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

Abstract

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.

Description

Device and method for quick replacement of working end of electric robot

technical field

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.

Background technique

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.

SUMMARY OF THE INVENTION

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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:

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;

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;

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;

Step 4. Control the work of the robotic arm, so that the work assembly can be separated from the casing to start the work;

Step 5. After the operation is completed, control the mechanical arm to return the operation assembly to the casing;

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.

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.

Description of drawings

FIG. 1 is a schematic diagram of a use state of a preferred embodiment of the present invention.

FIG. 2 is a schematic perspective view of the device in the preferred embodiment.

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)

FIG. 4 is an enlarged schematic perspective view of the casing in the preferred embodiment.

FIG. 5 is an enlarged schematic perspective view of the working end connecting sleeve in the preferred embodiment.

FIG. 6 is a perspective enlarged schematic view of the working manipulator connecting sleeve in the preferred embodiment.

FIG. 7 is an enlarged schematic perspective view of the opening and closing element in the preferred embodiment.

FIG. 8 is an enlarged schematic view of FIG. 3 after removing the outer casing.

Icon serial number:

1—Power source;

2—fixing frame;

3—Quick change module,

31—Shell, 311—Main case, 312—Connecting seat, 313—Access port, 314—Support, 315—Quick change seat,

32—Working end connecting sleeve, 321—Sleeve, 322—Slide seat, 323—Cross plug board,

33—connecting sleeve at the end of the manipulator, 331—cross plug connector, 332—circumferential groove,

34—opening and closing element, 341—shaft main body, 342—locking segment,

35—Clutch mechanism, 351—Active arm, 352—Slave arm,

36—transmission mechanism, 361—driving shaft, 362—driving bevel gear, 363—driven bevel gear, 364—driven shaft, 365—output shaft;

4—Working trolley; 5—Electric robot.

Detailed ways

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.

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 .

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 .

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.

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 .

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 .

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.

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.

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.

When the working end of the electric robot in this embodiment is rapidly replaced, the specific operation steps are as follows:

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;

Step 2. Install the quick-change device and the power robot on the platform board;

Step 3: Control the movement of the working trolley to the working position, and control the platform plate to extend to the working area;

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;

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;

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;

Step 7. After the operation is completed, control the electric robot to return the operation assembly to the casing;

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.

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.

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.

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