CN207507754U - A kind of automatic butt system - Google Patents
A kind of automatic butt system Download PDFInfo
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- CN207507754U CN207507754U CN201721549292.XU CN201721549292U CN207507754U CN 207507754 U CN207507754 U CN 207507754U CN 201721549292 U CN201721549292 U CN 201721549292U CN 207507754 U CN207507754 U CN 207507754U
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- connector
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- automatic butt
- distance measuring
- driving mechanism
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Abstract
The utility model discloses a kind of automatic butt system, including：First connector；Second connector；Positioning device, for positioning the relative position of first connector and second connector；Driving mechanism, for second connector to be driven to be moved in three dimensions relative to first connector；Controller, can the driving mechanism according to the location control of the positioning device drive the second connector movement to be docked with first connector completion.It is not fault-tolerant docking again in the automatic butt system, and the positioning function of positioning device is utilized, the first connector and the second connector are positioned, then controller is according to the positioning of positioning device, adjustment the two relative position, to complete to dock.In conclusion the automatic butt system can efficiently solve the problem of joint location changes and leads to docking failure.
Description
Technical field
The utility model is related to glue to supplement equipment technology field, more specifically to a kind of automatic butt system.
Background technology
Fully automatic mobile is to fill latex mode for cigarette enterprise volume packet, molding, filter rod workshop and carry out for colloid system
The Automation Design.The system realizes that glue disengaging etc. is filled in latex filtering, vacuum outgas, automatic call, running fix, docking
Add latex process automation.Bubble, impurity in latex etc. can be effectively eliminated, and ensures latex in the links such as transport, storage
It is dry and hard in use, rotten so as to prevent latex in the state with air exclusion.
The interface of mobile unit when being docked with the interface for glue unit or the interface of board unit, all adopt by general docking
It is docked with guided bone, docking may not be firm, and precision is inadequate, and then be easy to cause leak adhesive, because of foozle problem, Yi Jian
The reasons such as deviation are filled, be easy to cause docking failure.
It is current this field in conclusion how to efficiently solve the problem of joint location changes and leads to docking failure
Technical staff's urgent problem.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of automatic butt system, which can be with
Efficiently solve the problem of joint location changes and leads to docking failure.
In order to achieve the above object, the utility model provides following technical solution：
A kind of automatic butt system, including：First connector；Second connector；Positioning device, for positioning first connector
With the relative position of second connector；Driving mechanism, for driving relatively described first connector of second connector in three-dimensional
It is moved in space；Controller driving mechanism can drive second connector according to the location control of the positioning device
It moves to dock with first connector completion.
Preferably, the positioning device includes vision positioning camera relatively-stationary with second connector and ranging passes
Sensor is provided with the positioning plane vertical with the abutting direction of first connector on first connector；The controller, energy
Plane where ranging localization calculates positioning plane is enough carried out to 3 points in the positioning plane by distance measuring sensor, with adjustment
The abutting direction of second connector is extremely opposite with the abutting direction of first connector, and can continue to be passed according to the ranging
The ranging of sensor and taking pictures for the vision positioning camera adjust the interface of second connector and connecing for first connector
Mouth face, and according to the ranging of the distance measuring sensor, the driving mechanism is controlled to drive the second connector movement along docking
Direction translates preset distance.
Preferably, the controller can control the driving mechanism that second connector is driven to move to three positions respectively
It puts, and ranging localization is carried out to positioning plane by the distance measuring sensor in each position, in the positioning plane
3 points of progress ranging localizations.
Preferably, the tactile sensing of all directions stress on the outside of the interface end for detecting second connector is further included
Device, controller driving mechanism according to the force controlled of the touch sensor are adjusted to the interface of second connector
Hold uniform force everywhere.
Preferably, including mounting base, second connector, the vision positioning camera and the distance measuring sensor are fixed
In the mounting base；The touch sensor is mounted between the mounting base and the driving end of the driving mechanism.
Preferably, the driving mechanism is arm type manipulator.
Preferably, protective shell, second connector, the vision positioning camera and the survey are provided in the mounting base
It is respectively positioned in the protective shell away from sensor.
Preferably, the distance measuring sensor is infrared distance sensor.
A kind of automatic butt system provided by the utility model, the automatic butt system include the first connector, the second connector,
Positioning device, driving mechanism and controller.Wherein positioning device is closed for positioning the relative position of the first connector and the second connector
System, driving mechanism, for the second connector relative first tab to be driven to be moved in three dimensions.Wherein controller, being capable of basis
The positioning of positioning device, control driving mechanism drive the second connector to be moved to and are docked with the completion of the first connector.
According to above-mentioned technical solution, it is known that in the automatic butt system, when needing the second connector and first
When connector is docked, controller will be controlled according to positioning of the positioning device to the first connector and the second connector relative position
Driving mechanism drives the movement of the second connector relative first tab, until the second connector and the first connector complete docking.It is automatic at this
Be not fault-tolerant docking again in docking system, and the positioning function of positioning device be utilized, to the first connector and the second connector into
Row positioning, then controller is according to the positioning of positioning device, adjustment the two relative position, to complete to dock.It in conclusion should be certainly
Dynamic docking system can efficiently solve the problem of joint location changes and leads to docking failure.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure diagram of the second connector installation that the utility model embodiment provides；
Fig. 2 is the structure diagram of alignment system that the utility model embodiment provides；
Fig. 3 is the structure diagram of the first connector installation that the utility model embodiment provides.
It is marked in attached drawing as follows：
First connector 1, the second connector 2, driving mechanism 3, vision positioning camera 4, distance measuring sensor 5, mounting base 6, tactile
Sensor 7, protective shell 8, positioning plane 9.
Specific embodiment
The utility model embodiment discloses a kind of automatic butt system, is caused with efficiently solving joint location variation
The problem of docking failure.
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
- Fig. 3 is please referred to Fig.1, Fig. 1 is the structure diagram of the second connector installation that the utility model embodiment provides；Fig. 2
Structure diagram for the alignment system that the utility model embodiment provides；Fig. 3 is first that the utility model embodiment provides
The structure diagram of connector installation.
In a specific embodiment, a kind of automatic butt system is present embodiments provided, which includes
First connector 1, the second connector 2, positioning device, driving mechanism 3 and controller.
Wherein in the first connector 1 and the second connector 2, one be male connector, another be female, when the interface of the first connector 1
With the interface of the second connector 2 along interface opening's edge extending direction offset when, then be considered as docking and complete.And before docking, first connects
The relative position relation of first 1 opening's edge and the opening's edge of the second connector in three dimensions is uncertain.
Wherein positioning device, for positioning the relative position relation of the first connector 1 and the second connector 2, it should be noted that
According to the principle of positioning device, the positioning of positioning device can be the positioning by determining step, it is also possible to which positioning in real time is known
Stop positioning after the completion of road docking.It should be noted that positioning device, can be sensing system, with respectively from multiple directions
Accurate Determining target object setting coordinate system position and direction, can also be camera system, it is real-time by multiple dimensions
Shooting positions target object position.
Driving mechanism 3, for 2 relative first tab 1 of the second connector to be driven to be moved in three dimensions, with not only can edge
Three direction movements can also be rotated along three directions, be put with that can move to space any position and turn to unspecified angle
It puts.Specifically, mechanical arm may be used in driving mechanism 3.
Wherein controller, can according to the positioning of positioning device, control driving mechanism 3 drive the second connector 2 be moved to
First connector 1 completes docking.It should be noted that how controller is specifically controlled, should be determined according to positioning device
Position mode matches, if positioning device can position the second connector 2 with determining step, you can with according to sprocket bit
It puts, the first connector 1 of driving is moved to target location.If the positioning method of positioning device is to detect in real time, with be detected pair
The distance of elephant is closer to then accuracy of detection is bigger, then the first connector 1 should be driven mobile in real time, to be determined in real time according to positioning device
Position is moved, and then reaches target location.Specific positioning device can be mounted in the vision positioning in the second mounting head
Camera 4, according to taking pictures for vision positioning camera 4, the Interface Shape size sunykatuib analysis first as analyzed the first connector 1 in photo
The interface direction of connector 1 and position, after being then moved to preset range, then take pictures, again by Interface Shape size
The direction of sunykatuib analysis first interface and position.When interface such as first interface is round, can according to the size of interface with
Actual size judges distance, the direction of interface can be judged according to the shape that interface deforms, until adjusting connecing to the first connector 1
Mouth-shaped is circle.Certainly other positioning methods can also be taken.
In the automatic butt system, when needing to be docked the second connector 2 and the first connector 1, controller will
According to positioning of the positioning device to 2 relative position of the first connector 1 and the second connector, control driving mechanism 3 drives 2 phase of the second connector
First connector 1 is moved, until the second connector 2 and the first connector 1 complete docking.In the automatic butt system, it is again not
Fault-tolerant docking, and the positioning function of positioning device is utilized, the first connector 1 and the second connector 2 are positioned, then controller
According to the positioning of positioning device, both adjustment relative position, to complete to dock.
Further, it is more accurately positioned in order to facilitate positioning device.Preferred orientation device is included with second herein
2 relatively-stationary distance measuring sensor 5 of connector and vision positioning camera 4 are provided with positioning plane 9 on first connector 1, and preferably this is fixed
Bit plane 9 is vertical with the abutting direction of the first connector 1.Controller is positioned to described three in plane by distance measuring sensor 5 at this time
Point carries out ranging localization and calculates plane where positioning plane, to adjust the abutting direction of second connector 2 to described the
The abutting direction of one connector 1 is opposite, then according to the ranging of the distance measuring sensor 5 and the tune of taking pictures of vision positioning camera 4
The interface of whole first connector 1 and the interface longitudinal centre line and second of the interface face, i.e. the first connector 1 of second connector 2
The interface longitudinal center line overlap of connector 2, and according to the ranging of the infrared distance sensor 5, the driving mechanism 3 is controlled to drive
Second connector 2 is moved along axis translation preset distance, location spot can be specifically provided on the positioning plane, by regarding
How the axis that the telltale mark that feel positioning camera 4 shoots hot spot judges the second connector 2 leads to the axial line distance of the first connector 1
It crosses vision positioning camera 4 and hot spot judges that lateral distance can refer to the prior art.It is the simplest, it can be determined by vision
Taking pictures and joining the divine force that created the universe for position camera 4, by obtaining the proportionate relationship between photo size and actual size, then passes through photograph
Piece and the proportionate relationship of acquisition obtain the axis of the second connector 2 to the axial line distance of the first connector 1.
Further, above-mentioned distance measuring sensor 5 can be that setting is to 3 points of progress ranging localizations in the positioning plane
Three distance measuring sensors 5 carry out ranging localization to three points in positioning plane respectively, can also be passed only with a ranging
Sensor 5.Controller can control driving mechanism 3 that the second connector 2 is driven to move to three positions respectively, and in each position at this time
Ranging localization is carried out to positioning plane 9 by distance measuring sensor 5, to avoid three distance measuring sensors 5 are used.Specifically need
It is bright, plane where ranging localization calculates positioning plane is carried out to 3 points in the positioning plane, 3 points are positioned
Ranging, you can to know this 3 points both position coordinates of position fixing relatively, and 3 points can determine a plane, you can to know
When prelocalization plane 9 is sitting in plane in set co-ordinate system location, and set coordinate system is based on distance measuring sensor 5, the second connector 2
Setting, it is possible to obtain the angle of the abutting direction relative positioning plane 9 of the second connector 2, you can with according to this relative angle
Second connector 2 is adjusted abutting direction to the second connector 2 to opposite with the abutting direction of first connector 1 by degree.Wherein survey
Three positions are moved to away from sensor 5, three position relative position relations can be pre-set or based on certain
Kind algorithm determines, such as positions 9 finding range of plane in order to avoid removing, herein preferably before 5 ranging of distance measuring sensor in advance
It takes pictures, substantially obtains 9 position of positioning plane, and three positions for forming equilateral triangle type are chosen in positioning 9 range of plane.Wherein
Distance measuring sensor 5 is preferably herein infrared distance sensor 5, and the ranging starting point of infrared sensor 5 and ranging direction are true
Fixed, and the distance of the direction is can to determine, then goes to top tested by starting point, ranging direction and ranging distance
Point and the relative position relation of starting point.
Further, it is contemplated that take pictures and still remain certain error, cause there is offset during docking, cause docking loosely
It leans on.Based on this, the tactile for preferably further including all directions stress on the outside of the interface end for detecting second connector 2 herein passes
Sensor 7, the controller control the driving machine mechanism driving described second to connect according to the Impact direction of the touch sensor 7
First 2 move preset distance along Impact direction.Specifically, the stress that should be detected according to touch sensor 7, driving mechanism 3 are driven
Dynamic second connector, 2 continuous adjustment direction and coordinate make the second connector 2 completely into the first connector 1, how according to tactile sensing
The stress of device 7 judges Impact direction, can specifically refer to the prior art.It should be noted that the first connector 1 generally has is in
The guide hole of trumpet type, and when the second connector and the first connector 1 are there are during lateral shift, the second connector 2 can be also not moved to
It during docking location, just offsets, and can not be moved on the first connector 1.
In order to facilitate the installation of, mounting base 6, the second connector 2, vision positioning camera 4 and ranging sensing are preferably further included herein
Device 5 is each attached in mounting base 6；Touch sensor 7 is mounted between mounting base 6 and the driving end of the driving mechanism 3, is considered
It is subtle component to vision positioning camera 4 and distance measuring sensor 5, is provided with protective shell 8 in preferred mounting base 6 herein, the
Two connectors 2, vision positioning camera 4 and distance measuring sensor 5 are respectively positioned in protective shell 8.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or new using this practicality
Type.A variety of modifications of these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide range consistent with features of novelty.
Claims (8)
1. a kind of automatic butt system, which is characterized in that including：
First connector；
Second connector；
Positioning device, for positioning the relative position of first connector and second connector；
Driving mechanism, for second connector to be driven to be moved in three dimensions relative to first connector；
Controller, can the driving mechanism according to the location control of the positioning device drive the second connector movement with
First connector completes docking.
2. automatic butt system according to claim 1, which is characterized in that the positioning device is included with described second
The relatively-stationary vision positioning camera of connector and distance measuring sensor are provided with pair with first connector on first connector
Connect the vertical positioning plane in direction；The controller can be surveyed 3 points in the positioning plane by distance measuring sensor
Away from location Calculation go out it is described positioning plane where plane, with adjust the abutting direction of second connector to first connector
Abutting direction it is opposite, and can continue to the ranging according to the distance measuring sensor and the tune of taking pictures of the vision positioning camera
The interface of whole second connector and the interface face of first connector, and according to the ranging of the distance measuring sensor, control
The driving mechanism drives the second connector movement to translate preset distance along abutting direction.
3. automatic butt system according to claim 2, which is characterized in that the controller can control the driving machine
Structure drives second connector to move to three positions respectively, and flat to positioning by the distance measuring sensor in each position
Face carries out ranging localization, with to 3 points of progress ranging localizations in the positioning plane.
4. automatic butt system according to claim 3, which is characterized in that further include to detect second connector
The touch sensor of all directions stress on the outside of interface end, the controller is according to the force controlled of the touch sensor
Driving mechanism is adjusted to the interface end uniform force everywhere of second connector.
5. automatic butt system according to claim 4, which is characterized in that second connector, described including mounting base
Vision positioning camera and the distance measuring sensor are each attached in the mounting base；The touch sensor is mounted on the installation
Between seat and the driving end of the driving mechanism.
6. automatic butt system according to claim 5, which is characterized in that the driving mechanism is arm type manipulator.
7. automatic butt system according to claim 6, which is characterized in that protective shell, institute are provided in the mounting base
The second connector, the vision positioning camera and the distance measuring sensor is stated to be respectively positioned in the protective shell.
8. automatic butt system according to claim 7, which is characterized in that the distance measuring sensor is sensed for infrared distance measurement
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721549292.XU CN207507754U (en) | 2017-11-17 | 2017-11-17 | A kind of automatic butt system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721549292.XU CN207507754U (en) | 2017-11-17 | 2017-11-17 | A kind of automatic butt system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207507754U true CN207507754U (en) | 2018-06-19 |
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ID=62539419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721549292.XU Active CN207507754U (en) | 2017-11-17 | 2017-11-17 | A kind of automatic butt system |
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| CN (1) | CN207507754U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108057584A (en) * | 2017-11-17 | 2018-05-22 | 常德烟草机械有限责任公司 | A kind of automatic butt system |
| CN111092328A (en) * | 2019-12-20 | 2020-05-01 | 北京航空航天大学 | Three-level fault-tolerant docking mechanism capable of resisting on-orbit impact |
-
2017
- 2017-11-17 CN CN201721549292.XU patent/CN207507754U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108057584A (en) * | 2017-11-17 | 2018-05-22 | 常德烟草机械有限责任公司 | A kind of automatic butt system |
| CN108057584B (en) * | 2017-11-17 | 2024-06-14 | 常德烟草机械有限责任公司 | Automatic docking system |
| CN111092328A (en) * | 2019-12-20 | 2020-05-01 | 北京航空航天大学 | Three-level fault-tolerant docking mechanism capable of resisting on-orbit impact |
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