CN116080936A

CN116080936A - Ground cabin automatic docking device and method based on machine vision

Info

Publication number: CN116080936A
Application number: CN202310070850.8A
Authority: CN
Inventors: 吴先波
Original assignee: Nanchang Yanchang Electromechanical Technology Co ltd
Current assignee: Nanchang Yanchang Electromechanical Technology Co ltd
Priority date: 2023-02-07
Filing date: 2023-02-07
Publication date: 2023-05-09

Abstract

The invention relates to the technical field of automation equipment, in particular to a ground cabin automatic butt joint device and method based on machine vision. The invention provides a ground cabin automatic docking device based on machine vision, which can automatically rotate and adjust when docking angles of cabin sections are different. The automatic ground cabin section butt joint device based on machine vision comprises a mounting seat, a first sliding seat, a second sliding seat and the like, wherein the upper side of the left part of the mounting seat is slidingly connected with the first sliding seat which slides left and right, and the top of the first sliding seat is slidingly connected with the second sliding seat which slides back and forth. According to the invention, the ground cabin sections are pressed and fixed through the cylinder control pressing block, so that the ground cabin sections are prevented from shifting in the adjustment process, and then the gear is driven to rotate by the output shaft of the third motor, so that the toothed rotating piece drives the left ground cabin section to automatically rotate and adjust, the two ground cabin sections can be butted at the same angle, and the occurrence of abnormality in the butt joint process and the butt joint failure are avoided.

Description

Ground cabin automatic docking device and method based on machine vision

Technical Field

The invention relates to the technical field of automation equipment, in particular to a ground cabin automatic butt joint device and method based on machine vision.

Background

The launching technology product is formed by assembling and splicing a plurality of cabin sections, and the cabin sections are controlled and adjusted through a manual operation device, so that the cabin sections can be accurately positioned, and the butt joint is completed.

An automatic docking method for a cabin section is disclosed in CN109367825a, and includes designing an automatic docking device for a cabin section, which includes a first base, a control panel, an a cabin section front support trolley, an a cabin section rear support trolley, a B cabin section 8 front support trolley, and a B cabin section rear support trolley, wherein the base is fixed on the ground, the control panel is mounted on the first base, the a cabin section front support trolley is fixed at the forefront end of the first base, the a cabin section rear support trolley is mounted behind the a cabin section front support trolley and fixedly on the first base, the B cabin section front support trolley is mounted on a first guide rail of the first base, and the B cabin section rear support trolley is mounted on the first guide rail of the first base and is positioned behind the B cabin section front support trolley.

Therefore, a ground cabin automatic docking device based on machine vision, which can automatically rotate and adjust when the docking angles of the cabin are different, is developed.

Disclosure of Invention

In order to overcome the defect that the existing device is difficult to quickly rotate and adjust if the docking angles among cabin sections are different in the docking process, so that the docking efficiency is reduced, the invention provides the ground cabin section automatic docking device based on machine vision, which can automatically rotate and adjust when the docking angles of the cabin sections are different.

The technical scheme of the invention is as follows: the utility model provides an automatic interfacing apparatus of ground cabin section based on machine vision, including the mount pad, first sliding seat, the second sliding seat, the installation component, the lifting seat, the collar, docking mechanism and guiding mechanism, the upper side sliding of mount pad left portion is connected with the first sliding seat of side-to-side sliding, first sliding seat top slidingtype is connected with the second sliding seat of fore-and-aft sliding, mount pad top and second sliding seat top all are connected with the installation component, the installation component is including lifting seat and collar, left lifting seat all is connected with the second sliding seat slidingtype, lifting seat on the right side all is connected with the collar that is used for carrying out fixed ground cabin section with the lifting seat top of left side all is connected with the collar, all be equipped with the docking mechanism that is used for assisting ground cabin section to carry out accurate butt joint location on first sliding seat and the second sliding seat, all be equipped with the guiding mechanism that is used for carrying out rotation adjustment location to ground cabin section on second sliding seat and the mount pad.

Optionally, docking mechanism is including binocular vision camera, a first motor, the motor protection casing, first lead screw, the slider, fixed slot board, the second motor, second lead screw and belt pulley assembly, right side is close to the elevating socket upper portion left side of second sliding seat and is connected with the binocular vision camera that is used for carrying out docking state detection, second sliding seat right side front side is connected with first motor, second sliding seat right side front side is connected with the motor protection casing, first motor output shaft is the back orientation setting, all be connected with first lead screw in first motor output shaft and the elevating socket of left side, be connected with belt pulley assembly between the first lead screw rear side, first lead screw and elevating socket rotation type are connected with the slider, left side elevating socket bottom all is connected with two fixed slot boards of bilateral symmetry, left and right sides adjacent two fixed slot boards all are connected with adjacent slider slidingtype, first sliding socket front side intermediate position is connected with the second motor, second motor output shaft is the back orientation setting, first sliding seat front side intermediate position is connected with the motor output shaft, second screw is connected with second screw on the second sliding seat, second screw and second screw.

Optionally, guiding mechanism is including first mounting, the second mounting, the briquetting, support piece, the third motor, the gear, toothed rotating member and cylinder, the base right part is connected with the first mounting that is used for carrying out the support to the ground cabin section on right side, second sliding seat upper portion is connected with the second mounting, second mounting upper portion right side is connected with the third motor, third motor output shaft is left orientation setting, be connected with the gear on the third motor output shaft, second mounting top rotation type is connected with the toothed rotating member that is used for carrying out the support to the ground cabin section on left side, toothed rotating member and gear intermeshing, all be connected with the cylinder between the adjacent elevating socket, the cylinder telescopic link is down orientation setting, the cylinder telescopic link bottom all is connected with the briquetting that is used for carrying out the extrusion fixed to the ground cabin section, mount pad right side and second sliding seat left side all are connected with support piece.

Optionally, the device further comprises a drawing mechanism, wherein the drawing mechanism comprises a hydraulic cylinder, a fixing frame and a sliding roller, the right part in the base is connected with the hydraulic cylinder, the telescopic end of the hydraulic cylinder is arranged towards the left, the telescopic end of the hydraulic cylinder is connected with the first sliding seat, the fixing frame is connected to the upper side of the left part of the base, and a plurality of sliding rollers for assisting sliding of the first sliding seat are rotationally connected to the fixing frame.

Optionally, still including clamping mechanism, clamping mechanism is including the crane, the sliding block, the stay cord, the fixture block, third mounting, clamping piece and torsional spring, both sides all are connected with the crane that is used for carrying out the direction about the briquetting, lifting seat upper portion all slidingtype is connected with the sliding block, the sliding block all is connected with adjacent crane slidingtype, all slidingtype is connected with a plurality of fixture blocks on the lifting seat, lifting seat inside is circumference evenly distributed and has a plurality of third mounting, all rotate on the third mounting and be connected with the clamping piece that is used for carrying out the centre gripping fixed to ground cabin section, all be connected with the stay cord between fixture block and the sliding block of homonymy, be connected with the torsional spring between the clamping piece, also all be connected with the torsional spring between clamping piece and the adjacent third mounting.

Optionally, still including positioning mechanism, positioning mechanism is including fixed plate, rotor plate and setting element, and two collar fronts that are located intermediate position all are connected with the fixed plate, all rotate on the fixed plate and are connected with the rotor plate, and the one portion that the rotor plate is close to each other all is sliding type and is connected with the setting element that is used for blockking the location to ground cabin section.

Optionally, the camera also comprises a protection mechanism, wherein the protection mechanism comprises a fixing frame and a protection plate, the fixing frame is connected to the binocular vision camera in a sliding mode, and the protection plate for protecting the binocular vision camera is connected to the fixing frame.

Optionally, the belt pulley assembly comprises belt pulleys and a driving belt, the belt pulleys are connected to the rear sides of the first screw rods, and the driving belt is wound between the belt pulleys.

Optionally, the bottoms of the pressing blocks are arc-shaped structures.

Optionally, the positioning member has a T-shaped structure.

An automatic docking method for a ground cabin section, the docking method comprising the following steps:

step 1: the two ground cabin sections to be butted are supported and placed through the cooperation among the supporting piece, the first fixing piece and the toothed rotating piece, and the placement positions of the ground cabin sections are limited by the positioning piece in the placement process, so that the distance between the two cabin sections is not more than 120mm;

step 2: the first motor and the second motor control the corresponding first screw rod and second screw rod to rotate, the first motor drives the ground cabin section to translate up and down, the second motor drives the ground cabin section to translate back and forth, and the two ground cabin sections are initially positioned;

step 3: after the preliminary positioning is finished, controlling a third motor to enable the toothed rotating member to rotate, enabling the third motor to drive the ground cabin section to rotate and adjust, controlling a pressing block to clamp the ground cabin section by an air cylinder in the adjustment process, and controlling a lifting frame by the pressing block to enable the clamping member to carry out secondary limiting on the ground cabin section;

step 4: after the ground cabin sections are completely and accurately aligned, the hydraulic cylinder is controlled to drive the first sliding seat to slide, so that the two ground cabin sections are close to each other, and automatic butt joint of the cabin sections is completed.

Compared with the prior art, the invention has the following advantages: 1. according to the invention, the ground cabin sections are pressed and fixed through the cylinder control pressing block, so that the ground cabin sections are prevented from shifting in the adjustment process, and then the gear is driven to rotate by the output shaft of the third motor, so that the toothed rotating piece drives the left ground cabin section to automatically rotate and adjust, the two ground cabin sections can be butted at the same angle, and the occurrence of abnormality in the butt joint process and the butt joint failure are avoided.

2. According to the invention, the telescopic end of the hydraulic cylinder drives the first sliding seat to automatically slide, so that the two ground cabin sections are controlled to automatically butt-joint, and meanwhile, in the sliding process of the first sliding seat, the sliding roller is used for guiding the sliding of the first sliding seat, so that the sliding friction between the first sliding seat and the base is reduced.

3. According to the invention, the sliding blocks slide through downward movement of the lifting frame, the pull ropes are pulled to enable the clamping blocks to extrude the clamping pieces, so that the clamping pieces start to be closed, the ground cabin sections are clamped and fixed, and the ground cabin sections are prevented from sliding in the rotating process to influence normal butt joint.

4. According to the invention, the ground cabin section is blocked and positioned through the positioning piece, so that the ground cabin section can be positioned accurately in the placing process, and the influence on the butt joint adjustment caused by too close of the ground cabin section is avoided.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic view of a partial perspective structure of the present invention.

Fig. 3 is a schematic view of a partially cut-away perspective structure of a docking mechanism of the present invention.

Fig. 4 is a schematic cross-sectional view of the docking mechanism of the present invention.

Fig. 5 is a schematic perspective view of an adjusting mechanism according to the present invention.

Fig. 6 is a schematic view of a partially cut-away perspective structure of the drawing mechanism of the present invention.

Fig. 7 is a schematic perspective view of the clamping mechanism of the present invention.

Fig. 8 is a schematic perspective view of a first portion of the clamping mechanism of the present invention.

Fig. 9 is a schematic perspective view of a second portion of the clamping mechanism of the present invention.

Fig. 10 is a schematic perspective view of a positioning mechanism according to the present invention.

Fig. 11 is a schematic perspective view of a protection mechanism according to the present invention.

The reference symbols in the drawings: 1: mounting base, 2: first sliding seat, 3: second sliding seat, 4: mounting assembly, 41: lifting base, 42: mounting ring, 5: docking mechanism, 51: binocular vision camera, 52: first motor, 53: motor protection cover, 54: first lead screw, 55: slide, 56: fixed frid, 57: second motor, 58: second screw, 59: pulley assembly, 6: adjustment mechanism, 61: first fixing piece, 62: second fixing piece, 63: briquetting, 64: support, 65: third motor, 66: gear, 67: toothed rotating member, cylinder, 7: a drawing mechanism, 71: hydraulic cylinder, 72: fixing frame, 73: slide roller, 8: clamping mechanism, 81: lifting frame, 82: sliding block, 83: pull cord, 84: clamping block, 85: third mount, 86: clamping piece, 87: torsion spring, 9: positioning mechanism, 91: fixing plate, 92: rotating plate, 93: locating piece, 10: protection mechanism, 101: mount, 102: and (5) protecting the plate.

Detailed Description

Embodiments of the present invention will be described below with reference to the drawings.

The utility model provides an automatic interfacing apparatus of ground cabin section based on machine vision, as shown in fig. 1 and 2, including mount pad 1, first sliding seat 2, second sliding seat 3, installation component 4, lifting seat 41, the collar 42, docking mechanism 5 and guiding mechanism 6, the upper slide sliding of mount pad 1 left portion is connected with first sliding seat 2, first sliding seat 2 top sliding connection has second sliding

seat

3, 1 top of mount pad and 3 tops of second sliding seat all are connected with installation component 4, installation component 4 is including lifting seat 41 and collar 42, lifting seat 41 on the left side all is connected with second sliding seat 3 slidingtype, lifting seat 41 on the right side all is with mount pad 1 fixed connection, lifting seat 41 top on the left side all is connected with collar 42 in the rotation, lifting seat 41 top on the right side all is welded with collar 42, all be equipped with docking mechanism 5 on first sliding seat 2 and the second sliding seat 3, all be equipped with guiding mechanism 6 on second sliding seat 3 and the mount pad 1.

It should be noted that, when the ground cabin section is installed in a butt joint manner, because the ground cabin section is heavy, mechanical equipment is required to be used for automatic butt joint, firstly, two ground cabin sections are respectively placed on the installation component 4, the ground cabin sections are supported and stabilized through the adjusting mechanism 6, then, the first sliding seat 2 and the second sliding seat 3 are controlled through the butt joint mechanism 5 to carry out position adjustment, so that the ground cabin section on the left side can be positioned in a butt joint manner with the ground cabin section on the right side, if at the moment, small angle difference still exists between the two ground cabin sections, the installation ring 42 on the left side can drive the ground cabin section on the left side to rotate through the adjusting mechanism 6, and therefore, the two ground cabin sections can be accurately docked.

As shown in fig. 1, 3, 4 and 6, the docking mechanism 5 comprises a binocular vision camera 51, a first motor 52, a motor protection cover 53, a first screw rod 54, a sliding piece 55, a fixed groove plate 56, a second motor 57, a second screw rod 58 and a belt pulley assembly 59, wherein the left side of the upper part of the lifting seat 41, which is close to the second sliding seat 3, on the right side is connected with the binocular vision camera 51 through a bolt, the binocular vision camera 51 is used for performing docking state detection, the front side of the right part of the second sliding seat 3 is connected with the first motor 52 through a bolt, the front side of the right part of the second sliding seat 3 is welded with the motor protection cover 53, the first motor 52 is positioned in the motor protection cover 53, the first screw rod 54 is connected in the lifting seat 41 on the output shaft of the first motor 52 and the leftmost side, a belt pulley assembly 59 is connected between the rear sides of the first screw rod 54, the belt pulley assembly 59 comprises a belt pulley and a driving belt, the rear side of the first screw rod 54 is connected with belt pulleys, a transmission belt is wound between the belt pulleys, the first screw rod 54 is rotationally connected with the lifting seat 41, sliding parts 55 are connected onto the first screw rod 54 in a threaded mode, two fixing groove plates 56 which are bilaterally symmetrical are connected onto the bottom of the lifting seat 41 on the left side, the two fixing groove plates 56 which are bilaterally adjacent are slidably connected with the adjacent sliding parts 55, the sliding parts 55 are slidably guided, a second motor 57 is connected onto the middle position of the front side of the first sliding seat 2 through bolts, a motor protection cover 53 is welded onto the middle position of the front side of the first sliding seat 2, the second motor 57 is positioned inside the motor protection cover 53 on the front side of the first sliding seat 2, a second screw rod 58 is connected onto an output shaft of the second motor 57, and the second screw rod 58 is in threaded connection with the second sliding seat 3.

It should be noted that, during the process of docking the ground cabin sections, there may be an inaccurate alignment condition between the two ground cabin sections, at this time, in order to accurately position the ground cabin sections, it is first required to control the output shaft of the first motor 52 to rotate so that the corresponding first screw rod 54 rotates, the pulley assembly 59 starts to operate so as to achieve the effect that both the first screw rods 54 simultaneously rotate, at this time, the sliding members 55 start to move because of the rotation of the first screw rods 54, it should be noted that, when the sliding members 55 all move forward, the adjacent lifting seats 41 start to slide upwards, when the sliding members 55 all move backward, the adjacent lifting seats 41 start to slide downwards, when the lifting seats 41 start to slide up and down, the mounting ring 42 drives the adjacent ground cabin sections to adjust the height, the left ground cabin section height can be matched with the right ground cabin section height, the two ground cabin sections are consistent in height, then the first motor 52 is turned off and the second motor 57 is started, the second screw rod 58 is driven to rotate by the rotation of the output shaft of the second motor 57, so that the second sliding seat 3 starts to slide forwards and backwards, the mounting ring 42 can drive the left ground cabin section and the right ground cabin section to be in the same straight line in the horizontal direction, when the positioning is completed, the second motor 57 is turned off, the first sliding seat 2 is pushed to the right, the left ground cabin section is close to the right ground cabin section, automatic butt joint is performed after the two ground cabin sections are attached, the first screw rod 54 is driven to rotate by the output shaft of the first motor 52, so that the lifting seat 41 starts to adjust the height, the two ground cabin sections can be in the same height, and then the output shaft of the second motor 57 is controlled to drive the second screw rod 58 to rotate, so that the two ground cabin sections can be positioned on the same horizontal straight line, and the effect of automatic positioning and butt joint of the ground cabin sections is realized.

As shown in fig. 1 and 5, the adjustment mechanism 6 comprises a first fixing member 61, a second fixing member 62, a pressing block 63, a supporting member 64, a third motor 65, a gear 66, a toothed rotating member 67 and a cylinder 68, wherein the right part of the base is connected with the first fixing member 61 through a bolt, the first fixing member 61 is used for supporting a right ground cabin section, the upper part of the second sliding seat 3 is connected with the second fixing member 62 through a bolt, the right side of the upper part of the second fixing member 62 is connected with the third motor 65 through a bolt, the output shaft of the third motor 65 is connected with the gear 66, the top of the second fixing member 62 is rotationally connected with the toothed rotating member 67, the toothed rotating member 67 is used for supporting the left ground cabin section, the toothed rotating member 67 is meshed with the gear 66, the cylinder 68 is connected between the adjacent lifting seat 41, the bottom of the cylinder 68 is connected with the pressing block 63, the pressing block 63 is slidably connected with the adjacent first fixing member 61 and the toothed rotating member 67, the pressing block 63 is used for extruding and fixing the ground cabin section, the bottom of the pressing block 63 is of the cabin section, the pressing block 63 can be attached to the right cabin section, the supporting member 1 can be mounted on the right side of the right cabin section and the supporting member 64 can be matched with the arc-shaped supporting member 64, and the right cabin section can be stably welded, and the supporting member 64 can be matched with the right cabin section and the supporting member 1.

It should be noted that, the ground cabin section needs to be horizontally fed in the placing process, at this time, the support piece 64 is matched with the adjacent first fixing piece 61 and the toothed rotating piece 67 to stably support and place the ground cabin section, so as to avoid tilting of the ground cabin section, after the ground cabin section is positioned, the two ground cabin sections are difficult to accurately butt joint due to different placing angles of the ground cabin section, at this time, the left ground cabin section needs to be rotationally adjusted, because the ground cabin section is heavier and difficult to manually adjust and rotate, before adjustment, the cylinder 68 needs to be started, so that the telescopic rods of the cylinder 68 drive the pressing blocks 63 to move downwards, the pressing blocks 63 can be pressed and attached with the ground cabin section, the ground cabin section is pressed and fixed, then, the third motor 65 is started, the output shaft of the third motor 65 drives the gear 66 to rotate, the toothed rotating piece 67 drives the left ground cabin section to rotate, and accordingly the left mounting ring 42 starts to rotate, the left ground cabin section can be in butt joint with the right ground cabin section at the same angle, so that butt joint is more accurate, abnormal butt joint is avoided, the ground cabin section is pressed and fixed through the air cylinder 68 control pressing block 63, deviation of the ground cabin section in the adjustment process is avoided, the gear 66 is driven to rotate by the output shaft of the third motor 65, the toothed rotating piece 67 drives the left ground cabin section to rotate and adjust, the two ground cabin sections can be in butt joint at the same angle, abnormal butt joint in the butt joint process is avoided, and butt joint failure is caused.

As shown in fig. 1 and 6, the device further comprises a drawing mechanism 7, the drawing mechanism 7 comprises a hydraulic cylinder 71, a fixing frame 72 and sliding rollers 73, the right part in the base is connected with the hydraulic cylinder 71 through bolts, the telescopic end of the hydraulic cylinder 71 is connected with the first sliding seat 2, the fixing frame 72 is connected to the upper side of the left part of the base, and five sliding rollers 73 are rotatably connected to the fixing frame 72.

It should be noted that, because the ground cabin section itself is heavier, in the process of docking, it is difficult to directly promote, after two ground cabin sections accomplish comprehensive location, control the flexible end of pneumatic cylinder 71 and shrink the motion to the right, make first sliding seat 2 slide to the right automatically, it should be noted that, in the in-process that first sliding seat 2 slides to the right, slide roller 73 all can carry out the auxiliary guidance to first sliding seat 2, make first sliding seat 2 slide fast and stably, reduce the frictional force between first sliding seat 2 and the base, in sum, drive first sliding seat 2 automatic sliding through the flexible end of pneumatic cylinder 71, control two ground cabin sections automatic docking, simultaneously in the in-process that first sliding seat 2 slides, slide guide is carried out to first sliding seat 2 by slide roller 73, reduce the sliding friction between first sliding seat 2 and the base.

As shown in fig. 1, fig. 7, fig. 8 and fig. 9, the lifting device further comprises a clamping mechanism 8, the clamping mechanism 8 comprises a lifting frame 81, sliding blocks 82, pull ropes 83, clamping blocks 84, third fixing pieces 85, clamping pieces 86 and torsion springs 87, the lifting frame 81 is connected to the upper sides of the left and right parts of the pressing blocks 63, the sliding blocks 82 are connected to the upper parts of the lifting seats 41 in a sliding mode, the sliding blocks 82 are connected to the adjacent lifting frames 81 in a sliding mode, six clamping blocks 84 are connected to the lifting seats 41 in a sliding mode, three third fixing pieces 85 are uniformly distributed in the lifting seats 41 in a circumferential mode, the clamping pieces 86 are connected to the third fixing pieces 85 in a rotating mode, the clamping pieces 86 can be pushed by the adjacent clamping blocks 84, the pull ropes 83 are connected between the clamping blocks 84 and the sliding blocks 82 on the same side, the torsion springs 87 are connected between the clamping pieces 86, and the torsion springs 87 are also connected between the clamping pieces 86 and the adjacent third fixing pieces 85.

It should be noted that, when the ground cabin section is rotating and adjusting, it is possible to keep away from because of the gravity of ground cabin section self, lead to the ground cabin section to slide, in order to avoid the above-mentioned condition to appear, when briquetting 63 begins the downward movement and compresses tightly fixed in-process to the ground cabin section, can drive lifting frame 81 all downward movement, thereby make sliding block 82 all slide under the direction of lifting frame 81, sliding block 82 all can pull stay 83 to move this moment, make fixture block 84 all start sliding, fixture block 84 gliding in-process can extrude the holder, make the holder all start to close and carry out the centre gripping fixed to the ground cabin section, avoid the ground cabin section to appear unexpected slip at rotatory in-process, torsional spring 87 all atress takes place to change simultaneously, after the butt joint of location is accomplished, along with briquetting 63 drive lifting frame 81 all upward movement reset, at this moment, under the effect of torsional spring 87, and promote adjacent fixture block 84 slide reset, thereby make 83 all pull sliding block 82 slide reset, in total, make sliding block 82 all slide through lifting frame 81 downward movement, and make sliding block 82 slide, and make the holder 83 all slide, make the holder all slide at the centre gripping section, thereby make the centre gripping section all normally rotate, and make the centre gripping section is carried out in the opposite directions, and make the centre gripping section is normally, and is kept close, the opposite.

As shown in fig. 1 and 10, the positioning mechanism 9 is further included, the positioning mechanism 9 includes a fixing plate 91, a rotating plate 92 and a positioning member 93, the front sides of the two mounting rings 42 located at the middle position are all connected with the fixing plate 91, the rotating plate 92 is connected to the fixing plate 91 in a rotating manner, a part of the rotating plate 92, which is close to each other, is connected with the positioning member 93 in a sliding manner, the positioning member 93 is in a T-shaped structure, and detachment of the positioning member 93 from the rotating plate 92 caused by pulling can be avoided.

It should be noted that, in the process of placing the ground cabin section, in order to avoid the ground cabin section to place the position too close to, influence the location adjustment, can stop the location to the ground cabin section through setting element 93, stop the back with setting element 93 all forward extraction to with the rotor plate 92 upset downwards, make setting element 93 can not influence the normal butt joint of ground cabin section, in sum, stop the location to the ground cabin section through setting element 93, make the ground cabin section place the in-process and can fix a position accurately, avoid the ground cabin section too close to, influence the butt joint adjustment.

As shown in fig. 1 and 11, the device further comprises a protection mechanism 10, the protection mechanism 10 comprises a fixing frame 101 and a protection plate 102, the fixing frame 101 is connected to the binocular vision camera 51 in a sliding manner, and the protection plate 102 is connected to the fixing frame 101.

It should be noted that, the lens of the binocular vision camera 51 is made of a fragile material, when the binocular vision camera 51 is not needed, the protection plate 102 is pushed to the right, so that the fixing frame 101 slides to the right, thereby shielding the lens of the binocular vision camera 51, avoiding damage to the binocular vision camera 51, when the binocular vision camera 51 is needed, only the protection plate 102 is needed to slide to the left, so that the fixing frame 101 slides to the left, and further, the binocular vision camera 51 is not blocked.

step 1: the two ground cabin sections to be butted are supported and placed through the cooperation among the supporting piece 64, the first fixing piece 61 and the toothed rotating piece 67, and the placement positions of the ground cabin sections are limited by the positioning piece 93 in the placement process, so that the distance between the two cabin sections is not more than 120mm;

step 2: the first motor 52 and the second motor 57 control the corresponding first screw rod 54 and second screw rod 58 to rotate, the first motor 52 drives the ground cabin section to translate up and down, the second motor 57 drives the ground cabin section to translate back and forth, and the two ground cabin sections are initially positioned;

step 3: after the preliminary positioning is finished, the third motor 65 is controlled to enable the toothed rotating piece 67 to rotate, the third motor 65 drives the ground cabin section to rotate and adjust, the air cylinder 68 controls the pressing block 63 to clamp the ground cabin section in the adjusting process, and meanwhile, the pressing block 63 controls the lifting frame 81 to enable the clamping piece 86 to limit the ground cabin section for the second time;

step 4: after the ground cabin sections are completely and accurately aligned, the hydraulic cylinder 71 is controlled to drive the first sliding seat 2 to slide, so that the two ground cabin sections are close to each other, and automatic butt joint of the cabin sections is completed.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides an automatic interfacing apparatus of ground cabin section based on machine vision, including mount pad (1), first sliding seat (2), second sliding seat (3), installation component (4), lifting seat (41) and collar (42), first sliding seat (2) of left portion upside sliding connection has side-to-side sliding of mount pad (1), first sliding seat (2) top slidingtype is connected with fore-and-aft sliding second sliding seat (3), mount pad (1) top and second sliding seat (3) top all are connected with installation component (4), installation component (4) including lifting seat (41) and collar (42), lifting seat (41) on the left side all are connected with second sliding seat (3) slidingtype, lifting seat (41) on the right side all are connected with collar (42) that are used for carrying out fixed ground cabin section at the top of lifting seat (41) on the left side all rotationally, characterized in that, still including docking mechanism (5) and adjustment mechanism (6) are equipped with on first sliding seat (3) and second sliding seat (3) and are used for accurate positioning and are all equipped with docking mechanism (5), and the second sliding seat (3) and the mounting seat (1) are respectively provided with an adjusting mechanism (6) for rotating, adjusting and positioning the ground cabin section.

2. The automatic docking device for the ground cabin section based on machine vision according to claim 1, wherein the docking mechanism (5) comprises a binocular vision camera (51), a first motor (52), a motor protection cover (53), a first screw rod (54), a sliding piece (55), a fixed groove plate (56), a second motor (57), a second screw rod (58) and a belt pulley assembly (59), the left side of the upper part of a lifting seat (41) of which the right part is close to a second sliding seat (3) is connected with the binocular vision camera (51) for detecting the docking state, the front side of the right part of the second sliding seat (3) is connected with the first motor (52), the front side of the right part of the second sliding seat (3) is connected with a motor protection cover (53), the output shaft of the first motor (52) is arranged towards the rear, the output shaft of the first motor (52) and the leftmost lifting seat (41) are connected with a first screw rod (54), a belt pulley assembly (59) is connected between the rear sides of the first screw rod (54), the first screw rod (54) is rotationally connected with the lifting seat (41), the first screw rod (54) is connected with a sliding part (55) in a threaded manner, the bottoms of the left lifting seat (41) are connected with two left and right symmetrical fixed groove plates (56), the left and right adjacent fixed groove plates (56) are connected with the adjacent sliding parts (55) in a sliding manner, first sliding seat

(2) The front side middle position is connected with a second motor (57), the output shaft of the second motor (57) is arranged in a backward direction, the front side middle position of the first sliding seat (2) is also connected with a motor protection cover (53), the second motor is connected with a motor protection cover

A second screw rod (58) is connected to the output shaft of the motor (57), and the second screw rod (58) and a second sliding seat

(3) And (5) threaded connection.

3. The automatic docking device for the ground cabin section based on machine vision according to claim 2, characterized in that the adjusting mechanism (6) comprises a first fixing piece (61), a second fixing piece (62), a pressing block (63), a supporting piece (64), a third motor (65), a gear (66), a toothed rotating piece (67) and a cylinder (68), the right part of the base is connected with the first fixing piece (61) for supporting the ground cabin section on the right side, the upper part of the second sliding seat (3) is connected with the second fixing piece (62), the right side of the upper part of the second fixing piece (62) is connected with the third motor (65), an output shaft of the third motor (65) is arranged in a left direction, a gear (66) is connected on an output shaft of the third motor (65), the top of the second fixing piece (62) is rotatably connected with the toothed rotating piece (67) for supporting the ground cabin section on the left side, the toothed rotating piece (67) is meshed with the gear (66), air cylinders (68) are connected between adjacent lifting seats (41), telescopic rods of the air cylinders (68) are arranged in a lower direction, and the telescopic rods are connected with the pressing block (64) for installing the telescopic rods on the bottom of the second sliding seat (64) and are connected with the telescopic rods (64).

4. The automatic docking device for the ground cabin section based on the machine vision according to claim 3, further comprising a pulling mechanism (7), wherein the pulling mechanism (7) comprises a hydraulic cylinder (71), a fixing frame (72) and a sliding roller (73), the right part in the base is connected with the hydraulic cylinder (71), the telescopic end of the hydraulic cylinder (71) is arranged in a left direction, the telescopic end of the hydraulic cylinder (71) is connected with the first sliding seat (2), the upper side of the left part of the base is connected with the fixing frame (72), and a plurality of sliding rollers (73) for carrying out sliding assistance on the first sliding seat (2) are rotatably connected on the fixing frame (72).

5. The automatic docking device for the ground cabin section based on the machine vision according to claim 4, further comprising a clamping mechanism (8), wherein the clamping mechanism (8) comprises a lifting frame (81), sliding blocks (82), pull ropes (83), clamping blocks (84), third fixing pieces (85), clamping pieces (86) and torsion springs (87), lifting frames (81) used for guiding are connected to the upper sides of the left and right parts of the pressing blocks (63), sliding blocks (82) are connected to the upper parts of the lifting seats (41) in a sliding mode, the sliding blocks (82) are connected with the adjacent lifting frames (81) in a sliding mode, a plurality of clamping blocks (84) are connected to the lifting seats (41) in a sliding mode, a plurality of third fixing pieces (85) are uniformly distributed in a circumference mode inside the lifting seats (41), clamping pieces (86) used for clamping and fixing the ground cabin section are connected to the same side in a rotating mode, the clamping blocks (84) are connected to the sliding blocks (82) on the same side, the clamping pieces (86) are connected to the sliding blocks (82), and the torsion springs (87) are connected to the third fixing pieces (87) between the clamping pieces (86).

6. The automatic docking device for the ground cabin section based on the machine vision according to claim 5, further comprising a positioning mechanism (9), wherein the positioning mechanism (9) comprises a fixed plate (91), a rotating plate (92) and a positioning piece (93), the front sides of the two mounting rings (42) positioned at the middle position are respectively connected with the fixed plate (91), the rotating plate (92) is respectively connected on the fixed plate (91) in a rotating mode, and a part, close to each other, of the rotating plate (92) is respectively connected with the positioning piece (93) for blocking and positioning the ground cabin section in a sliding mode.

7. The automatic docking device for the ground cabin section based on machine vision according to claim 6, further comprising a protection mechanism (10), wherein the protection mechanism (10) comprises a fixing frame (101) and a protection plate (102), the fixing frame (101) is connected to the binocular vision camera (51) in a sliding mode, and the protection plate (102) for protecting the binocular vision camera (51) is connected to the left portion of the fixing frame (101).

8. The automatic ground cabin segment docking device based on machine vision according to claim 2, wherein the belt pulley assembly (59) comprises belt pulleys and a transmission belt, the belt pulleys are connected to the rear sides of the first screw rods (54), and the transmission belt is wound between the belt pulleys.

9. A machine vision based ground pod automatic docking device according to claim 3, wherein the bottoms of the compacts (63) are all arc-shaped structures.

10. A method of automatically docking a ground pod based on the docking device of claim 10, the method comprising the steps of:

step 1: the two ground cabin sections to be butted are supported and placed through the cooperation among the supporting piece (64), the first fixing piece (61) and the toothed rotating piece (67), and the placement positions of the ground cabin sections are limited by the positioning piece (93) in the placement process, so that the distance between the two cabin sections is not more than 120mm;

step 2: the first motor (52) and the second motor (57) control the corresponding first screw rod (54) and second screw rod (58) to rotate, the first motor (52) drives the ground cabin section to translate up and down, the second motor (57) drives the ground cabin section to translate back and forth, and the two ground cabin sections are initially positioned;

step 3: after the preliminary positioning is finished, a third motor (65) is controlled to enable a toothed rotating piece (67) to rotate, the third motor (65) drives a ground cabin section to rotate and adjust, a pressing block (63) is controlled by an air cylinder (68) to clamp the ground cabin section in the adjusting process, and meanwhile, a lifting frame (81) is controlled by the pressing block (63) to enable a clamping piece (86) to carry out secondary limiting on the ground cabin section;

step 4: after the ground cabin sections are completely and accurately aligned, the hydraulic cylinder (71) is controlled to drive the first sliding seat (2) to slide, so that the two ground cabin sections are close to each other, and automatic butt joint of the cabin sections is completed.