CN117282951A - Ladle car plugging motor robot system and automatic plugging method thereof - Google Patents

Abstract

The application discloses a ladle car plugging motor robot system and an automatic plugging method thereof, wherein a laser ranging system for preliminarily positioning the ladle car is arranged on one side of a track where the ladle car is located, a six-axis robot is configured in the system, a cable connector plugging system is arranged at the tail end of the six-axis robot, a plugging interface component is arranged on the side wall of the ladle car, the plugging interface component comprises a plugging interface, an interface positioning block, a cable connector locking piece and a sealing protective cover, and the cable connector plugging system is used for plugging and unplugging the cable connector and the plugging interface in an aligned manner; the cable connector plugging system scans and positions the interface positioning block through the 3D vision system, clamps the cable connector through the clamping jaw, opens or locks the cable connector locking piece through the shifting fork sliding mechanism, and opens and closes the sealing protective cover through the protective cover opening and closing mechanism; the automatic ladle car plug-in connection is realized, the cable connector plug-in operation is replaced by manual operation, the participation degree and the labor intensity of personnel are reduced, and the safety risk in the production process is reduced.

Description

Ladle car plugging motor robot system and automatic plugging method thereof

Technical Field

The application relates to the technical field of steel production, in particular to a cable plug of a ladle cover plug electric interface in the metallurgical industry, and specifically relates to a ladle car plug electric robot system and an automatic plug method thereof.

Background

In the production process of iron and steel enterprises, a transportation link of molten iron from an iron mill to a steel mill is indispensable, and the transportation method is generally that a ladle is placed on a locomotive, and the ladle is transported to a steelmaking operation area by locomotive traction after being fully connected with molten iron under a blast furnace.

After the ladle is filled with molten iron in a blast furnace workshop, the ladle is transported to a charging station of a steelmaking workshop by a locomotive, in the transportation process, the ladle is provided with automatic ladle cover opening/closing equipment for reducing the temperature loss of the molten iron, and the side surface of the ladle car is provided with a plug-in interface, so that the automatic ladle cover opening/closing equipment for the ladle is conveniently powered. The ladle is covered, so that the heat dissipation of the ladle in the transportation process can be reduced, particularly the heat dissipation in rainy and snowy weather is reduced, the aim of heat preservation of the ladle and the molten iron is fulfilled, and the ladle is of great importance to energy conservation and production cost reduction of iron and steel enterprises.

In the prior art, a plurality of ladles on a train of vehicles are electrically connected in parallel, and after only a cable connector of a first ladle is connected in a butt joint mode, the ladles are all electrified, and a ladle cover is opened at the same time. Therefore, the plugging and unplugging work of the cable connector of the plug-in electric interface of the cover of the ladle in the current iron charging station is completed through on-site manual operation. The environment temperature of the iron charging station is high, dust is large, the health of personnel is not facilitated, meanwhile, the operation space is narrow, when the personnel plug-in the ladle capping cable connector, the overhead ladle lifting and the locomotive conveying ladle are frequent, the personnel operation has great potential safety hazard, and the labor intensity of the personnel is high. Moreover, the manual operation is unavoidable, after the cable connector is pulled out and disassembled manually, the sealing protection cover of the plugging electric interface is sometimes forgotten to be closed, and after the plugging electric interface falls into dust and sundries, the poor contact between the cable connector and the plugging electric interface can be caused, so that the plugging electric interface and the cable connector can be burnt seriously.

Therefore, a new solution is needed to solve the problems existing in the prior art.

Disclosure of Invention

The utility model provides a ladle car connects and inserts motor robot system and automatic grafting method thereof for solve among the prior art automatic open/close ladle cover equipment cable grafting that sets up on the ladle and rely on the manual work, there is the operation potential safety hazard, be unfavorable for the problem of safety in production.

In order to achieve the above object, the present application provides the following technical solutions:

on one hand, the application provides a ladle car plugging motor robot system, which comprises a control device, an industrial robot system, a cable connector plugging system and a laser ranging system, wherein the industrial robot system, the cable connector plugging system and the laser ranging system are respectively connected with signals of the control device;

the industrial robot system comprises a six-axis robot, the six-axis robot is used for carrying a cable connector plugging system to move, and the laser ranging system is used for positioning the ladle car;

the side wall of the ladle car is provided with a plug-in electric interface component which comprises a plug-in electric interface, an interface positioning block, a cable connector locking piece and a sealing protective cover;

the cable connector plugging system comprises a 3D vision system, a cable connector clamping jaw mechanism, a push-pull mechanism, a shifting fork sliding mechanism and a protective cover opening and closing mechanism;

the 3D vision system is used for scanning and positioning the interface positioning block; the cable connector clamping jaw mechanism is used for clamping the cable connector and realizing the plug action of the cable connector and the plug-in electric interface; the shifting fork sliding mechanism comprises a sliding table cylinder and a shifting fork taper shaft, and the shifting fork taper shaft is driven to open or close the cable connector locking piece through up-and-down movement of the sliding table cylinder; the protective cover opening and closing mechanism comprises a sliding table cylinder and an opening and closing piece which moves reciprocally along the sliding table cylinder to open or close the sealing protective cover.

Further in the above-mentioned technical scheme, laser ranging system includes laser ranging support, installs the laser ranging protection casing on the laser ranging support to and install the laser ranging sensor in the laser ranging protection casing, the laser ranging support sets up at the railway terminal that the ladle car is located, and sets up in the one side that the ladle car is provided with the plug-in interface, the monitoring direction of laser ranging sensor is directional to the ladle car and is driven into the direction.

Further, the laser ranging sensor is in signal connection with the control device, the laser ranging sensor is used for detecting the position of the end face of the ladle car, and the control device receives detection data of the laser ranging sensor and sends signals representing the position of the plugging electric interface to the cable connector plugging system.

Further, the industrial robot system comprises a robot ground rail, the six-axis robot is in sliding connection with the robot ground rail through a ground rail connecting plate, and an initial position protective cover is arranged on the ground rail connecting plate; an organ protection cover for preventing dust from entering is arranged on the robot ground rail, and a cable drag chain is arranged on the robot ground rail; when the laser ranging system sends the monitored position information of the end face of the ladle car to the control device, the control device sends signals to the six-axis robot, the six-axis robot drives the cable connector plugging system to move to a target plugging position along the ground rail of the robot, and the cable connector and the plugging electric interface are plugged or unplugged through the cable connector plugging system.

Further, the 3D vision system is fixed on a vision system support, the vision system support is connected with the six-axis tail end of the six-axis robot, and the lower part of the vision system support is connected with a Z-axis compensation mechanism, an X-axis compensation device and a Y-axis compensation device; the Z-axis compensation mechanism is used for compensating the scanning positioning error of the cable connector plugging system in the Z-axis direction; the X-axis and Y-axis compensation device is used for compensating scanning positioning errors of the cable connector plugging system in the X-axis and/or Y-axis directions.

Further, the Z-axis compensation mechanism comprises a connecting plate connected below the vision system support, four guide posts are arranged on the connecting plate and are arranged at intervals up and down along the vertical direction, the tops of the four guide posts are connected through a plate, and springs are arranged on the guide posts.

Further, the cable connector clamping jaw mechanism is used for clamping and placing the cable connector, the cable connector clamping jaw mechanism is connected with the X-axis compensation device and the Y-axis compensation device, the cable connector clamping jaw mechanism comprises clamping jaws, parallel clamping jaw cylinders driving the clamping jaws to move and clamping jaw positioning blocks, positioning pins are arranged on the clamping jaw positioning blocks, and positioning holes matched with the positioning pins are formed in the interface positioning blocks.

Further, the cable connector clamping jaw mechanism is driven by the six-axis robot to be correspondingly spliced with the interface positioning block through the positioning pin shaft, and the cable connector on the clamping jaw is spliced to the electric interface in an alignment manner.

Further, the push-pull mechanism comprises a belt guide cylinder, the end part of the belt guide cylinder is connected with the sliding table cylinder, the belt guide cylinder is horizontally arranged, the sliding table cylinder is vertically arranged, a shifting fork taper shaft is arranged on a cylinder rod of the sliding table cylinder, the shifting fork taper shaft is driven by the belt guide cylinder to horizontally move back and forth, and is driven by the sliding table cylinder to vertically move up and down; the shifting fork sliding mechanism and the push-pull mechanism are matched to finish the opening or locking of the cable connector locking piece.

Further, the cable connector plugging system further comprises a purging nozzle, wherein the purging nozzle is used for purging dust in the electric interface.

On the other hand, based on the above-mentioned a ladle car inserts motor robot system that provides, this application still provides an adoption this ladle car inserts motor robot system and inserts the automatic grafting method of electric to carry out the ladle car, when the power supply need be inserted to the ladle car, six robots move to the target plug position and insert cable connector and connect electric interface counterpoint grafting, include the following step:

s11: the six-axis robot moves to a target plugging position from an initial position and scans and positions the interface positioning block through a 3D vision system on the six-axis robot;

s12: opening the sealing protective cover through the protective cover opening and closing mechanism;

s13: opening a cable connector locking piece through a shifting fork sliding mechanism and a push-pull mechanism;

s14: the six-axis robot carries a cable connector clamping jaw mechanism which clamps the cable connector to enable the cable connector to be in opposite plug connection with a plug-in electrical interface, and after the plug connection is completed, the cable connector clamping jaw mechanism is disconnected with the cable connector;

s15: locking the cable connector locking piece through a shifting fork sliding mechanism and a push-pull mechanism; the six-axis robot carries the cable connector plugging system to return to the initial position.

In the above technical scheme, when the power supply of the ladle car is finished, the six-axis robot moves to the target plugging position to plug the cable connector out of the plugging interface, comprising the following steps:

s21: the six-axis robot moves to a target plugging position from an initial position and scans and positions the interface positioning block through a 3D vision system on the six-axis robot;

s22: the six-axis robot carries the cable connector clamping jaw mechanism to move to an opening position of the cable connector locking piece, and the cable connector locking piece is opened by the shifting fork sliding mechanism and the push-pull mechanism;

s23: clamping the cable connector through a cable connector clamping jaw mechanism, and reversely moving the six-axis robot carrying the cable connector clamping jaw mechanism to a closing position of a sealing protective cover to pull out the cable connector from the plugging electric interface;

s24: closing the seal protection cover by a protection cover opening and closing mechanism;

s25: the six-axis robot carries the cable connector plugging system to return to the initial position.

Compared with the prior art, the application has the following beneficial effects:

1. the utility model provides a ladle car connects plug-in motor robot system, the laser ranging system that is used for preliminary location to the ladle car is established to ladle car place track one side, and six robots of system configuration, six terminal installation cable connector plug systems of robots, establish on the ladle car lateral wall and connect plug-in interface subassembly, connect plug-in interface subassembly including connect plug-in interface, interface locating piece, cable connector locking piece and sealed visor, cable connector plug systems with cable connector with connect plug-in interface counterpoint plug. Specifically, the cable connector plug system comprises a 3D vision system, a cable connector clamping jaw mechanism, a push-pull mechanism, a shifting fork sliding mechanism and a protective cover opening and closing mechanism, wherein the 3D vision system scans and positions an interface positioning block, the cable connector clamping jaw mechanism clamps a cable connector and is controlled to complete the plug action of the cable connector, the shifting fork sliding mechanism opens or closes a cable connector locking piece, and the protective cover opening and closing mechanism opens or closes a sealing protective cover. Therefore, the utility model provides a ladle car inserts motor robot system has realized automatic ladle car and inserts the electricity through the supporting use of industrial robot system and cable connector plug system, replaces the manual work to carry out cable connector plug operation, liberates personnel from high temperature, high dust environment, has reduced personnel's participation degree and intensity of labour, reduces the security risk in the production process.

2. According to the ladle car plugging motor robot system, the cable connector plugging system automatically completes the switching operation of the plugging electric interface sealing protective cover, and the cable connector is accurately plugged into the ladle car plugging electric interface; the blowing nozzle can be arranged on the cable connector plugging system to blow dust in the electrical interface, so that the dust and foreign matter blocking is reduced, and the success rate of the cable connector plugging operation is improved.

3. The utility model provides a ladle car connects and inserts motor robot system can avoid personnel to forget to close the sealed visor that inserts the electric interface and lead to connect the electric interface and the poor problem of cable connector contact.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. It should be understood that the specific shape and configuration shown in the drawings should not be considered in general as limiting upon the practice of the present application; for example, based on the technical concepts and exemplary drawings disclosed herein, those skilled in the art have the ability to easily make conventional adjustments or further optimizations for the add/subtract/assign division, specific shapes, positional relationships, connection modes, dimensional scaling relationships, etc. of certain units (components).

Fig. 1 is a schematic top view of a ladle car plug-in robot system provided in the present application in a use state, where the illustrated ladle car plug-in robot system is disposed between two ladle car rails;

FIG. 2 is a schematic diagram of a laser ranging system according to one embodiment of the present application;

FIG. 3 is a schematic diagram of an industrial robot system of the present application in an embodiment;

FIG. 4 is a schematic diagram of a cable connector plugging system according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a patch electrical interface assembly according to an embodiment of the present application.

Reference numerals illustrate:

1. a ladle car; 2. plugging an electrical interface; 3. a cable connector plugging system; 4. an industrial robot system; 5. a laser ranging system; 6. a laser ranging bracket; 7. a laser ranging sensor; 8. laser ranging protective cover; 9. a six-axis robot; 10. a cable drag chain; 11. robot ground rail; 12. an initial position shield; 13. plugging in an electrical interface assembly; 13.1, a cable connector; 13.2, plugging in an electrical interface; 13.3, cable connector locking member; 13.4, sealing the protective cover; 13.5, interface positioning blocks; 14. a 3D vision system; 15. a vision system support; 16. a Z-axis compensation mechanism; 17. an X-axis and Y-axis compensation device; 18. a cable connector jaw mechanism; 19. a push-pull mechanism; 20. a fork slide mechanism; 21. a shifting fork taper shaft; 22. positioning pin shafts; 23. a protective cover opening and closing mechanism; 24. vision system protection casing.

Detailed Description

The present application is further described in detail below with reference to the attached drawings.

In the description of the present application: unless otherwise indicated, the meaning of "a plurality" is two or more. The terms "first," "second," "third," and the like in this application are intended to distinguish between the referenced objects without a special meaning in terms of technical connotation (e.g., should not be construed as emphasis on degree or order of importance, etc.). The expressions "comprising", "including", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

The terms such as "upper", "lower", "left", "right", "middle", and the like, as referred to in this application, are generally used for convenience in visual understanding with reference to the drawings, and are not intended to be an absolute limitation of the positional relationship in actual products. Such changes in relative positional relationship are considered to be within the scope of the present description without departing from the technical concepts disclosed herein.

Example 1

In order to solve the problem existing in the prior art, the application provides a ladle car plug-in motor robot system. As shown in fig. 1, the ladle car plugging motor robot system comprises a control device, an industrial robot system 4, a cable connector plugging system 3 and a laser ranging system 5, wherein the industrial robot system 4 is respectively connected with signals of the control device, the cable connector plugging system 3 is arranged at the tail end of the industrial robot system 4, and the laser ranging system 5 is arranged at the tail end of a track where the ladle car 1 is located. Wherein the monitoring direction of the laser ranging system 5 points to the entering direction of the ladle car. The side of the ladle car 1 is provided with a plug-in electric interface 2.

The utility model provides a pair of ladle car inserts motor robot system utilizes laser rangefinder system 5 to carry out preliminary location to the ladle car, carries cable connector plug system 3 from initial position to ladle car's the electric interface 13.2 department of inserting by the industrial robot system 4 of taking the ground rail, scans to insert electric interface 13.2 to install cable connector 13.1 accuracy on inserting electric interface 13.2 by cable connector plug system 3, accomplish the ladle car and insert electric operation. When all ladles are returned to the ladle car after being completely poured, the ladle car plugging motor robot system provided by the application executes the cable connector pulling-out operation again and returns to the initial position. The cable connector has a quick plugging function and is used for electric connection of automatic covering equipment of the ladle and supplying power for the covering equipment of the ladle car.

The utility model provides a ladle car inserts motor robot system mainly includes following three functional module: the laser distance measuring system 5, the industrial robot system 4, and the cable connector plugging system 3 are described in detail below as to the structure of each functional module.

1. Laser ranging system

Referring to fig. 2, the laser ranging system 5 in the application mainly comprises a laser ranging bracket 6, a laser ranging sensor 7 and a laser ranging protective cover 8, wherein the laser ranging protective cover is arranged at the tail end of a track where a ladle car is located, and is arranged at one side of the ladle car where a plug-in electrical interface is arranged, and the monitoring direction of the laser ranging sensor 7 points to the entering direction of the ladle car.

After the ladle car 1 is parked in the working range of the ladle car plugging motor robot system, the laser ranging sensor 7 detects the end face position of the ladle car, and the control device obtains data representing the plugging electric interface position according to the detection data of the laser ranging sensor 7 and uploads the data to the ladle car plugging motor robot system.

Therefore, the laser ranging system 5 primarily locates the ladle car, and the six-axis robot 9 moves under the signal of the control device.

2. Industrial robot system

As shown in fig. 3, the industrial robot system 4 in the present application mainly comprises a six-axis robot 9, a cable tow chain 10, a robot ground rail 11, an initial position protection cover 12, and the like, and is disposed in the middle of two rows of railcar rails and at the end positions of the rails, which is the initial position of the industrial robot system 4.

The six-axis robot 9 is arranged above the robot ground rail 11, the six-axis robot 9 can be controlled to reciprocate along the robot ground rail 11, and the six-axis robot 9 carries the cable connector plugging system 3 to move from an initial position to a plugging interface of the ladle car along the rail direction of the ladle car in the moving process.

The robot ground rail 11 is provided with an organ protection cover to prevent dust from entering the inside of the robot ground rail 11, so that the robot ground rail can adapt to the working condition of high dust on site.

In practical installation applications, the robot ground rail 11 in the present application may also be replaced by a rail and wheeled mobile carriage, but care should still be taken to prevent dust.

To achieve the drag and protection of the robot and cable connector lines and to prevent the field cables from winding or breakage, a cable drag chain 10 is provided along the robot ground rail 11.

The six-axis robot 9 is in sliding connection with a robot ground rail 11 through a ground rail connecting plate, and an initial position protection cover 12 is arranged on the ground rail connecting plate and moves along with the six-axis robot 9 to be used for dust prevention and protection of the cable connector plugging system 3.

3. Cable connector plugging system

As shown in fig. 3, the cable connector plugging system 3 is fixed to the six-axis end of the six-axis robot 9 and moves together with the six-axis robot 9.

As shown in fig. 4, the cable connector plugging system 3 mainly comprises a 3D vision system 14, a vision system bracket 15, a Z-axis compensation mechanism 16, an X-axis and Y-axis compensation device 17, a cable connector clamping jaw mechanism 18, a push-pull mechanism 19, a shift fork sliding mechanism 20, a shift fork taper shaft 21, a positioning pin 22, a protective cover opening and closing mechanism 23, and the like. A vision system boot 24 is provided on the cable connector plug system 3.

Other positioning vision systems may also be used by the 3D vision system of the present application, provided that the requirements of use are met.

In this application, as shown in fig. 4, the 3d vision system 14 is fixed on the vision system support 15, and is located at the top of the cable connector plugging system 3, so as to facilitate scanning and positioning of the plugging electrical interface 13.2.

The lower part of the vision system bracket 15 is connected with a Z-axis compensation mechanism 16, and the Z-axis compensation mechanism 16 and an X-axis and Y-axis compensation device 17 are arranged at one end of the cable connector plugging system 3, which is close to the six-axis robot 9, and are connected with the six-axis tail end of the six-axis robot 9. The X-axis and Y-axis compensation device and the Z-axis compensation mechanism mainly realize the compensation function of X, Y, Z direction displacement deviation in the plugging process through the structural arrangement of springs, guide posts and the like.

Specifically, the Z-axis compensation mechanism 16 in the present application realizes a compensation function of the Z-axis scanning positioning error of the cable connector plugging system 3. In this application, the Z-axis compensation mechanism 16 includes a connecting plate connected below the vision system bracket 15, on which a spring and a guide post are disposed, and the spring is sleeved on the guide post. The specific structure of the Z-axis compensation mechanism 16 is not limited in this application. In other embodiments, the Z-axis compensation mechanism may be replaced by other flexible compensation devices, which may be other compensation devices commonly used in the art, so long as the scanning positioning error compensation function of the present application is achieved.

The X-axis and Y-axis compensation device 17 in the application can freely move for a certain distance along the X-axis and/or Y-axis directions, so that the compensation function of scanning positioning errors in the X-axis and Y-axis directions is realized. The specific structure of the X-axis and Y-axis compensation device 17 is not limited in this application, and it may be any flexible compensation device formed by a spring and a guide post, or may be any other compensation device commonly used in the art, so long as the scanning positioning error compensation function in this application can be realized.

The cable connector clamping jaw mechanism 18 in the application is arranged at the middle part of the cable connector plugging system 3 and comprises clamping jaws, parallel clamping jaw cylinders and clamping jaw positioning blocks are arranged on the clamping jaws, and clamping and placing functions of the cable connector 13.1 are achieved through control clamping jaws. The clamping jaw positioning block is provided with a positioning pin shaft 22, the interface positioning block 13.5 is provided with a positioning hole, the positioning pin shaft 22 is matched with the positioning hole, and the six-axis robot 9 drives the positioning pin shaft 22 to be matched with the interface positioning block 13.5, so that the accurate positioning and plugging functions of the cable connector 13.1 and the plugging electrical interface 13.2 are realized.

The fork slide mechanism 20 and push-pull mechanism 19 in the present application are used to perform opening and locking operations on the cable connector locking member 13.3.

In this application, the fork slide mechanism 20 and the push-pull mechanism 19 are provided on the right side of the cable connector jaw mechanism 18, wherein: the shifting fork sliding mechanism 20 is provided with a sliding table cylinder and two groups of shifting fork taper shafts 21, the shifting fork taper shafts 21 are driven to enter the opening and closing positions of the cable connector locking piece 13.3 respectively through up-and-down movement of the sliding table cylinder, and then the opening and closing functions of the cable connector locking piece 13.3 are realized by matching with the front-and-back movement of the sliding mechanism 19 with the guide cylinder.

In other embodiments, the fork mechanism used to unlock and lock the cable connector locking member of the present application may be accomplished by using a vacuum chuck or a clamping jaw. For example, a vacuum chuck may be disposed on the fork shaft 21, and the connection with the cable connector locking member is completed through the vacuum chuck, so as to realize the opening or locking operation. Or, a clamping jaw is arranged on the shifting fork taper shaft 21, and the cable connector locking piece is connected with the clamping jaw, so that the opening or locking operation is realized. Or, the shifting fork taper shaft 21 is directly replaced by a vacuum chuck or a clamping jaw, so that the opening or locking operation is realized. In specific application, the installation can be adaptively selected according to the actual working condition requirement.

The seal protection cover 13.4 arranged at the socket connector 13.2 in the application is opened and closed by a protection cover opening and closing mechanism 23.

In the application, the protection cover opening and closing mechanism 23 is arranged on the left side of the cable connector clamping jaw mechanism 18, a sliding table cylinder and an opening and closing piece are configured, and the opening and closing piece is driven to complete contact push-pull action with the sealing protection cover 13.4 through the back-and-forth movement of the sliding table cylinder, so that the opening and closing function of the sealing protection cover of the plug-in electrical interface is realized. The shutter may be a vacuum chuck or a clamping jaw.

In summary, the application provides a ladle car plug motor robot system, has realized automatic ladle car plug through the supporting use of industrial robot system and cable connector plug system, replaces the manual work to carry out cable connector plug operation, liberates personnel from high temperature, high dust environment, has reduced personnel's participation degree and intensity of labour, reduces the security risk in the production process.

Example two

Based on the first embodiment, the present application further provides an automatic plugging method for plugging the buggy with the first embodiment.

When the ladle car needs to be plugged and powered, the six-axis robot moves to a target plugging position to plug the cable connector with the plugging electric interface in an aligned mode, and the method comprises the following steps of:

after the six-axis robot 9 carries the cable connector plugging system 3 to the position of the plugging electrical interface component 13, the 3D vision system 14 scans and locates the interface locating block 13.5. First, the six-axis robot 9 moves the cable connector insertion and extraction system 3 to the opening position of the seal protection cover 13.4, and the opening operation of the seal protection cover 13.4 is completed by the protection cover opening and closing mechanism 23. Next, the opening operation of the cable connector locking member 13.3 is completed by the cooperation of the fork slide mechanism 20 and the push-pull mechanism 19. Then the six-axis robot 9 carries the cable connector clamping jaw mechanism 18 with the cable connector 13.1 mounted, the cable connector 13.1 and the socket connector 13.2 are mounted together along the axis direction of the matching hole of the positioning pin shaft 22 and the socket connector positioning block 13.5, the clamping jaws of the cable connector clamping jaw mechanism 18 are opened, and the cable connector 13.1 mounting operation is completed. Finally, the shifting fork sliding mechanism 20 and the push-pull mechanism 19 are matched to complete the locking operation of the cable connector locking piece 13.3, and the six-axis robot 9 carries the cable connector plugging system 3 to return to the initial position along the ground rail 11 of the industrial robot.

After the power supply of the ladle car is finished, the six-axis robot moves to a target plugging position to plug the cable connector out of the plugging interface, and the method comprises the following steps of:

the six-axis robot 9 carries the cable connector plugging system 3 to move to the disassembling position of the cable connector 13.1 along the robot ground rail 11, and the 3D vision system 14 scans and positions the interface positioning block 13.5. First, the six-axis robot 9 moves the cable connector clamping jaw mechanism 18 along the axis direction of the matching hole of the positioning pin 22 and the socket positioning block 13.5 to the opening position of the cable connector locking piece 13.3, the cable connector clamping jaw mechanism 18 clamps the cable connector 13.1, and the shifting fork sliding mechanism 20 and the push-pull mechanism 19 are matched to complete the opening operation of the cable connector locking piece 13.3. Next, the six-axis robot 9 carries the cable connector clamping jaw mechanism 18 to clamp the cable connector 13.1, and moves to the closing position of the sealing protection cover 13.4 along the axis direction of the matching hole of the positioning pin 22 and the plugging electric interface positioning block 13.5 in a reverse direction, and the closing operation of the sealing protection cover 13.4 is completed by the protection cover opening and closing mechanism 23. Finally, the six-axis robot 9 carries the cable connector plugging system 3 which completes the cable connector 13.1 plugging operation and returns to the initial position along the robot ground rail 11.

The automatic plugging method for plugging the ladle car by adopting the ladle car plugging motor robot system replaces manual plugging operation of the cable connector, releases personnel from a high-temperature and high-dust environment, reduces the participation degree and labor intensity of the personnel, and reduces the safety risk in the production process.

Any combination of the technical features of the above embodiments may be performed (as long as there is no contradiction between the combination of the technical features), and for brevity of description, all of the possible combinations of the technical features of the above embodiments are not described; these examples, which are not explicitly written, should also be considered as being within the scope of the present description.

The foregoing has outlined and detailed description of the present application in terms of the general description and embodiments. It should be appreciated that numerous conventional modifications and further innovations may be made to these specific embodiments, based on the technical concepts of the present application; but such conventional modifications and further innovations may be made without departing from the technical spirit of the present application, and such conventional modifications and further innovations are also intended to fall within the scope of the claims of the present application.

Claims (10)

1. The system is characterized by comprising a control device, an industrial robot system (4), a cable connector plugging system (3) and a laser ranging system (5), wherein the industrial robot system (4) is respectively connected with the control device in a signal mode, the cable connector plugging system (3) is arranged at the tail end of the industrial robot system (4), and the laser ranging system (5) is arranged on one side of a track where the ladle car (1) is located;

the industrial robot system (4) comprises a six-axis robot (9), the six-axis robot (9) is used for carrying a cable connector plugging system (3) to move, and the laser ranging system (5) is used for positioning the ladle car (1);

a plug-in electric interface assembly (13) is arranged on the side wall of the ladle car (1), and the plug-in electric interface assembly (13) comprises a plug-in electric interface (13.2), an interface positioning block (13.5), a cable connector locking piece (13.3) and a sealing protective cover (13.4);

the cable connector plugging system (3) comprises a 3D vision system (14), a cable connector clamping jaw mechanism (18), a push-pull mechanism (19), a shifting fork sliding mechanism (20) and a protective cover opening and closing mechanism (23);

the 3D vision system (14) is used for scanning and positioning the interface positioning block (13.5); the cable connector clamping jaw mechanism (18) is used for clamping the cable connector (13.1) and realizing the plug-in and plug-out actions of the cable connector (13.1) and the plug-in electric interface (13.2); the shifting fork sliding mechanism (20) comprises a sliding table cylinder and a shifting fork taper shaft (21), and the shifting fork taper shaft (21) is driven to open or close a cable connector locking piece (13.3) through up-and-down movement of the sliding table cylinder; the protective cover opening and closing mechanism (23) comprises a sliding table cylinder and an opening and closing piece which moves reciprocally along the sliding table cylinder to open or close the sealing protective cover (13.4).

2. The ladle car plugging motor robot system according to claim 1, wherein the laser ranging system (5) comprises a laser ranging bracket (6), a laser ranging protective cover (8) installed on the laser ranging bracket (6), and a laser ranging sensor (7) installed in the laser ranging protective cover (8), the laser ranging bracket (6) is arranged at the tail end of a track where the ladle car is located and is arranged at one side of the ladle car where a plugging electric interface is arranged, and the monitoring direction of the laser ranging sensor (7) points to the entering direction of the ladle car;

the laser ranging sensor (7) is in signal connection with the control device, the laser ranging sensor (7) is used for detecting the position of the end face of the ladle car, and the control device receives detection data of the laser ranging sensor (7) and sends signals representing the position of the plugging electrical interface to the cable connector plugging system (3).

3. The ladle car plugging motor robot system according to claim 1, wherein the industrial robot system (4) comprises a robot ground rail (11), the six-axis robot (9) is slidably connected with the robot ground rail (11) through a ground rail connecting plate, and an initial position protection cover (12) is arranged on the ground rail connecting plate; an organ protection cover for preventing dust from entering is arranged on the robot ground rail (11), and a cable drag chain (10) is arranged on the robot ground rail (11);

when the laser ranging system (5) sends the monitored position information of the end face of the ladle car to the control device, the control device sends signals to the six-axis robot (9), the six-axis robot (9) drives the cable connector plugging system (3) to move to a target plugging position along the robot ground rail (11), and the cable connector (13.1) and the plugging electric interface (13.2) are plugged or unplugged through the cable connector plugging system (3).

4. The ladle car plugging motor robot system according to claim 1, wherein the 3D vision system (14) is fixed on a vision system bracket (15), the vision system bracket (15) is connected with the six-axis end of the six-axis robot (9), and a Z-axis compensation mechanism (16), an X-axis and Y-axis compensation device (17) are connected below the vision system bracket (15); the Z-axis compensation mechanism (16) is used for compensating scanning positioning errors of the cable connector plugging system (3) in the Z-axis direction; the X-axis and Y-axis compensation device (17) is used for compensating scanning positioning errors of the cable connector plugging system (3) in the X-axis and/or Y-axis directions.

5. The ladle car plug-in motor robot system according to claim 4, wherein the Z-axis compensation mechanism (16) comprises a connecting plate connected below the vision system bracket (15), four guide posts are arranged on the connecting plate, the four guide posts are arranged at intervals up and down along the vertical direction, the tops of the four guide posts are connected through a plate, and springs are arranged on the guide posts.

6. The ladle car plugging motor robot system according to claim 5, wherein the cable connector clamping jaw mechanism (18) is used for clamping and placing a cable connector (13.1), the cable connector clamping jaw mechanism (18) is connected with the X-axis and Y-axis compensation device (17), the cable connector clamping jaw mechanism (18) comprises clamping jaws, parallel clamping jaw cylinders for driving the clamping jaws to move, and clamping jaw positioning blocks, positioning pins (22) are arranged on the clamping jaw positioning blocks, and positioning holes matched with the positioning pins (22) are arranged on the interface positioning blocks (13.5);

the cable connector clamping jaw mechanism (18) is driven by the six-axis robot (9) to be correspondingly spliced with the interface positioning block through the positioning pin shaft (22), and the cable connector (13.1) on the clamping jaw is spliced to the plugging electric interface (13.2) in an alignment mode.

7. The ladle car plugging motor robot system according to claim 6, wherein the push-pull mechanism (19) comprises a belt guide cylinder, the end part of the belt guide cylinder is connected with the sliding table cylinder, the belt guide cylinder is horizontally arranged, the sliding table cylinder is vertically arranged, the shifting fork taper shaft (21) is arranged on a cylinder rod of the sliding table cylinder, the shifting fork taper shaft (21) is driven by the belt guide cylinder to horizontally move back and forth, and is driven by the sliding table cylinder to vertically move up and down; the shifting fork sliding mechanism (20) and the push-pull mechanism (19) are matched to finish the opening or locking of the cable connector locking piece (13.3).

8. The ladle car plug motor robot system according to claim 1, wherein the cable connector plug system (3) further comprises a purge nozzle for purging dust in the electrical interface (13.2).

9. An automatic plugging method for plugging a ladle car by adopting the ladle car plugging motor robot system as claimed in any one of claims 1-8, wherein when the ladle car is required to be plugged and powered, the six-axis robot moves to a target plugging position to plug a cable connector (13.1) into alignment with a plugging interface (13.2), and the automatic plugging method comprises the following steps:

s11: the six-axis robot moves to a target plugging position from an initial position and scans and positions a joint positioning block (13.5) through a 3D vision system (14) on the six-axis robot;

s12: the seal protection cover (13.4) is opened by a protection cover opening and closing mechanism (23);

s13: the cable connector locking piece (13.3) is opened through the shifting fork sliding mechanism (20) and the push-pull mechanism (19);

s14: the six-axis robot carries a cable connector clamping jaw mechanism (18) clamping a cable connector (13.1) to align and plug the cable connector (13.1) with a plug electrical interface (13.2), and after the plug is completed, the cable connector clamping jaw mechanism (18) is disconnected with the cable connector (13.1);

s15: locking the cable connector locking piece (13.3) through a shifting fork sliding mechanism (20) and a push-pull mechanism (19); the six-axis robot (9) carries the cable connector plugging system (3) to return to the initial position.

10. The automatic plugging method for plugging in a trolley by using a trolley plugging motor robot system according to claim 9, wherein when the trolley is powered, the six-axis robot moves to a target plugging position to plug out the cable connector (13.1) from the plugging interface (13.2), comprising the steps of:

s21: the six-axis robot moves to a target plugging position from an initial position and scans and positions a joint positioning block (13.5) through a 3D vision system (14) on the six-axis robot;

s22: the six-axis robot (9) carries a cable connector clamping jaw mechanism (18) to move to an opening position of a cable connector locking piece (13.3), and the cable connector locking piece (13.3) is opened by a shifting fork sliding mechanism (20) and a push-pull mechanism (19);

s23: clamping the cable connector (13.1) through the cable connector clamping jaw mechanism (18), and reversely moving the six-axis robot (9) to a closing position of the sealing protective cover (13.4) by carrying the cable connector clamping jaw mechanism (18) to pull out the cable connector (13.1) from the plugging electric interface (13.2);

s24: the seal protection cover (13.4) is closed by a protection cover opening and closing mechanism (23);

s25: the six-axis robot (9) carries the cable connector plugging system (3) to return to the initial position.