CN113211064B - 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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- CN113211064B CN113211064B CN202110631712.3A CN202110631712A CN113211064B CN 113211064 B CN113211064 B CN 113211064B CN 202110631712 A CN202110631712 A CN 202110631712A CN 113211064 B CN113211064 B CN 113211064B
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- mounting base
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- hole assembly
- 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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- Engineering & Computer Science (AREA)
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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 fastening piece is vertically and fixedly connected to the mounting seat, and the fastening piece and the elastic piece are arranged on the same side;
and 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 seat.
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 a 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 fixing plate is vertically and fixedly connected to the mounting seat, the fixing plate and the elastic piece are arranged on the same side, and a first clamping groove is formed in the fixing 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 extending direction of the elastic member.
Optionally, the guiding assembly comprises:
the guide block is fixed on the mounting seat, a guide groove is formed in the guide block and is arranged parallel to the mounting seat, the extension line of the guide groove is intersected with the axis of the elastic piece, and the sliding block of the crank sliding block mechanism is in sliding fit with the guide groove so that the sliding block can move 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 to the mounting base.
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 automatically connecting and leading a streamline in combination with a robot, a first wire clamp is fixed with a mounting seat through 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 way but do not pass through the rest mounting holes, the feeding piece is utilized to tightly prop the first screw against the surface of the first wire clamp to realize the fixation, based on the uniaxial hole assembly technology, the first screw completely passes through the corresponding mounting hole on the second wire clamp through the integral motion of the mechanical arm, namely, the surface superposition of the first wire clamp and the second wire clamp is realized, meanwhile, the pressure of an elastic piece and a reciprocating mechanism are jointly limited, so that the rest screws are fixed, namely, the rest screws are respectively fixed by a moving end of the reciprocating mechanism so as not to 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 replacement initiative motor of elastic component and force sensor, so need not complicated control algorithm, simplify the operation process through the cooperation with the robot, connect the operation of drainage line 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 robot-oriented multi-axis hole assembly module operating in a connecting and leading line according to an embodiment of the present invention;
fig. 2 is another schematic structural view of an orientation of a robot-oriented multi-axis hole assembly module operated by a connecting and guiding line according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an operating state of a robot-oriented multi-axis hole assembly module operated along a lead connection line according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a completed working state of a robot-oriented multi-axis hole assembly module for operation of a lead-in and lead-out line according to an embodiment of the present invention.
Description of the 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-crank sliding block mechanism, 220-sliding block, 221-second clamping groove, 23-guiding component, 30-fastening piece, 300-fixing plate, 301-first clamping groove, 40-first wire clamp, 41-second wire clamp, 42-mounting hole and 43-screw.
Detailed Description
One 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 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", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the technical solution of the present invention, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
The operation of connecting and leading the streamline needs to match the position and the posture of two wire clamps, so as to ensure that the central positions of 4 holes on each wire clamp are aligned, then 4 screws sequentially pass through four aligned through holes, and finally, the two wire clamps are fixed by utilizing nuts. Just because the problem of multi-axis hole assembly is involved in the process of connecting a lead wire, 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 streamline to operate and belongs to 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 needed again to complete the next axis hole assembly, 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 are mainly analyzed in two-dimensional two-axis holes at present, the analysis on three-dimensional multi-axis holes is few, and documents for completing the tasks are 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 pose estimation precision of a target object, the absolute positioning precision of the robot is difficult to reach a submillimeter level, in addition, the existing multi-axis hole assembly platform mostly adopts special modules and equipment, the platform is complex, the size and the mass are overlarge, a mechanical arm with higher 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 for high-altitude operation. Therefore, the existing shaft hole assembly is difficult to satisfy the robot connecting and guiding line operation.
Based on the above problems, an embodiment of the present invention provides a multi-axis hole assembly module for robot streamline operation, as shown in fig. 1-2, including: the mounting base 10 is connected with a feeding piece 11 moving along the normal direction of the mounting base 10, the mounting base 10 is further fixed with a plurality of elastic pieces 12, the elastic pieces 12 are arranged in parallel on the same side of the feeding piece 11, the elastic direction of the elastic pieces 12 is the direction far away from the mounting base 10, the fastening piece 30 is fixedly connected to the mounting base 10 perpendicularly, the fastening piece 30 is arranged on the same side of the elastic piece 12, the reciprocating mechanisms are in one-to-one correspondence with the elastic pieces 12, the moving end of each reciprocating mechanism can intersect with the telescopic track of the elastic piece 12 in the process of moving towards the elastic piece 12 in the direction parallel to the mounting base 10, and in the embodiment, the power sources of the reciprocating mechanisms and the feeding piece 11 are not limited to be achieved by means of manual power of mechanical arms of a robot or by adopting an external power source.
The invention can realize the operation of automatically connecting and leading a streamline in combination with a robot, a first wire clamp is fixed with a mounting seat through 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 way but do not pass through the rest mounting holes, the feeding piece is utilized to tightly prop the first screw against the surface of the first wire clamp to realize the fixation, based on the uniaxial hole assembly technology, the first screw completely passes through the corresponding mounting hole on the second wire clamp through the integral motion of the mechanical arm, namely, the surface superposition of the first wire clamp and the second wire clamp is realized, meanwhile, the pressure of an elastic piece and a reciprocating mechanism are jointly limited, so that the rest screws are fixed, namely, the rest screws are respectively fixed by a moving end of the reciprocating mechanism so as not to pass through the rest mounting holes, at the moment, the elastic part tightly abuts against the rest of the screws and is in a compressed state, then one reciprocating part moves towards the direction far away from the screws to enable the second screws not to be fixed any more, the elastic part releases the force applied to the second screws far away from the mounting seat in the state, the second screws tightly abut 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 coincide with the rest of one mounting hole to complete the position coincidence 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 can be sprung into the mounting holes to complete the shaft hole assembly, the rest screws in the position correspond to the mounting holes in position, the rest of the screws move towards the direction far away from the screws to enable the rest of the screws not to be fixed any more, and the elastic part releases the force applied to the screws far away from the mounting seat in 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 replacement initiative motor of elastic component and force sensor, so need not complicated control algorithm, simplify the operation process through the cooperation with the robot, connect the operation of drainage line 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 along a direction parallel to the mounting base 10, the second driving element 20 is fixed on the mounting base 10, and as described 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 move by a corresponding moving distance.
In this embodiment, the fastening member 30 includes a fixing plate 300, the fixing plate 300 is vertically fixed to the mounting base 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 inserted into the first engaging groove 301 to be clamped with the mounting base 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 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 base 10 through the guide assembly 23.
Specifically, the slider 220 of the slider-crank mechanism 22 is provided with a second slot 221, and the second slot 221 is arranged along the extension direction of the elastic element 12, so that the overall reliability of the module is improved by using the mature slider-crank mechanism 22.
In this embodiment, the guiding assembly 23 includes a guiding block fixed on the mounting base 10, the guiding block has a guiding groove thereon, the guiding groove is disposed parallel to the mounting base 10, an extension line of the guiding groove intersects with an axis of the elastic member 12, and the slider 220 of the slider-crank mechanism 22 is in sliding fit with the guiding groove, so that the slider 220 moves along the direction of the guiding 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.
Optionally, 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 a mechanical arm of a robot, clamping the edge of a first wire clamp 40 in a first clamping groove 301 passing through a fixing plate 300 to fix the first wire clamp with the mounting seat 10, simultaneously penetrating a first screw 43 in a mounting hole 42 corresponding to a lead screw (a feeding piece 11) on the first wire clamp 40, then driving the lead screw (the feeding piece 11) by using a motor (a first driving piece 13) to press the first screw 43 tightly, then realizing active uniaxial 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, respectively correspondingly arranging the heads of the remaining three screws 43 in the mounting holes 42 corresponding to the crank sliding block mechanisms 22 on the first wire clamp 40 one by one without penetrating the heads of the screws, namely clamping the remaining three screws 43 one by the second clamping groove 221 on the sliding block 220 of the crank sliding block mechanisms 22, so that it does not pass through the remaining mounting hole 42, with the compression spring (elastic member 12) tightened against the screw 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 popped 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, and the remaining 2 screws 43 are also in axial line 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 under the pressure of the compression springs, the last two screws 43 are sprung into the corresponding mounting holes 42, thereby realizing passive multi-axial hole assembly.
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 modifications that can be made by those skilled in the art are intended to fall within the scope of the present invention.
Claims (7)
1. A multi-axial bore assembly module for robotic lead-through line operations, comprising:
The mounting base (10) is connected with a feeding piece (11) moving along the normal direction of the mounting base, a plurality of elastic pieces (12) are further fixed on the mounting base (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 base (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 the moving ends of the reciprocating mechanisms can intersect 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);
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 the moving end of the slider-crank mechanism (22) is connected with the guide assembly (23) so that the slider-crank mechanism (22) can move the moving end thereof in a direction parallel to the mounting seat (10) through the guide assembly (23);
a second clamping groove (221) is formed in a sliding block (220) of the crank sliding block mechanism (22), and the second clamping groove (221) is formed in the telescopic direction of the elastic piece (12);
The 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 crank sliding block mechanism (22) is in sliding fit with the guide groove, so that the sliding block (220) moves along the direction of the guide groove.
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 multi-axial bore assembly module for streamlined operations, as set forth in claim 1, wherein the number of said elastic members (12) is three.
6. 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).
7. The robot-streamlined-oriented multi-axial bore assembly module of claim 1, wherein said elastic member (12) is a compression spring.
Priority Applications (1)
| 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 true CN113211064B (en) | 2022-06-28 |
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| CN113211064A (en) | 2021-08-06 |
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