CN103817703A - Multifunctional robot end effector for working at heights - Google Patents
Multifunctional robot end effector for working at heights Download PDFInfo
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- CN103817703A CN103817703A CN201410071047.7A CN201410071047A CN103817703A CN 103817703 A CN103817703 A CN 103817703A CN 201410071047 A CN201410071047 A CN 201410071047A CN 103817703 A CN103817703 A CN 103817703A
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Abstract
The invention discloses a multifunctional robot end effector for working at heights. The end effector comprises a driving part and an en effecting part, wherein the driving part is composed of a base cover, a front base, a back base, a worm, a worm gear, a driven rod, a harmonic reducer assembly and a drive motor; the effecting part comprises a clamp, a motor frame, a cutting operation motor, a circular saw blade, a cutter groove and an operation pin; the drive motor drives the worm mechanism to drive the clamp to realize the opening and closing motions of a clamp holder through the harmonic reducer assembly, the cutting operation motor drives the circular saw blade to rotate at a high speed, and hanging objects are cut under the matching of the cutter groove. The multifunctional robot end effector can be arranged on an operation arm, and can realize various working at heights through special wrenches, U-shaped rings and the like; the robot end effector has the functions of clearing the hanging objects on high voltage wires, repairing the high voltage wires with preformed armor rods, screwing vibration-proof hammer nuts, pulling and disassembling opening pins on a space-stop rack with four forks and the like; the multifunctional robot end effector is simple in structure and convenient to install and operate.
Description
Technical field
The present invention relates to Robotics field, in particular to a kind of multi-functional end effector that is specifically designed to work high above the ground on high voltage transmission line.
Background technology
The hangers such as kite string, Polypropylence Sheet, canvas have become the serious harm of ultra-high-tension power transmission line.They are wound around, are suspended on wire, very easily cause the faults such as ultra-high-tension power transmission line generation single-phase earthing, phase fault, also may cause electric grid large area power cut accident when serious.In addition, because high voltage transmission line generally adopts steel-cored aluminium strand, transmission line of electricity causes the defects such as power transmission line cracks, disconnected thigh under huge alternation tension force effect, once be less than safe insulation distance from the distance of other phase lines, ground wire or steel tower etc., can cause the generation of the electric power accidents such as flashover.
In order to prevent and prevent the generation of above accident, normally remove wire suspension foreign matter, repair wire and carry out daily maintenance and change parts (such as mobile or dismounting stockbridge damper, movement or adjustment four bifurcated isolating frames etc.) by manually climbing up electric pole, carry out because these are operated in high-altitude, there is suitable danger.When manual operation, also need power-off, have a strong impact on the conveying of electric power.Therefore replacing people to carry out and realize these work high above the ground by robot should be a desirable solution.While carrying out the work high above the ground on high-voltage line with robot, not only require robot to there is good configuration, there is certain adaptive capacity to environment, also require the end clamper of robot to there is the specific function that can complete multiple work high above the ground.At present developed many deicing robots of working and crusing robot both at home and abroad on high-voltage line, they can replace people on high-voltage line, carry out deicing and patrol and examine operation, have reduced the danger of work, are that robot is in one of work high above the ground field application.But, also do not develop a kind of for high-voltage line being carried out to robot and the corresponding end effector thereof of the work high above the ground such as above-mentioned regular maintenance and repairing at present.Therefore, develop a kind ofly there is the extension thing removed on high-tension bus-bar, be wound around preformed armor rods repairing electric wire, the end effector of twisting stockbridge damper nut and pulling out the functions such as the split pin of unloading on four bifurcated space-stop racks is prerequisite and the condition that robot is engaged in work high above the ground on high voltage transmission line.
Summary of the invention
The object of the invention is towards the work high above the ground on high voltage transmission line, develop and a kind ofly hang that thing is removed, preformed armor rods is wound around on can integrated high voltage electric wire, pulling out of shake hammer nut unloading and four bifurcated space-stop rack cotterings the multi-functional end effector simple in structure such as unload.
For realizing object of the present invention, the following technical scheme that the present invention adopts:
For the multi-functional end effector of robot of work high above the ground, comprise drive part and operating part,
Described drive part comprises front pedestal, rear pedestal, covers base seat lid, worm screw, worm gear, follower lever, harmonic speed reducer assembly, drive motors on rear pedestal, described drive motors and rear pedestal are fixed by trip bolt, and motor shaft is connected with the wave producer of harmonic speed reducer assembly by axle sleeve, input steel wheel in harmonic speed reducer assembly is fastenedly connected by screw and rear pedestal, and output steel wheel is fastenedly connected by screw and harmonic speed reducer output panel, harmonic speed reducer output panel is also connected with one end of worm screw, the worm screw other end is arranged on front pedestal by bearing, the a pair of worm gear with armed lever of worm screw both sides engagement, described follower lever is arranged at described armed lever both sides symmetrically, the round end of described armed lever and follower lever is movably hinged on front pedestal by bearing pin and bearing, free end is flexibly connected with two clips of drive part by pin, described armed lever, front pedestal, follower lever and clip form a plane parallel quadrangular mechanism, worm gear drives clip to make the opening and closing movement of planar movement formation clamper by this mechanism,
Described operating part comprises first clamp, second clamp, motor rack, cutting operation motor, circular saw blade that can folding, described first clamp, second clamp rear end are movably hinged by pin and armed lever and follower lever, described cutting operation motor is screwed on motor rack, circular saw blade is fixed on cutting operation motor shaft by sleeve and hex nut, and motor rack is fixed by screws on first clamp.
The present invention is simple in structure, compact, and volume is little, and flexible operation can be realized multiple work high above the ground function, can be very easily and combined multiple high-risk, the highly difficult work high above the ground task of efficiently completing of other robot assembly.
Further, on described second clamp, the position of circular saw blade is fixedly installed the cutter groove for the protection of circular saw blade relatively, when first clamp and second clamp are in the time closing up, circular saw blade is accommodated in cutter groove, prevents that foreign object from breaking circular saw blade or circular saw blade cuts bad other objects around; Simultaneously, it is to make circular milling cutter can better complete cutting operation that cutter groove also has an effect, because cutting object is the flexible articles such as rope, if do not have cutter groove cutting object can be wrapped on motor shaft, to form a tightening force when they enter cutter groove, this convenient milling cutter cutting.
Further, described harmonic speed reducer output panel is connected with worm screw by spline, and transmitting torque is large, and centering is good, is convenient to dismounting.
Further, the front end of described first clamp or second clamp is provided with operation pin, in the time that the normal direction of split pin annulus termination is vertical with clip folding direction, utilizes the operation pin on clip top to insert split pin annulus end, and it is chosen.
Tool of the present invention has the following advantages and effect:
1. by drive part and operating part are set, end effector hangs on high-tension bus-bar for realizing that thing is removed, preformed armor rods is wound around, pulling out of shake hammer nut unloading and four bifurcated space-stop rack cotterings the operation such as unloaded effective tool is provided, thereby has and integrated several functions;
2. as a complete Mechatronic Systems, there is independence, can be installed to general robot arm end;
Simple in structure, small and exquisite flexibly, control easily, can be connected with motion arm easily.
Accompanying drawing explanation
Fig. 1 is end effector general assembly drawing.
Fig. 2 is actuator driven part explosive view.
Fig. 3 is operating part explosive view.
Fig. 4 is special U-loop outside drawing.
Fig. 5 is special spanner outside drawing.
Fig. 6 is the schematic diagram that electric wire is hung thing removing operation.
Fig. 7 is the schematic diagram that is wound around preformed armor rods repairing wire.
Fig. 8 is the schematic diagram of unloading stockbridge damper nut.
Fig. 9 is the split pin operation schematic diagram of choosing.
In figure: 1-drive motors; Pedestal after 2-; 3-base seat lid; 4-follower lever; 5-worm gear; 6-worm screw; Pedestal before 7-; 8-harmonic speed reducer assembly; 9-circular saw blade; 10-cutting operation motor; 11-motor rack; 12-first clamp; 13-operation pin; 14-second clamp; 15-cutter groove.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, goal of the invention of the present invention is described in further detail, embodiment can not repeat one by one at this, but therefore embodiments of the present invention are not defined in following examples.
As shown in Figure 1 to Figure 3, the multi-functional end effector of a kind of robot for work high above the ground, comprises drive part and operating part,
Described drive part comprises front pedestal 7, rear pedestal 2, covers base seat lid 3, worm screw 6, worm gear 5, follower lever 4, harmonic speed reducer assembly 8, drive motors 1 on rear pedestal 2, described drive motors 1 and rear pedestal 2 are fixed by trip bolt, and motor shaft is connected with the wave producer of harmonic speed reducer assembly 8 by axle sleeve, input steel wheel in harmonic speed reducer assembly 8 is fastenedly connected by screw and rear pedestal 2, and output steel wheel is fastenedly connected by screw and harmonic speed reducer output panel, harmonic speed reducer output panel is also connected with one end of worm screw 6, worm screw 6 other ends are arranged on front pedestal 7 by bearing, the a pair of worm gear 5 with armed lever of worm screw 6 both sides engagement, described follower lever 4 is arranged at described armed lever both sides symmetrically, the round end of described armed lever and follower lever 4 is movably hinged on front pedestal 7 by bearing pin and bearing, free end is flexibly connected with two clips of drive part by pin, described armed lever, front pedestal 7, follower lever 4 and clip form a plane parallel quadrangular mechanism, worm gear 5 drives clip to make the opening and closing movement of planar movement formation clamper by this mechanism,
Described operating part comprises first clamp 12, second clamp 14, motor rack 11, cutting operation motor 10, circular saw blade 9 that can folding, described first clamp 12, second clamp 14 rear ends are movably hinged by pin and armed lever and follower lever 4, described cutting operation motor 10 is screwed on motor rack 11, circular saw blade 9 is fixed on cutting operation motor shaft by sleeve and hex nut, and 11 of motor racks are fixed by screws on first clamp 12.
The drive part of the present embodiment drives worm mechanism to drive clip by drive motors 1 by harmonic speed reducer assembly 8, realizes the opening and closing movement of two clips of clamper; Operating part is hung thing and is removed, is wound around preformed armor rods, twists stockbridge damper nut, pulls out the instrument of the work high above the ground such as the split pin of unloading on four bifurcated space-stop racks as realizing high-voltage line; In the time that the normal direction of split pin annulus termination and clip folding direction approach, directly clamp and pull up with clip;
The present embodiment is simple in structure, compact, and volume is little, and flexible operation can be realized multiple work high above the ground function, can be very easily and combined multiple high-risk, the highly difficult work high above the ground task of efficiently completing of other robot assembly.
Further; on described second clamp 14, the position of circular saw blade 9 is fixedly installed the cutter groove 15 for the protection of circular saw blade 9 relatively; when first clamp 12 and second clamp 14 are in the time closing up; circular saw blade 9 is accommodated in cutter groove 15, prevents that foreign object from breaking circular saw blade 9 or circular saw blade 9 cuts bad other objects around.
When first clamp 12, second clamp 14 near time (not exclusively closed), the sub-fraction of circular saw blade 9 protrudes in cutter groove 15, and the extension thing that can be wrapped on high-voltage line rope yarn, cotton and Polypropylence Sheet etc. under the high-speed driving of cutting operation motor 10 cuts.Be not wrapped on high-voltage line if hang thing, clip and hang thing one end so with two clips, clamper is shut down it;
Further, described harmonic speed reducer output panel is connected with worm screw 6 by spline, and transmitting torque is large, and centering is good, is convenient to dismounting.
Further, the front end of described first clamp 12 or second clamp 14 is provided with operation pin 13, in the time that the normal direction of split pin annulus termination is vertical with clip folding direction, utilizes the operation pin on clip top to insert split pin annulus end, and it is chosen.
According to the structure of end effector, can complete four work high above the ground of high-voltage line, be that electric wire is hung thing removing operation, is wound around preformed armor rods repairing wire, unloading stockbridge damper nut, the split pin operation of choosing, wherein in the process that realizes winding preformed armor rods repairing wire and unloading stockbridge damper nut, need to use special U-loop and special spanner, their outside drawing respectively as shown in Figure 4, Figure 5.
Fig. 4 is special U-loop outside drawing.In Fig. 4, U-loop is welded on preformed armor rods one end, section thickness 1.5mm, and shape is similar to U-shaped, makes can hold tightly on wire after clamp U-loop;
Fig. 5 is special spanner outside drawing.As shown in Figure 5, special spanner overall structure is zigzag, and spanner one end is interior hexagon, and in order to be enclosed within on nut, the other end is handle, and end is spherical.Spheric end can contact with the cylindrical cavity part of clip, makes clamper and spanner spheric end form the mechanism of similar ball pivot, completes the flexibility of this operation to increase end effector.
Fig. 6 is the schematic diagram that electric wire is hung thing removing operation.In Fig. 6, cutting operation motor 10 use Screws are fixed on motor rack 11, circular saw blade 9 is fixed on cutting operation motor shaft by sleeve and hex nut, and 11 of motor racks are fixed by screws on first clamp 12, and 15 of cutter grooves are fixed on corresponding with it second clamp 14.When two clips near time (not exclusively closed), the sub-fraction of circular saw blade protrudes in cutter groove, the extension thing that can be wrapped on high-voltage line rope yarn, cotton and Polypropylence Sheet etc. under the high-speed driving of cutting operation motor cuts.Be not wrapped on high-voltage line if hang thing, clip and hang thing one end so with two clips, clamper is shut down it.
Fig. 7 is the schematic diagram that is wound around preformed armor rods repairing wire.As shown in Figure 7, utilize end effector and special U-loop that preformed armor rods is wrapped in to electric wire breakage.U-loop is welded in preformed armor rods one end by certain orientation.Under the control of robot, clip clips U-loop, and preformed armor rods is moved on near electric wire damage, and U-loop is clamped on electric wire, and preformed armor rods one end is fixed.The other end of clamp preformed armor rods is done twining movement under the control of robot, and preformed armor rods is wrapped on electric wire, completes and repairs wire operation.
Fig. 8 is the schematic diagram of unloading stockbridge damper nut, as shown in Figure 8, utilizes end effector and special spanner the nut on stockbridge damper to be loosened to the operation of mobile stockbridge damper.When work under the control of robot arm, clip is clamped special spanner, move to stockbridge damper nut place, it one end is enclosed within on stockbridge damper nut, clip cylindrical cavity part reclamps the spheric end of pinch bar, under the control of motion arm, make the circular motion around stockbridge damper nut, thereby stockbridge damper nut is unscrewed.After unclamping stockbridge damper nut, actuator can move stockbridge damper.
Fig. 9 is the split pin operation schematic diagram of choosing, and when work, under the control of robot arm, when normal direction in split pin annulus termination is vertical with clip folding direction, utilizes the operation pin 13 on clip top to insert split pin annulus end, and it is chosen.
The above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here without also giving exhaustive to all embodiments.All any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in the protection domain of the claims in the present invention.
Claims (4)
1. for the multi-functional end effector of robot of work high above the ground, comprise drive part and operating part, it is characterized in that:
Described drive part comprises front pedestal (7), rear pedestal (2), covers base seat lid (3), worm screw (6), worm gear (5), follower lever (4), harmonic speed reducer assembly (8), drive motors (1) on rear pedestal (2), described drive motors (1) and rear pedestal (2) are fixed by trip bolt, and motor shaft is connected with the wave producer of harmonic speed reducer assembly (8) by axle sleeve, input steel wheel in harmonic speed reducer assembly (8) is fastenedly connected by screw and rear pedestal (2), and output steel wheel is fastenedly connected by screw and harmonic speed reducer output panel, harmonic speed reducer output panel is also connected with one end of worm screw (6), worm screw (6) other end is arranged on front pedestal (7) by bearing, worm screw (6) the both sides a pair of worm gears with armed lever of engagement (5), described follower lever (4) is arranged at described armed lever both sides symmetrically, the round end of described armed lever and follower lever (4) is movably hinged on front pedestal (7) by bearing pin and bearing, free end is flexibly connected with two clips of drive part by pin, described armed lever, front pedestal (7), follower lever (4) and clip form a plane parallel quadrangular mechanism, worm gear (5) drives clip to make the opening and closing movement of planar movement formation clamper by this mechanism,
Described operating part comprises first clamp (12) that can folding, second clamp (14), motor rack (11), cutting operation motor (10), circular saw blade (9), described first clamp (12), second clamp (14) rear end is movably hinged by pin and armed lever and follower lever (4), described cutting operation motor (10) is screwed on motor rack (11), circular saw blade (9) is fixed on cutting operation motor shaft by sleeve and hex nut, motor rack (11) is fixed by screws on first clamp (12).
2. the multi-functional end effector of the robot for work high above the ground according to claim 1, is characterized in that: the position of the upper relative circular saw blade (9) of described second clamp (14) is fixedly installed the cutter groove (15) for the protection of circular saw blade (9).
3. the multi-functional end effector of the robot for work high above the ground according to claim 1, is characterized in that: described harmonic speed reducer output panel is connected with worm screw (6) by spline.
4. according to the multi-functional end effector of the robot for work high above the ground described in claims 1 to 3 any one, it is characterized in that: the front end of described first clamp (12) or second clamp (14) is provided with operation pin (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410071047.7A CN103817703A (en) | 2014-02-28 | 2014-02-28 | Multifunctional robot end effector for working at heights |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410071047.7A CN103817703A (en) | 2014-02-28 | 2014-02-28 | Multifunctional robot end effector for working at heights |
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| CN103817703A true CN103817703A (en) | 2014-05-28 |
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| CN201410071047.7A Pending CN103817703A (en) | 2014-02-28 | 2014-02-28 | Multifunctional robot end effector for working at heights |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209900A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Special operation wrench for high-voltage power line patrol inspection robot |
| CN104218488A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Method for repairing high voltage transmission line with manipulator and end effector of manipulator for repairing high voltage transmission line |
| CN105150234A (en) * | 2015-09-02 | 2015-12-16 | 中国科学院长春光学精密机械与物理研究所 | End grabbing mechanism |
| CN106181806A (en) * | 2016-08-19 | 2016-12-07 | 中铁隆昌铁路器材有限公司 | A kind of clamping relocation mechanism |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN107214716A (en) * | 2017-06-14 | 2017-09-29 | 中国计量大学 | Tamato fruit string picking end effector and its picking method |
| CN108748073A (en) * | 2018-06-08 | 2018-11-06 | 山东鲁能智能技术有限公司 | Substation equipment live-line maintenance operation robot |
| CN112959293A (en) * | 2021-03-23 | 2021-06-15 | 广东工业大学 | Modular double-wheel claw line patrol robot |
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| CN102825612A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Gripper module having function of automatic pose detecting |
| CN203712716U (en) * | 2014-02-28 | 2014-07-16 | 华南理工大学 | Multifunctional tail end executor of robot for working aloft |
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| JPH05200689A (en) * | 1991-08-30 | 1993-08-10 | Dainippon Screen Mfg Co Ltd | Wafer holding device and holding method thereof |
| CN101513733A (en) * | 2009-03-23 | 2009-08-26 | 山东电力集团公司超高压公司 | Overhead network barrier-clearance and detection robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209900A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Special operation wrench for high-voltage power line patrol inspection robot |
| CN104218488A (en) * | 2014-08-22 | 2014-12-17 | 国家电网公司 | Method for repairing high voltage transmission line with manipulator and end effector of manipulator for repairing high voltage transmission line |
| CN104209900B (en) * | 2014-08-22 | 2015-12-30 | 国家电网公司 | High-voltage line crusing robot operation special spanner |
| CN104218488B (en) * | 2014-08-22 | 2018-04-06 | 国家电网公司 | A kind of method and its end effector of motion arm repairing high voltage transmission line |
| CN105150234A (en) * | 2015-09-02 | 2015-12-16 | 中国科学院长春光学精密机械与物理研究所 | End grabbing mechanism |
| CN106181806A (en) * | 2016-08-19 | 2016-12-07 | 中铁隆昌铁路器材有限公司 | A kind of clamping relocation mechanism |
| CN107042522A (en) * | 2017-03-06 | 2017-08-15 | 广东工业大学 | A kind of robot end self-clamping module of servo driving |
| CN107214716A (en) * | 2017-06-14 | 2017-09-29 | 中国计量大学 | Tamato fruit string picking end effector and its picking method |
| CN108748073A (en) * | 2018-06-08 | 2018-11-06 | 山东鲁能智能技术有限公司 | Substation equipment live-line maintenance operation robot |
| CN108748073B (en) * | 2018-06-08 | 2020-09-25 | 国网智能科技股份有限公司 | Live overhaul operation robot for substation equipment |
| CN112959293A (en) * | 2021-03-23 | 2021-06-15 | 广东工业大学 | Modular double-wheel claw line patrol robot |
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Application publication date: 20140528 |