CN111618879A - Device and method for quickly replacing operation tail end of electric robot - Google Patents

Device and method for quickly replacing operation tail end of electric robot Download PDF

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Publication number
CN111618879A
CN111618879A CN202010536073.8A CN202010536073A CN111618879A CN 111618879 A CN111618879 A CN 111618879A CN 202010536073 A CN202010536073 A CN 202010536073A CN 111618879 A CN111618879 A CN 111618879A
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China
Prior art keywords
quick
connecting sleeve
opening
sleeve
shaft
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CN202010536073.8A
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CN111618879B (en
Inventor
童翔威
李江
刘兰兰
黄勇
全武生
严宇
郭昊
李稳
杨琪
汪志刚
曾文远
何龙飞
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State Grid Hunan Electric Power Co ltd Power Transmission Overhaul Branch
State Grid Corp of China SGCC
State Grid Hunan Electric Power Co Ltd
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State Grid Hunan Electric Power Co ltd Power Transmission Overhaul Branch
State Grid Corp of China SGCC
State Grid Hunan Electric Power Co Ltd
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02GINSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G1/00Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/70Energy storage systems for electromobility, e.g. batteries
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种电力机器人作业末端快速更换装置及方法,装置包括动力源、固定架和快换模组;快换模组包括外壳、传动机构、离合机构、开合元件、机械臂末端连接套、作业末端连接套,传动机构安装于外壳内,输入端接收动力源输入的动力、输出端与离合机构相连,离合机构的另一端与开合元件相连,开合元件的另一端插入作业末端连接套内控制机械臂末端连接套与作业末端连接套锁紧或脱离;多个快换模组并列布置与两固定架之间、通过联轴器连接,动力源连接于固定架外向各快换模组提供动力。实现绝缘操作杆与不同工器具之间快速更换,降低需要耗费的时间,能够极大的提高工作效率;便于实现遥控作业,无需作业人员登高直接操作。

Figure 202010536073

The invention discloses a rapid replacement device and method for the working end of an electric robot. The device includes a power source, a fixing frame and a quick change module; the quick change module includes a casing, a transmission mechanism, a clutch mechanism, an opening and closing element, and a mechanical arm end connection The sleeve and the working end connecting sleeve, the transmission mechanism is installed in the casing, the input end receives the power input from the power source, the output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the working end The inside of the connecting sleeve controls the locking or disengagement of the connecting sleeve at the end of the manipulator and the connecting sleeve at the end of the operation; a plurality of quick-change modules are arranged in parallel with the two fixing frames, and are connected by couplings, and the power source is connected to the outside of the fixing frame. Mods provide power. It can realize the rapid replacement between the insulating operating rod and different tools, reduce the time spent, and greatly improve the work efficiency; it is convenient to realize remote control operation, and it is not necessary for operators to climb directly to operate.

Figure 202010536073

Description

电力机器人作业末端快速更换装置及方法Device and method for quick replacement of working end of electric robot

技术领域technical field

本发明属于输电线路检修设备技术领域,特别是涉及一种电力机器人作业末端快速更换装置及方法。The invention belongs to the technical field of power transmission line maintenance equipment, and in particular relates to a device and method for quick replacement of the working end of an electric robot.

背景技术Background technique

输电检修作业时需要用到诸多工器具,例如电动剥皮器、电动剪线器、引流搭火线夹、J型线夹更换装置、导线抓夹等,为了减少人力的消耗,提高作业智能化,可采用机械手配合绝缘操作杆操纵各工具作业。然而使用过程中绝缘操作杆与不同工器具之间的更换过程繁琐,需要耗费大量的时间,严重影响作业效率。Many tools and appliances are needed for power transmission maintenance operations, such as electric strippers, electric wire cutters, drain wire clips, J-type wire clip replacement devices, wire gripping clips, etc. In order to reduce labor consumption and improve operation intelligence, it can be The manipulator is used in conjunction with the insulating operating rod to operate the tools. However, the replacement process between the insulating operating rod and different tools during use is cumbersome and takes a lot of time, which seriously affects the work efficiency.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于针对现有技术的不足之处,提供一种电力机器人作业末端快速更换装置及方法。The purpose of the present invention is to provide a rapid replacement device and method for the working end of an electric robot in view of the deficiencies of the prior art.

本发明提供的这种电力机器人作业末端快速更换装置,包括动力源、固定架和快换模组;快换模组包括外壳、传动机构、离合机构、开合元件、机械臂末端连接套、作业末端连接套,传动机构安装于外壳内,输入端接收动力源输入的动力、输出端与离合机构相连,离合机构的另一端与开合元件相连,开合元件的另一端插入作业末端连接套内控制机械臂末端连接套与作业末端连接套锁紧或脱离;多个快换模组并列布置与两固定架之间、通过联轴器连接,动力源连接于固定架外向各快换模组提供动力。The quick-change device for the working end of an electric robot provided by the present invention includes a power source, a fixing frame and a quick-change module; The end connecting sleeve, the transmission mechanism is installed in the casing, the input end receives the power input from the power source, the output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the working end connecting sleeve Control the locking or disengagement of the connecting sleeve at the end of the manipulator and the connecting sleeve at the end of the operation; a plurality of quick-change modules are arranged in parallel with the two fixing frames, connected by couplings, and the power source is connected to the outside of the fixing frame to provide each quick-change module power.

所述外壳包括主壳、连接座、检修板、支座和快换座;主壳为两侧开口的长方体壳,其一端端板上设有过轴孔,另一端端板设有检修口;连接座连接于主壳两侧开口内;检修板可拆卸连接于检修口处;支座连接于过轴孔外;快换座装配于支座外。The shell includes a main shell, a connecting seat, an inspection plate, a support and a quick-change seat; the main shell is a rectangular parallelepiped shell with openings on both sides, one end plate of which is provided with a shaft hole, and the other end plate is provided with an inspection port; The connecting seat is connected in the openings on both sides of the main shell; the inspection plate is detachably connected to the inspection opening; the support is connected outside the shaft hole; the quick-change seat is assembled outside the support.

所述主壳包括面板和端板,端板的两侧均设C型开口,一对面板分上、下布置通过两端板相连;所述连接座包括封板和连接板,封板上设轴孔,封板封闭主壳开口,连接板将连接相邻两主壳。The main shell includes a face plate and an end plate. C-shaped openings are arranged on both sides of the end plate. A pair of face plates are arranged in an upper and a lower direction and are connected by the two end plates; the connecting seat includes a sealing plate and a connecting plate, and the sealing plate is provided with The shaft hole, the sealing plate closes the opening of the main shell, and the connecting plate will connect the two adjacent main shells.

所述支座为门型座,其封闭端设有一对通孔,支座以其开口端连接于主壳外,通孔与所述过轴孔对正;所述快换座包括连接段和滑槽段,连接段可拆卸连接于支座外,滑槽段内设滑槽用以安装所述作业末端连接套。The support is a door-shaped seat, the closed end of which is provided with a pair of through holes, the open end of the support is connected to the outside of the main casing, and the through hole is aligned with the shaft hole; the quick-change seat includes a connecting section and a The chute section, the connecting section is detachably connected to the outside of the support, and the chute section is provided with a chute for installing the working end connecting sleeve.

所述作业末端连接套包括套筒和滑座;套筒为两端开口的圆柱套,其套壁上设沿圆周方向延伸的弧形槽,套筒内对应弧形槽槽底处设有十字插接板;滑座为矩型座,其外表面设有快换槽,快换槽的截面为D型,其平面端朝外、弧形端贯穿套筒的筒壁;作业末端连接套以其滑座安装于快换座内能够沿滑槽段滑动。The working end connecting sleeve includes a sleeve and a sliding seat; the sleeve is a cylindrical sleeve with openings at both ends, the sleeve wall is provided with an arc-shaped groove extending in the circumferential direction, and a cross is provided at the bottom of the corresponding arc-shaped groove in the sleeve Plug-in board; the sliding seat is a rectangular seat, and its outer surface is provided with a quick-change groove, the cross-section of the quick-change groove is D-shaped, its flat end faces outward, and its arc-shaped end penetrates the cylinder wall of the sleeve; the connecting sleeve at the end of the operation is The sliding seat is installed in the quick change seat and can slide along the chute section.

所述机械臂末端连接套为圆柱套,其底端设有十字插接头,其底部套壁外设周向凹槽。The connecting sleeve at the end of the mechanical arm is a cylindrical sleeve, the bottom end of which is provided with a cross plug joint, and the outer wall of the bottom sleeve is provided with a peripheral groove.

所述开合元件为扁轴,包括轴主体和锁止段,锁止段的截面为D型;开合元件插入滑座内、锁止段能够在快换槽内转动。The opening and closing element is a flat shaft, including a shaft body and a locking section, the section of the locking section is D-shaped; the opening and closing element is inserted into the sliding seat, and the locking section can rotate in the quick-change slot.

所述传动机构包括主动轴、主动锥齿轮、从动锥齿轮、从动轴和输出轴,一对主动锥齿轮相向布置、分别固接于主动轴外,两从动锥齿轮分别于对应的主动锥齿轮啮合,从动轴的一端固接于从动锥齿轮的轴心、另一端通过联轴器与输出轴相连,输出轴通过离合机构将动力传递至开合元件;主动轴、主动锥齿轮、从动锥齿轮均设置于主壳内,主动轴的两端分别穿过连接座上轴孔,从动轴的外端穿过过轴孔伸至主壳外。The transmission mechanism includes a driving shaft, a driving bevel gear, a driven bevel gear, a driven shaft and an output shaft, a pair of driving bevel gears are arranged opposite to each other and are respectively fixed to the outside of the driving shaft, and the two driven bevel gears are respectively connected to the corresponding driving bevel gears. The bevel gear meshes, one end of the driven shaft is fixed to the shaft center of the driven bevel gear, the other end is connected to the output shaft through a coupling, and the output shaft transmits the power to the opening and closing elements through the clutch mechanism; the driving shaft, the driving bevel gear The driven bevel gears are all arranged in the main casing, the two ends of the driving shaft pass through the shaft holes on the connecting seat respectively, and the outer end of the driven shaft passes through the shaft holes and extends out of the main casing.

所述离合机构包括主动转臂和从动转臂;主动转臂为U型臂,其封闭端中心设有通孔以与输出轴相连;从动转臂为直臂,其长度大于主动转臂的开口宽度,其中心设有圆孔以与开合元件相连;传动机构将动力传递至主动转臂转动,主动转臂旋转时两侧板转至与从动转臂接触,带动从动转臂转动。The clutch mechanism includes an active rotating arm and a driven rotating arm; the active rotating arm is a U-shaped arm, and the center of its closed end is provided with a through hole to be connected with the output shaft; the driven rotating arm is a straight arm, and its length is greater than that of the active rotating arm There is a round hole in the center to connect with the opening and closing elements; the transmission mechanism transmits the power to the driving arm to rotate. When the active arm rotates, the two side plates turn to contact with the driven arm, driving the driven arm. turn.

本发明还提供了一种电力机器人作业末端快速更换方法,本方法利用上述装置为工具进行,包括如下步骤:The present invention also provides a method for quickly replacing the working end of an electric robot. The method uses the above-mentioned device as a tool, and includes the following steps:

步骤一、将机械臂末端连接套安装于绝缘操作杆末端,将各作业末端分别安装于对应的作业末端连接套下;Step 1. Install the connecting sleeve at the end of the mechanical arm on the end of the insulating operating rod, and install each working end under the corresponding connecting sleeve at the working end;

步骤二、根据作业需要,控制绝缘操作杆位于对应的作业末端上,并操控机械臂使机械臂末端连接套插入作业末端连接套内;Step 2. According to the needs of the operation, control the insulating operating rod to be located on the corresponding operation end, and control the mechanical arm to insert the connecting sleeve at the end of the mechanical arm into the connecting sleeve at the end of the operation;

步骤三、启动动力源,传动机构将动力经离合机构传递至开合元件,使开合元件转动锁紧机械臂末端连接套和作业末端连接套形成作业装配体;Step 3, start the power source, the transmission mechanism transmits the power to the opening and closing element through the clutch mechanism, so that the opening and closing element rotates and locks the end connecting sleeve of the mechanical arm and the working end connecting sleeve to form a working assembly;

步骤四、控制机械臂工作,使作业装配体从外壳内脱离即可开展作业;Step 4. Control the work of the robotic arm, so that the work assembly can be separated from the casing to start the work;

步骤五、作业完成后,操控机械臂使作业装配体返回至外壳内;Step 5. After the operation is completed, control the mechanical arm to return the operation assembly to the casing;

步骤六、启动动力源,传动机构将动力经离合机构传递至开合元件,使开合元件反向转动,使锁紧机械臂末端连接套和作业末端连接套分离,即可操控绝缘操作杆回位准备进行下一作业。Step 6. Start the power source, the transmission mechanism transmits the power to the opening and closing element through the clutch mechanism, so that the opening and closing element rotates in the opposite direction, so that the connecting sleeve at the end of the locking manipulator and the connecting sleeve at the end of the operation are separated, and the insulating operating rod can be controlled to return. ready for the next job.

本发明投入使用后,先将机械臂末端连接套安装于绝缘操作杆末端,将各作业末端分别安装于对应的作业末端连接套下;然后通过机械手操控机械臂末端连接套插入作业末端连接套内;再启动动力源,传动机构将动力经离合机构传递至开合元件,使开合元件转动锁紧机械臂末端连接套和作业末端连接套形成作业装配体;即可开展作业;作业完成后,操控机械臂使作业装配回位;再启动动力源,传动机构将动力经离合机构传递至开合元件,使开合元件反向转动,使锁紧机械臂末端连接套和作业末端连接套分离,即可操控绝缘操作杆回位准备进行下一作业。实现绝缘操作杆与不同工器具之间快速更换,降低需要耗费的时间,能够极大的提高工作效率。无需作业人员登高直接操作,便于实现遥控作业。After the present invention is put into use, firstly install the connecting sleeve at the end of the mechanical arm on the end of the insulating operating rod, and install each working end under the corresponding connecting sleeve at the working end; ; Restart the power source, the transmission mechanism transmits the power to the opening and closing element through the clutch mechanism, so that the opening and closing element rotates and locks the end connecting sleeve of the mechanical arm and the working end connecting sleeve to form a working assembly; the operation can be carried out; after the operation is completed, Control the mechanical arm to return the work assembly; start the power source again, the transmission mechanism transmits the power to the opening and closing element through the clutch mechanism, so that the opening and closing element rotates in the opposite direction, so that the end connection sleeve of the locking robot arm and the end connection sleeve of the operation are separated, You can control the insulating lever to return to prepare for the next operation. The rapid replacement between the insulating operating rod and different tools is realized, the time consuming is reduced, and the work efficiency can be greatly improved. There is no need for operators to ascend and operate directly, which is convenient for remote operation.

附图说明Description of drawings

图1为本发明一个优选实施例的使用状态示意图。FIG. 1 is a schematic diagram of a use state of a preferred embodiment of the present invention.

图2为本优选实施例中装置的立体示意图。FIG. 2 is a schematic perspective view of the device in the preferred embodiment.

图3为本优选实施例中快换模组的立体放大示意图。(机械臂末端连接套未画出)FIG. 3 is an enlarged schematic three-dimensional view of the quick-change module in the preferred embodiment. (The connecting sleeve at the end of the robotic arm is not shown)

图4为本优选实施例中外壳的立体放大示意图。FIG. 4 is an enlarged schematic perspective view of the casing in the preferred embodiment.

图5为本优选实施例中作业末端连接套的立体放大示意图。FIG. 5 is an enlarged schematic perspective view of the working end connecting sleeve in the preferred embodiment.

图6为本优选实施例中作业机械臂连接套的立体放大示意图。FIG. 6 is a perspective enlarged schematic view of the working manipulator connecting sleeve in the preferred embodiment.

图7为本优选实施例中开合元件的立体放大示意图。FIG. 7 is an enlarged schematic perspective view of the opening and closing element in the preferred embodiment.

图8为图3去掉外壳后的旋转放大示意图。FIG. 8 is an enlarged schematic view of FIG. 3 after removing the outer casing.

图示序号:Icon serial number:

1—动力源;1—Power source;

2—固定架;2—fixing frame;

3—快换模组,3—Quick change module,

31—外壳、311—主壳、312—连接座、313—检修口、314—支座、315—快换座,31—Shell, 311—Main case, 312—Connecting seat, 313—Access port, 314—Support, 315—Quick change seat,

32—作业末端连接套、321—套筒、322—滑座、323—十字插接板,32—Working end connecting sleeve, 321—Sleeve, 322—Slide seat, 323—Cross plug board,

33—机械臂末端连接套、331—十字插接头、332—周向凹槽,33—connecting sleeve at the end of the manipulator, 331—cross plug connector, 332—circumferential groove,

34—开合元件、341—轴主体、342—锁止段,34—opening and closing element, 341—shaft main body, 342—locking segment,

35—离合机构、351—主动转臂、352—从动转臂,35—Clutch mechanism, 351—Active arm, 352—Slave arm,

36—传动机构、361—主动轴、362—主动锥齿轮、363—从动锥齿轮、364—从动轴、365—输出轴;36—transmission mechanism, 361—driving shaft, 362—driving bevel gear, 363—driven bevel gear, 364—driven shaft, 365—output shaft;

4—作业台车;5—电力机器人。4—Working trolley; 5—Electric robot.

具体实施方式Detailed ways

如图1、图2所示,本实施例公开的这种电力机器人作业末端快速更换装置,包括动力源1、固定架2和快换模组3;动力源1为蜗轮蜗杆减速电机,安装于固定架2外,一对固定架相对布置与作业台车4上,各快换模组通过联轴器相连,装配于两固定架之间,一端端部的快换模组与动力源的输出轴通过联轴器相连。As shown in FIGS. 1 and 2 , the device for quick replacement of the working end of an electric robot disclosed in this embodiment includes a power source 1 , a fixing frame 2 and a quick-change module 3 ; the power source 1 is a worm gear motor, which is installed in Outside the fixing frame 2, a pair of fixing frames are arranged opposite to the work trolley 4. Each quick-change module is connected by a coupling and is assembled between the two fixing frames. The quick-change module at one end and the output of the power source The shafts are connected by couplings.

如图3所示,快换模组3包括外壳31、作业末端连接套32、机械臂末端连接套33、开合元件34、离合机构35和传动机构36。As shown in FIG. 3 , the quick change module 3 includes a casing 31 , a working end connecting sleeve 32 , a robotic arm end connecting sleeve 33 , an opening and closing element 34 , a clutch mechanism 35 and a transmission mechanism 36 .

如图4所示,外壳31包括主壳311、连接座312、检修板、支座314和快换座315。主壳311为两侧开口的长方体壳,包括面板和端板,端板的两侧均设C型开口,一对面板分上、下布置通过两端板相连,其一端端板上设有过轴孔,另一端端板设有检修口313。连接座312包括封板和连接板,封板上设轴孔,连接座连接于主壳两侧开口内,封板封闭开口,连接板将连接相邻两主壳。检修板313可拆卸连接于检修口处。支座314为门型座,其封闭端设有一对通孔,支座以其开口端连接于主壳外,通孔与过轴孔对正。快换座315包括连接段和滑槽段,连接段可拆卸连接于支座外,滑槽段内设滑槽用以安装作业末端连接套32。As shown in FIG. 4 , the housing 31 includes a main housing 311 , a connecting seat 312 , an access panel, a support 314 and a quick-change seat 315 . The main shell 311 is a rectangular parallelepiped shell with openings on both sides, including a panel and an end panel. Both sides of the end panel are provided with C-shaped openings. The shaft hole, and the other end plate is provided with an inspection port 313. The connecting seat 312 includes a sealing plate and a connecting plate, the sealing plate is provided with a shaft hole, the connecting seat is connected to the openings on both sides of the main shell, the sealing plate closes the opening, and the connecting plate will connect two adjacent main shells. The access panel 313 is detachably connected to the access port. The support 314 is a door-shaped seat, the closed end of which is provided with a pair of through holes, the open end of the support is connected to the outside of the main casing, and the through holes are aligned with the shaft hole. The quick change seat 315 includes a connecting section and a chute section, the connecting section is detachably connected to the outside of the support, and the chute section is provided with a chute for installing the working end connecting sleeve 32 .

如图5所示,作业末端连接套32包括套筒321和滑座322;套筒为两端开口的圆柱套,其套壁上设沿圆周方向延伸的弧形槽,套筒内对应弧形槽槽底处设有十字插接板323;滑座为322矩型座,其外表面设有快换槽,快换槽的截面为D型,其平面端朝外、弧形端贯穿套筒的筒壁;作业末端连接套32以其滑座安装于快换座内能够沿滑槽段滑动。作业末端连接套32与机械臂末端连接套33通过插入滑座快换槽内的开合元件34控制锁紧与分离。As shown in FIG. 5 , the working end connecting sleeve 32 includes a sleeve 321 and a sliding seat 322; the sleeve is a cylindrical sleeve with both ends open, and the sleeve wall is provided with an arc-shaped groove extending along the circumferential direction, and the inner sleeve corresponds to the arc-shaped sleeve. There is a cross plug plate 323 at the bottom of the groove; the sliding seat is a 322 rectangular seat, and its outer surface is provided with a quick-change groove. The working end connecting sleeve 32 is installed in the quick-change seat with its sliding seat and can slide along the chute section. The connecting sleeve 32 at the end of the work and the connecting sleeve 33 at the end of the robot arm are locked and separated through the opening and closing element 34 inserted into the quick change slot of the sliding seat.

如图6所示,机械臂末端连接套33为圆柱套,其底端设有十字插接头331,其底部套壁外设周向凹槽332。As shown in FIG. 6 , the connecting sleeve 33 at the end of the robot arm is a cylindrical sleeve, the bottom end is provided with a cross plug connector 331 , and the bottom sleeve wall is provided with a peripheral groove 332 .

如图7所示,开合元件34为扁轴,包括轴主体341和锁止段342,锁止段的截面为D型;装配时,将机械臂末端连接套插入作业末端连接套内,十字插接头位于十字插接板下,将开合元件插入滑座内,当锁止段的圆弧面转至周向凹槽内时将上、下两套锁紧,平面转至内侧时可将上、下两套分离。开合元件34通过离合机构35控制动力的传入、切断以及与传动机构的脱离。As shown in FIG. 7 , the opening and closing element 34 is a flat shaft, including a shaft main body 341 and a locking section 342, and the section of the locking section is D-shaped; when assembling, insert the connecting sleeve at the end of the manipulator into the connecting sleeve at the end of the operation, and the cross The plug connector is located under the cross plug board. Insert the opening and closing element into the sliding seat. When the arc surface of the locking section is turned into the circumferential groove, the upper and lower sets are locked. When the plane is turned to the inside, the upper and lower sets can be locked. The next two sets are separated. The opening and closing element 34 controls the introduction, cutting and disengagement from the transmission mechanism through the clutch mechanism 35 .

如图8所示,离合机构35包括主动转臂351和从动转臂352;主动转臂351为U型臂,其封闭端中心设有通孔以与输出轴相连;从动转臂352为直臂,其长度大于主动转臂的开口宽度,其中心设有圆孔以与开合元件相连;主动转臂接收传动机构36传来的动力,当需要控制开合元件转动时,将从动转臂352运动至主动转臂内,主动转臂两侧板转至与从动转臂接触,带动从动转臂转动,实现动力的传递;当需要分离时直接通过机械臂带动机械臂末端连接套33沿滑槽拉动即可实现从动转臂与主动转臂的脱离。As shown in FIG. 8 , the clutch mechanism 35 includes an active rotating arm 351 and a driven rotating arm 352; the active rotating arm 351 is a U-shaped arm, and the center of its closed end is provided with a through hole to connect with the output shaft; the driven rotating arm 352 is The straight arm, whose length is greater than the opening width of the active rotating arm, is provided with a circular hole in the center to be connected with the opening and closing element; the active rotating arm receives the power from the transmission mechanism 36, and when it is necessary to control the rotation of the opening and closing element, it will be driven The turning arm 352 moves into the active turning arm, and the two side plates of the active turning arm turn to contact with the driven turning arm, which drives the driven turning arm to rotate to realize power transmission; when separation is required, the end of the mechanical arm is directly driven by the mechanical arm to connect By pulling the sleeve 33 along the chute, the driven arm can be separated from the active arm.

如图8所示,传动机构36包括主动轴361、主动锥齿轮362、从动锥齿轮363、从动轴364和输出轴365,主动轴、主动锥齿轮、从动锥齿轮均设置于主壳内,一对主动锥齿轮相向布置、分别固接于主动轴外,两从动锥齿轮分别于对应的主动锥齿轮啮合,从动轴的一端固接于从动锥齿轮的轴心、另一端穿过过轴孔伸至主壳外通过联轴器与输出轴相连,输出轴通过离合机构将动力传递至开合元件。As shown in FIG. 8 , the transmission mechanism 36 includes a driving shaft 361 , a driving bevel gear 362 , a driven bevel gear 363 , a driven shaft 364 and an output shaft 365 . The driving shaft, the driving bevel gear, and the driven bevel gear are all arranged in the main casing Inside, a pair of driving bevel gears are arranged opposite to each other and are respectively fixed to the outside of the driving shaft. The two driven bevel gears are meshed with the corresponding driving bevel gears respectively. It extends out of the main casing through the shaft through hole and is connected with the output shaft through the coupling, and the output shaft transmits the power to the opening and closing element through the clutch mechanism.

快换模组3通过传动机构的输入端接收动力源输入的动力、输出端与离合机构相连,离合机构的另一端与开合元件相连,开合元件的另一端插入作业末端连接套内控制机械臂末端连接套与作业末端连接套锁紧或脱离。The quick change module 3 receives the power input from the power source through the input end of the transmission mechanism, the output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the connecting sleeve of the working end to control the mechanical The arm end connecting sleeve is locked or disengaged from the working end connecting sleeve.

运用本实施例电力机器人作业末端快速更换时,具体操作步骤如下:When the working end of the electric robot in this embodiment is rapidly replaced, the specific operation steps are as follows:

步骤一、将机械臂末端连接套安装于电力机器人5的绝缘操作杆末端,将各作业末端分别安装于对应的作业末端连接套下;Step 1. Install the connecting sleeve of the end of the mechanical arm on the end of the insulating operation rod of the electric robot 5, and install each working end under the corresponding connecting sleeve of the working end;

步骤二、将快换装置和电力机器人安装于平台板上;Step 2. Install the quick-change device and the power robot on the platform board;

步骤三、控制作业台车运动至作业位置处,控制平台板伸至作业区域;Step 3: Control the movement of the working trolley to the working position, and control the platform plate to extend to the working area;

步骤四、根据作业需要,控制电力机器人动作使绝缘操作杆位于对应的作业末端上,并通过电力机器人操控绝缘操作杆使机械臂末端连接套插入作业末端连接套内;Step 4. According to the needs of the operation, control the action of the electric robot so that the insulating operation rod is located on the corresponding end of the operation, and control the insulation operation rod through the electric robot to insert the connecting sleeve of the end of the mechanical arm into the connecting sleeve of the end of the operation;

步骤五、启动动力源,传动机构将动力经离合机构传递至开合元件,使开合元件转动锁紧机械臂末端连接套和作业末端连接套形成作业装配体;Step 5. Start the power source, the transmission mechanism transmits the power to the opening and closing element through the clutch mechanism, so that the opening and closing element rotates and locks the end connecting sleeve of the mechanical arm and the working end connecting sleeve to form a working assembly;

步骤六、控制电力机器人工作,使作业装配体从外壳内脱离即可开展作业;Step 6. Control the work of the electric robot, so that the work assembly can be separated from the casing and the work can be carried out;

步骤七、作业完成后,操控电力机器人使作业装配体返回至外壳内;Step 7. After the operation is completed, control the electric robot to return the operation assembly to the casing;

步骤八、启动动力源,传动机构将动力经离合机构传递至开合元件,使开合元件反向转动,使锁紧机械臂末端连接套和作业末端连接套分离,即可操控绝缘操作杆回位准备进行下一作业。Step 8. Start the power source, the transmission mechanism transmits the power to the opening and closing element through the clutch mechanism, so that the opening and closing element rotates in the opposite direction, so that the connecting sleeve at the end of the locking manipulator and the connecting sleeve at the end of the operation are separated, and the insulating operating rod can be controlled to return. ready for the next job.

其中作业台车4包括可移动底盘,移动底盘的两端设有伸缩支腿,移动底盘上设升降架,升降架的顶部设有平台板。电力机器人5包括机柜、滑轨和机械臂,机械臂的底端安装于滑轨上能够沿轨道滑动,机械臂可多自由度运动,绝缘操作杆安装于机械臂的末端。作业末端包括输电线路检修时常用的电动剥皮器、电动剪线器、引流搭火线夹、J型线夹更换装置、导线抓夹等。The work trolley 4 includes a movable chassis, two ends of the movable chassis are provided with telescopic outriggers, a lifting frame is arranged on the movable chassis, and a platform plate is arranged on the top of the lifting frame. The electric robot 5 includes a cabinet, a slide rail and a robotic arm. The bottom end of the robotic arm is mounted on the slide rail and can slide along the track. The robotic arm can move with multiple degrees of freedom, and an insulating operating rod is installed at the end of the robotic arm. The end of the operation includes electric strippers, electric wire cutters, drain wire clips, J-type wire clip replacement devices, wire grippers, etc., which are commonly used in transmission line maintenance.

本发明投入使用后,可实现绝缘操作杆与不同工器具之间的快速更换,降低更换工具所耗费的时间,能够极大的提高工作效率,无需作业人员登高直接操作,便于实现遥控作业。After the present invention is put into use, it can realize the rapid replacement between the insulating operating rod and different tools, reduce the time spent on replacing tools, greatly improve the work efficiency, without the need for operators to directly operate by climbing, and it is convenient to realize remote control operation.

Claims (10)

1. The utility model provides an electric power robot operation end quick replacement device which characterized in that: the device comprises a power source, a fixing frame and a quick-change module;
the quick change module comprises a shell, a transmission mechanism, a clutch mechanism, an opening and closing element, a mechanical arm tail end connecting sleeve and an operation tail end connecting sleeve, wherein the transmission mechanism is arranged in the shell, an input end receives power input by a power source, an output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the operation tail end connecting sleeve to control the mechanical arm tail end connecting sleeve to be locked or separated from the operation tail end connecting sleeve;
the quick-change modules are arranged in parallel and connected with the two fixing frames through the couplers, and the power source is connected to the fixing frames to supply power to the quick-change modules.
2. The electric robot working end quick change device of claim 1, wherein: the shell comprises a main shell, a connecting seat, an access panel, a support and a quick-change seat; the main shell is a cuboid shell with openings at two sides, a shaft passing hole is formed in an end plate at one end of the main shell, and an access hole is formed in an end plate at the other end of the main shell; the connecting seat is connected in openings on two sides of the main shell; the access panel is detachably connected to the access opening; the support is connected outside the shaft passing hole; the quick-change seat is assembled outside the support.
3. The electric robot working end quick change device of claim 2, wherein: the main shell comprises a panel and end plates, wherein C-shaped openings are formed in two sides of each end plate, and a pair of panels are arranged up and down and connected through the two end plates; the connecting seat comprises a sealing plate and a connecting plate, a shaft hole is formed in the sealing plate, the sealing plate seals the opening of the main shell, and the connecting plate is connected with two adjacent main shells.
4. The electric robot working end quick change device of claim 2, wherein: the support is a door-shaped seat, the closed end of the support is provided with a pair of through holes, the open end of the support is connected outside the main shell, and the through holes are aligned with the through shaft holes; the quick-change seat comprises a connecting section and a sliding groove section, the connecting section is detachably connected outside the support, and a sliding groove is formed in the sliding groove section and used for installing the operation tail end connecting sleeve.
5. The electric robot working end quick change device of claim 4, wherein: the operation tail end connecting sleeve comprises a sleeve and a sliding seat; the sleeve is a cylindrical sleeve with openings at two ends, an arc-shaped groove extending along the circumferential direction is arranged on the sleeve wall, and a cross-shaped plug board is arranged in the sleeve corresponding to the arc-shaped groove; the sliding seat is a rectangular seat, the outer surface of the sliding seat is provided with a quick-change groove, the section of the quick-change groove is D-shaped, the plane end of the quick-change groove faces outwards, and the arc end of the quick-change groove penetrates through the cylinder wall of the sleeve; the operation tail end connecting sleeve is arranged in the quick-change seat through a sliding seat and can slide along the sliding groove section.
6. The electric robotic work tip quick change device of claim 5, wherein: the end connecting sleeve of the mechanical arm is a cylindrical sleeve, the bottom end of the cylindrical sleeve is provided with a cross-shaped plug connector, and a circumferential groove is formed in the wall of the bottom sleeve.
7. The electric robot working end quick change device of claim 6, wherein: the opening and closing element is a flat shaft and comprises a shaft main body and a locking section, and the section of the locking section is D-shaped; the opening and closing element is inserted into the sliding seat, and the locking section can rotate in the quick-change groove.
8. The electric robot working end quick change device of claim 2, wherein: the transmission mechanism comprises a driving shaft, driving bevel gears, driven bevel gears, a driven shaft and an output shaft, wherein a pair of driving bevel gears are arranged in opposite directions and are respectively and fixedly connected outside the driving shaft, the two driven bevel gears are respectively engaged with the corresponding driving bevel gears, one end of the driven shaft is fixedly connected with the axes of the driven bevel gears, the other end of the driven shaft is connected with the output shaft through a coupler, and the output shaft transmits power to the opening and closing element through a clutch mechanism; the driving shaft, the driving bevel gear and the driven bevel gear are all arranged in the main shell, two ends of the driving shaft respectively penetrate through the shaft holes in the connecting seat, and the outer end of the driven shaft penetrates through the shaft holes to extend out of the main shell.
9. The electric robotic work tip quick change device of claim 8, wherein: the clutch mechanism comprises a driving rotating arm and a driven rotating arm; the driving rotating arm is a U-shaped arm, and a through hole is formed in the center of the closed end of the driving rotating arm so as to be connected with the output shaft; the driven rotating arm is a straight arm, the length of the driven rotating arm is greater than the opening width of the driving rotating arm, and a round hole is formed in the center of the driven rotating arm to be connected with the opening and closing element; the transmission mechanism transmits power to the driving rotating arm to rotate, and the two side plates are rotated to be in contact with the driven rotating arm when the driving rotating arm rotates to drive the driven rotating arm to rotate.
10. A method for quickly replacing the working end of an electric robot, characterized in that the method is carried out by using the device of any one of claims 1-9 as a tool, and comprises the following steps:
step one, mounting a mechanical arm tail end connecting sleeve at the tail end of an insulating operating rod, and respectively mounting each operation tail end below the corresponding operation tail end connecting sleeve;
secondly, controlling the insulating operation rod to be positioned at the corresponding operation tail end according to operation requirements, and controlling the mechanical arm to enable the mechanical arm tail end connecting sleeve to be inserted into the operation tail end connecting sleeve;
thirdly, starting a power source, transmitting the power to the opening and closing element through the clutch mechanism by the transmission mechanism, and enabling the opening and closing element to rotate to lock the mechanical arm tail end connecting sleeve and the operation tail end connecting sleeve to form an operation assembly body;
step four, controlling the mechanical arm to work, so that the operation assembly body can be separated from the shell to carry out operation;
after the operation is finished, operating the mechanical arm to return the operation assembly body to the shell;
and step six, starting a power source, transmitting power to the opening and closing element through the clutch mechanism by the transmission mechanism, enabling the opening and closing element to rotate reversely, separating the locking mechanical arm tail end connecting sleeve from the operation tail end connecting sleeve, and controlling the insulation operating rod to return to prepare for the next operation.
CN202010536073.8A 2020-06-12 2020-06-12 Quick replacement device and method for electric robot operation end Active CN111618879B (en)

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