CN113211064A - Multi-axial-hole assembly module for robot to connect to lead line for operation - Google Patents
Multi-axial-hole assembly module for robot to connect to lead line for operation Download PDFInfo
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- CN113211064A CN113211064A CN202110631712.3A CN202110631712A CN113211064A CN 113211064 A CN113211064 A CN 113211064A CN 202110631712 A CN202110631712 A CN 202110631712A CN 113211064 A CN113211064 A CN 113211064A
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- robot
- elastic
- hole assembly
- mounting seat
- assembly module
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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Abstract
The invention relates to the technical field of electric power operation, and discloses a multi-axis hole assembly module for robot lead-in line operation, which comprises: the mount pad, fastener and a plurality of reciprocating motion mechanism, be connected with the piece of feeding of its normal direction motion of edge on the mount pad, still be fixed with a plurality of elastic components on the mount pad, elastic component and feeding a homonymy parallel arrangement, the elasticity direction of elastic component is the normal direction of mount pad, the fastener links firmly on the mount pad perpendicularly, the fastener sets up with the elastic component homonymy, a plurality of reciprocating motion mechanism and elastic component one-to-one, reciprocating motion mechanism's removal end can intersect with the flexible orbit of elastic component to the in-process that is close to the elastic component removal in a parallel with the mount pad direction. The invention provides a multi-shaft hole assembly module for robot lead-in line operation, which realizes single-shaft hole assembly based on active compliance control and multi-shaft hole assembly based on a passive compliance mechanism.
Description
Technical Field
The invention relates to the technical field of electric power operation, in particular to a multi-axial-hole assembly module for robot lead-in and lead-out line operation.
Background
The electric power operation comprises a plurality of subjects, robot operation (including wire cutting, wire stripping, wire connection and the like) is already realized for some simple subjects, but the operation for connecting a lead wire still stays at a manual operation stage, particularly, the operation for connecting the lead wire needs to match the poses of two wire clamps to ensure that the center positions of 4 holes on each wire clamp are aligned, then 4 screws sequentially penetrate through four aligned through holes, and finally, the fixation of the two wire clamps is realized by utilizing nuts. However, just because the operation process of connecting the lead wire involves the problem of multi-axis hole assembly, few robots can autonomously complete related operations.
The existing robot shaft hole assembly scheme comprises: single-axis hole assembly and multi-axis hole assembly, wherein single-axis hole assembly is researched more and is relatively mature (vision and force control), but the robot is connected with a drainage line to perform multi-axis hole assembly, if all operations are completed through single-axis hole assembly, the whole process is too complicated, and after one axis hole assembly is completed, accurate positioning is performed again to complete the assembly of the next axis hole, so that the field requirements are difficult to meet; the multi-axis hole assembly is a practical and complex assembly task, most of the assembly tasks mainly stay in the analysis of two-dimensional two-axis holes at present, the analysis of three-dimensional multi-axis holes is little, and documents for completing the tasks are also few.
The existing two-dimensional two-shaft hole research is mainly completed based on a multi-source sensor, a fixed time sequence and a fixed assembly platform. The vision image is influenced by outdoor light to reduce the estimation precision of the pose of a target object, the absolute positioning precision of the robot is difficult to reach a submillimeter level, in addition, the existing multi-shaft hole assembly platform mostly adopts special modules and equipment, the platform is complex, the size and the mass are overlarge, a mechanical arm with larger power is forced to be adopted, and obviously, the robot is difficult to directly transplant and apply to the mechanical arm with limited operation space during high-altitude operation. Therefore, the existing shaft hole assembly is difficult to satisfy the operation of connecting a lead wire of a robot.
Disclosure of Invention
The invention provides a multi-shaft hole assembly module for robot lead-in line operation, which realizes single-shaft hole assembly based on active compliance control and multi-shaft hole assembly based on a passive compliance mechanism.
The invention provides a multi-axis hole assembly module for robot lead-in line operation, which comprises:
the mounting seat is connected with a feeding piece moving along the normal direction of the mounting seat, a plurality of elastic pieces are further fixed on the mounting seat, the elastic pieces and the feeding piece are arranged in parallel on the same side, and the elastic direction of the elastic pieces is the direction far away from the mounting seat;
the fastener is vertically and fixedly connected to the mounting seat, and the fastener and the elastic piece are arranged on the same side;
the plurality of reciprocating mechanisms correspond to the elastic pieces one by one, and the moving ends of the reciprocating mechanisms can be intersected with the telescopic tracks of the elastic pieces in the process of moving towards the elastic pieces in the direction parallel to the mounting base.
Optionally, the feeding member is driven by a first driving member to move along a normal direction of the mounting base, and the first driving member is connected to the mounting base.
Optionally, the reciprocating mechanism is driven by a second driving element, so that the moving end of the reciprocating mechanism reciprocates along a direction parallel to the mounting seat, and the second driving element is fixed on the mounting seat.
Optionally, the fastener comprises:
the fixed plate is vertically and fixedly connected to the mounting seat, the fixed plate and the elastic piece are arranged on the same side, and a first clamping groove is formed in the fixed plate.
Optionally, the reciprocating mechanism includes a slider-crank mechanism and a guide assembly, the guide assembly is fixed on the mounting seat, and a moving end of the slider-crank mechanism is connected with the guide assembly, so that the slider-crank mechanism moves the moving end thereof in a direction parallel to the mounting seat through the guide assembly.
Optionally, a slider of the slider-crank mechanism is provided with a second slot, and the second slot is arranged along the telescopic direction of the elastic element.
Optionally, the guide assembly comprises:
the guide block is fixed on the mounting seat, a guide groove is formed in the guide block and is parallel to the mounting seat, the extension line of the guide groove is intersected with the axis of the elastic piece, and a sliding block of the slider-crank mechanism is in sliding fit with the guide groove so that the sliding block moves along the direction of the guide groove.
Optionally, the number of the elastic members is three.
Optionally, the feeding member includes a lead screw, and one end of the lead screw is screwed on the mounting seat.
Optionally, the elastic member is a compression spring.
Compared with the prior art, the invention has the beneficial effects that: the invention can realize the operation of connecting a lead wire automatically by combining a robot, a first wire clamp is fixed with the mounting seat by a fastener by connecting the mounting seat with a mechanical arm of the robot, a first screw passes through a mounting hole on the first wire clamp corresponding to a feeding piece, the first screw heads are respectively arranged on the screw heads in a one-to-one correspondence manner but do not pass through the rest mounting holes, the first screw is tightly propped against the surface of the first wire clamp by the feeding piece to realize the fixation, the first screw completely passes through the corresponding mounting hole on the second wire clamp by the integral motion of the mechanical arm based on the single-shaft hole assembly technology, namely the surface coincidence of the first wire clamp and the second wire clamp is realized, meanwhile, the pressure of an elastic piece and the reciprocating mechanism are jointly limited, so that the rest screws are fixed, namely the rest screws are respectively fixed by the moving end of the reciprocating mechanism, and cannot pass through the rest mounting holes, at the moment, the elastic part tightly presses against the rest of the screws, the elastic part is in a compressed state, then one reciprocating movement is carried out to move towards the direction far away from the screws, so that the second screws are not fixed any more, the elastic part releases the force applied to the second screws far away from the mounting seat under the state, the second screws tightly prop against the surface of the second wire clamp under the action of the elastic force, then the mounting seat is integrally rotated around the axis of the first screws through the mechanical arm, the motion trail of the second screws is certain to be overlapped with the rest of a certain mounting hole to finish the position overlapping of the first wire clamp and the second wire clamp, therefore, under the action of the elastic force in the rotating process, the second screws are bounced into the mounting holes to finish the shaft hole assembly, the rest of the screws correspond to the mounting hole in position, the rest of the screws move towards the direction far away from the screws so that the rest of the screws are not fixed any more, and the elastic part releases the force applied to the screws far away from the mounting seat under the state, then the screw is pushed into the mounting hole respectively, rethread fastening nut from the second fastener rear side carry on the fastening of screw can, realized the passive integration assembly of owner, need not force sensor, and then reduce cost, owing to adopt the passive gentle and agreeable initiative motor and the force sensor of replacing of elastic component, so need not complicated control algorithm, simplify the operation process through the cooperation with the robot, connect the operation of drawing the streamline and be common operation subject in the electric power operation, consequently have extensive application scene.
Drawings
Fig. 1 is a schematic view of an orientation structure of a multi-axis hole assembly module for robot lead-in and lead-out line operation according to an embodiment of the present invention;
FIG. 2 is a schematic view of another orientation structure of a multi-axis hole assembly module for robot lead-in and lead-out line operation according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an operating state of a multi-axis hole assembly module for robot lead-in and lead-out line operation according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a completed working state of a multi-axis hole assembly module for robot lead-in and lead-out line operation according to an embodiment of the present invention.
Description of reference numerals:
10-mounting seat, 11-feeding piece, 12-elastic piece, 13-first driving piece, 14-, 15-, 16-, 17-, 18-, 19-, 20-second driving piece, 22-slider-crank mechanism, 220-slider, 221-second clamping groove, 23-guide component, 30-fastener, 300-fixing plate, 301-first clamping groove, 40-first wire clamp, 41-second wire clamp, 42-mounting hole and 43-screw.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "normal direction", "radial", "circumferential", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing technical solutions of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
For the operation of connecting the drainage line, the poses of two line clamps are required to be matched to ensure that the center positions of 4 holes on each line clamp are aligned, then 4 screws sequentially pass through the four aligned through holes, and finally, the two line clamps are fixed by utilizing nuts. Just because the operation process of connecting the drainage line involves multiaxis hole assembly problem, therefore few robots can independently accomplish relevant operation.
The existing robot shaft hole assembly scheme comprises: single-axis hole assembly and multi-axis hole assembly, wherein single-axis hole assembly is researched more and is relatively mature (vision and force control), but the robot is connected with a drainage line to perform multi-axis hole assembly, if all operations are completed through single-axis hole assembly, the whole process is too complicated, and after one axis hole assembly is completed, accurate positioning is performed again to complete the assembly of the next axis hole, so that the field requirements are difficult to meet; the multi-axis hole assembly is a practical and complex assembly task, most of the assembly tasks mainly stay in the analysis of two-dimensional two-axis holes at present, the analysis of three-dimensional multi-axis holes is little, and documents for completing the tasks are also few.
The existing two-dimensional two-shaft hole research is mainly completed based on a multi-source sensor, a fixed time sequence and a fixed assembly platform. The vision image is influenced by outdoor light to reduce the estimation precision of the pose of a target object, the absolute positioning precision of the robot is difficult to reach a submillimeter level, in addition, the existing multi-shaft hole assembly platform mostly adopts special modules and equipment, the platform is complex, the size and the mass are overlarge, a mechanical arm with larger power is forced to be adopted, and obviously, the robot is difficult to directly transplant and apply to the mechanical arm with limited operation space during high-altitude operation. Therefore, the existing shaft hole assembly is difficult to satisfy the operation of connecting a lead wire of a robot.
Based on the above problems, an embodiment of the present invention provides a multi-axis hole assembly module for robot lead-in and lead-out line operation, as shown in fig. 1-2, including: the mounting base 10, fastener 30 and a plurality of reciprocating mechanism, be connected with the feeding piece 11 along its normal direction motion on the mounting base 10, still be fixed with a plurality of elastic components 12 on the mounting base 10, elastic component 12 and feeding piece 11 homonymy parallel arrangement, the elasticity direction of elastic component 12 is the direction of keeping away from mounting base 10, fastener 30 links firmly on mounting base 10 perpendicularly, fastener 30 sets up with elastic component 12 homonymy, a plurality of reciprocating mechanism and elastic component 12 one-to-one, the removal end of reciprocating mechanism can intersect with the flexible orbit of elastic component 12 in the in-process that moves to being close to elastic component 12 in a direction that is on a parallel with mounting base 10, in this embodiment, the power supply of reciprocating mechanism and feeding piece 11 is not limited to the manual power of the arm with the help of the robot or adopts external power source to realize.
The invention can realize the operation of connecting a lead wire automatically by combining a robot, a first wire clamp is fixed with the mounting seat by a fastener by connecting the mounting seat with a mechanical arm of the robot, a first screw passes through a mounting hole on the first wire clamp corresponding to a feeding piece, the first screw heads are respectively arranged on the screw heads in a one-to-one correspondence manner but do not pass through the rest mounting holes, the first screw is tightly propped against the surface of the first wire clamp by the feeding piece to realize the fixation, the first screw completely passes through the corresponding mounting hole on the second wire clamp by the integral motion of the mechanical arm based on the single-shaft hole assembly technology, namely the surface coincidence of the first wire clamp and the second wire clamp is realized, meanwhile, the pressure of an elastic piece and the reciprocating mechanism are jointly limited, so that the rest screws are fixed, namely the rest screws are respectively fixed by the moving end of the reciprocating mechanism, and cannot pass through the rest mounting holes, at the moment, the elastic part tightly presses against the rest of the screws, the elastic part is in a compressed state, then one reciprocating movement is carried out to move towards the direction far away from the screws, so that the second screws are not fixed any more, the elastic part releases the force applied to the second screws far away from the mounting seat under the state, the second screws tightly prop against the surface of the second wire clamp under the action of the elastic force, then the mounting seat is integrally rotated around the axis of the first screws through the mechanical arm, the motion trail of the second screws is certain to be overlapped with the rest of a certain mounting hole to finish the position overlapping of the first wire clamp and the second wire clamp, therefore, under the action of the elastic force in the rotating process, the second screws are bounced into the mounting holes to finish the shaft hole assembly, the rest of the screws correspond to the mounting hole in position, the rest of the screws move towards the direction far away from the screws so that the rest of the screws are not fixed any more, and the elastic part releases the force applied to the screws far away from the mounting seat under the state, then the screw is pushed into the mounting hole respectively, rethread fastening nut from the second fastener rear side carry on the fastening of screw can, realized the passive integration assembly of owner, need not force sensor, and then reduce cost, owing to adopt the passive gentle and agreeable initiative motor and the force sensor of replacing of elastic component, so need not complicated control algorithm, simplify the operation process through the cooperation with the robot, connect the operation of drawing the streamline and be common operation subject in the electric power operation, consequently have extensive application scene.
Alternatively, the feeding member 11 is driven by a first driving member 13 to move along a normal direction of the mounting base 10, and the first driving member 13 is connected to the mounting base 10.
Optionally, the reciprocating mechanism is driven by the second driving element 20, so that the moving end of the reciprocating mechanism reciprocates in a direction parallel to the mounting base 10, the second driving element 20 is fixed on the mounting base 10, and as mentioned above, the operating state of the reciprocating mechanism is controlled by the second driving element 20 to move towards the direction close to the elastic element 12 or move away from the elastic element 12 and a corresponding moving distance.
In this embodiment, the fastening member 30 includes a fixing plate 300, the fixing plate 300 is vertically fixed on the mounting seat 10, the fixing plate 300 is disposed on the same side as the elastic member 12, and the fixing plate 300 has a first engaging groove 301, so that the first clip 40 can be engaged into the first engaging groove 301 to be fastened with the mounting seat 10.
Further, the reciprocating mechanism comprises a slider-crank mechanism 22 and a guide assembly 23, the guide assembly 23 is fixed on the mounting base 10, and the moving end of the slider-crank mechanism 22 is connected with the guide assembly 23, so that the slider-crank mechanism 22 moves the moving end thereof in a direction parallel to the mounting base 10 through the guide assembly 23.
Specifically, the slider 220 of the slider-crank mechanism 22 is provided with a second slot 221, the second slot 221 is arranged along the extension direction of the elastic part 12, and the overall reliability of the module is improved by utilizing the mature slider-crank mechanism 22.
In this embodiment, the guide assembly 23 includes a guide block fixed on the mounting base 10, the guide block has a guide groove thereon, the guide groove is disposed parallel to the mounting base 10, an extension line of the guide groove intersects with an axis of the elastic member 12, and the slider 220 of the crank slider mechanism 22 is slidably engaged with the guide groove to move the slider 220 in a direction of the guide groove.
Alternatively, the number of the elastic members 12 is three.
Optionally, the feeding member 11 includes a lead screw, and one end of the lead screw is screwed on the mounting base 10.
Alternatively, the elastic member 12 is a compression spring.
The working process and principle are as follows:
referring to fig. 2-4, a complete assembly process is shown:
firstly, connecting the mounting seat 10 with the mechanical arm of the robot, clamping the edge of the first wire clamp 40 in the first clamping groove 301 passing through the fixing plate 300 to fix the first wire clamp with the mounting seat 10, simultaneously, passing the first screw 43 through the mounting hole 42 corresponding to the lead screw (the feeding piece 11) on the first wire clamp 40, then utilizing the motor (the first driving piece 13) to drive the lead screw (the feeding piece 11) to compress the first screw 43, then realizing active single-shaft hole assembly based on force information to further finish the assembly of the first screw 43 and one of the mounting holes 42, after the assembly of the first screw 43 and one of the mounting holes 42 is finished, as shown in fig. 2, correspondingly placing the heads of the remaining three screws 43 in the mounting holes 42 corresponding to the crank slider mechanisms 22 on the first wire clamp 40 one by one, namely, clamping the remaining three screws 43 one by one through the second clamping grooves 221 on the sliders 220 of the crank slider mechanisms 22, so that it does not pass through the remaining mounting holes 42, at which time the compression spring (elastic member 12) is pressed against the screws 43;
separating the slider 220 of the slider-crank mechanism 22 from the second screw 43, controlling the mechanical arm to drive the mounting base 10 and the first wire clamp 40 to rotate around the axis of the first screw 43, wherein the movement track of the second screw 43 must pass through the center of the second mounting hole 42, so that when the second screw 43 passes through the second mounting hole 42, the second screw 43 is sprung into the second mounting hole 42 under the pressure of a compression spring, and the driven shaft hole assembly is completed, as shown in fig. 3;
after the two screws 43 are assembled in the respective mounting holes 42, the remaining 2 screws 43 are also in axial coincidence with the corresponding mounting holes 42, the sliders 220 of the remaining two crank slider mechanisms 22 are separated from the two screws 43 one by one, so that the remaining 2 compression springs are released, and the last two screws 43 are sprung into the corresponding mounting holes 42 under the pressure of the compression springs, so that passive multi-axial-hole assembly is realized.
The above disclosure is only for a few specific embodiments of the present invention, however, the present invention is not limited to the above embodiments, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (10)
1. A multi-axial hole assembly module for robot lead-in line operation, comprising:
the mounting seat (10) is connected with a feeding piece (11) moving along the normal direction of the mounting seat, a plurality of elastic pieces (12) are further fixed on the mounting seat (10), the elastic pieces (12) and the feeding piece (11) are arranged in parallel on the same side, and the elastic direction of the elastic pieces (12) is the normal direction of the mounting seat (10);
the fastener (30) is vertically fixedly connected to the mounting seat (10), and the fastener (30) and the elastic piece (12) are arranged on the same side;
the reciprocating mechanisms correspond to the elastic pieces (12) one by one, and moving ends of the reciprocating mechanisms can be intersected with the telescopic tracks of the elastic pieces (12) in the process of moving towards the elastic pieces (12) in the direction parallel to the mounting base (10).
2. The robot-streamlined multi-axial bore assembly module of claim 1, wherein said feeder (11) is driven by a first driving member (13) to move in a direction normal to said mounting base (10), said first driving member (13) being connected to said mounting base (10).
3. The robot-oriented streamline-handling multi-axis hole assembly module as recited in claim 1, wherein the traverse mechanism is driven by a second driving member (20) to reciprocate a moving end of the traverse mechanism in a direction parallel to the mounting base (10), the second driving member (20) being fixed to the mounting base (10).
4. The robot-streamlined-oriented polyaxial hole assembly module of claim 1, wherein the fastener (30) comprises:
the fixing plate (300) is perpendicularly fixedly connected to the mounting base (10), the fixing plate (300) and the elastic piece (12) are arranged on the same side, and a first clamping groove (301) is formed in the fixing plate (300).
5. The robot-oriented streamline-handling multi-axis hole assembly module as recited in claim 1, wherein the reciprocating mechanism comprises a slider-crank mechanism (22) and a guide assembly (23), the guide assembly (23) is fixed on the mounting seat (10), and a moving end of the slider-crank mechanism (22) is connected with the guide assembly (23) so that the slider-crank mechanism (22) moves the moving end thereof in a direction parallel to the mounting seat (10) through the guide assembly (23).
6. The robot-streamlined multi-axis hole assembly module as recited in claim 5, wherein the slider (220) of the crank-slider mechanism (22) has a second engaging groove (221), and the second engaging groove (221) is disposed along the extension/contraction direction of the elastic member (12).
7. The robot-streamlined-oriented multi-axial bore assembly module of claim 6, wherein said guide assembly (23) comprises:
the guide block is fixed on the mounting seat (10), a guide groove is formed in the guide block and is parallel to the mounting seat (10), the extension line of the guide groove is intersected with the axis of the elastic piece (12), and a sliding block (220) of the slider-crank mechanism (22) is in sliding fit with the guide groove, so that the sliding block (220) moves along the direction of the guide groove.
8. The robot-oriented multi-axial bore assembly module for streamlined operations, as set forth in claim 1, wherein the number of said elastic members (12) is three.
9. The robot-oriented streamline-handling multi-axial bore assembly module as set forth in claim 1, wherein the feed member (11) comprises a lead screw having one end screwed to the mounting base (10).
10. The robot-streamlined-oriented multi-axial bore assembly module of claim 1, wherein said elastic member (12) is a compression spring.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110631712.3A CN113211064B (en) | 2021-06-07 | 2021-06-07 | Multi-axial-hole assembly module for robot to connect to lead line for operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110631712.3A CN113211064B (en) | 2021-06-07 | 2021-06-07 | Multi-axial-hole assembly module for robot to connect to lead line for operation |
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| CN113211064B CN113211064B (en) | 2022-06-28 |
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| CN210878497U (en) * | 2019-11-08 | 2020-06-30 | 上海上汽马瑞利动力总成有限公司 | High-precision shaft hole self-aligning device |
| CN210898298U (en) * | 2019-11-29 | 2020-06-30 | 中国南方电网有限责任公司超高压输电公司大理局 | Porous drainage plate hole aligning tool for power transmission line |
| CN212968866U (en) * | 2020-09-24 | 2021-04-13 | 国网河南省电力公司温县供电公司 | Porous drainage plate hole aligning tool for power transmission line |
| CN112382976A (en) * | 2020-11-18 | 2021-02-19 | 湖南帝星智能科技有限公司 | Drainage wire termination, engineering vehicle and live working robot |
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| CN113211064B (en) | 2022-06-28 |
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