08-14 | 北京卫星制造厂有限公司 | Low-stress installation and adjustment system and method based on six-dimensional force sensing |
| CN111331589A (en) * | 2020-04-08 | 2020-06-26 | 江苏海事职业技术学院 | Automatic charging system of industrial robot for storage |
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