CN113410718B - Wire clamping device of live working robot and operation method thereof - Google Patents

Abstract

The invention discloses a thread gripper of a live working robot and an operation method thereof. The thread gripper tool includes a fixed claw assembly and a movable claw assembly, the fixed claw assembly includes a thread tension bracket and a lower roller, and the movable claw The assembly includes an upper roller, a thread clamping swing lever, and a connecting rod. The lower roller is connected to the thread clamping bracket, the upper roller is connected to one end of the thread clamping swing lever, and the middle part of the thread clamping swing lever is connected to the thread clamping lever. The bracket is hinged, and the other end of the thread clamping swing bar is hinged with the connecting rod, and the connecting rod drives the rotation of the thread clamping swing bar to realize the opening and closing control between the upper roller and the lower roller, thereby realizing the thread clamping operation. The thread clamp tool has strong adaptability and compatibility with the robot. It can achieve a larger opening while meeting the requirements of the robot's light-weight design, greatly improving the success rate of grasping, and greatly reducing the robot's movement through the rolling thread design. The resistance brought by the branch line can effectively improve the operation efficiency and avoid the risk of manual operation.

Description

Wire gripper of a live working robot and its operating method

technical field

The invention relates to a thread gripper suitable for live working robots and an operating method thereof, belonging to the technical field of live working robots.

Background technique

10KV live work often requires operations such as clamping, pulling, hanging, and threading of branch lines. At present, insulating clamping rods are generally used in the industry. The insulating clamping rods are composed of two insulating rods and clamps. The structure is bulky, and it needs to apply force to maintain the clamped state when clamping the thread, which is time-consuming and labor-intensive, and there is a risk of loosening.

Although the wire clamps carried by some live working robots on the market can achieve some cable clamping operations, they also have certain limitations: due to the limited load at the end of the mechanical arm, the wire clamps can only be lighter. The direction is closer, so the problem will be that the opening of the thread gripper is small, and the risk of failure to grasp the thread is greater. After the grabbing, the arm moves along the branch line, and the branch line will bring a lot of resistance, which will cause the robot arm to overload and damage. The work cannot be carried out normally, which has become one of the difficulties that the robot needs to solve in live work.

Contents of the invention

Purpose of the invention: In order to solve the problems existing in the prior art, the present invention provides a thread gripper of a live working robot and its operation method. The thread gripper tool has strong adaptability and compatibility with the robot, and it can Lightweight design requirements can achieve a larger opening at the same time, greatly improving the success rate of grasping, and greatly reduce the resistance caused by the branch line when the robot moves through the rolling line design, effectively improve the operating efficiency and avoid the risk of manual operation.

Technical solution: In order to achieve the above object, the present invention provides a wire tensioner for a live working robot, which includes a fixed claw assembly and a movable claw assembly, wherein the fixed claw assembly includes a wire clamping bracket and a lower roller, and the movable claw The assembly includes an upper roller, a thread clamping swing lever, and a connecting rod. The lower roller is connected to the thread clamping bracket, the upper roller is connected to one end of the thread clamping swing lever, and the middle part of the thread clamping swing lever is connected to the thread clamping lever. The bracket is hinged, and the other end of the thread clamping swing bar is hinged with the connecting rod, and the connecting rod drives the rotation of the thread clamping swing bar to realize the opening and closing control between the upper roller and the lower roller, thereby realizing the thread clamping operation.

Further, the fixed jaw assembly also includes a clamping base, a nut seat, a clamping nut, and a clamping screw rod, the clamping base is fixed to the clamping bracket, and the clamping screw rod is installed on the clamping base through a bearing Above, the nut base is sleeved on the clamping screw rod through the clamping nut, the nut base is slidingly connected with the clamping base, the connecting rod is hinged with the nut base, and the nut base is driven by the rotation of the clamping screw rod Linear motion, and then realize the push-pull drive of the connecting rod.

Further, the movable claw assembly also includes a bearing seat, a pull rod, a moving roller, and a roller support, the bearing seat is connected to the top of the upper roller, and the pull rod is fixed between the bearing seat and the tensioning swing bar. The roller support is sleeved on the pull rod, the moving roller is connected to the roller support, and the sliding movement of the moving roller along the pull rod is driven by the roller support to further cooperate to realize the thread clamping operation.

Further, the movable claw assembly also includes a wire take-up screw and a wire take-up nut, the wire take-up screw is installed between the bearing seat and the clamping swing bar through a bearing, and the roller bracket is socketed by the wire take-up nut On the take-up screw rod, the sliding drive of the roller bracket is realized through the rotation of the take-up screw rod.

Further, the movable claw assembly also includes a sliding shaft, a sliding sleeve, a driving gear, and a driven gear. One end of the sliding sleeve is connected with the output shaft of the driven gear through a universal joint, and its other end is slidably connected with the sliding rotating shaft while maintaining synchronous rotation, and the end of the take-up screw is connected with the sliding rotating shaft through a universal joint.

Further, the sliding sleeve is sleeved on the sliding shaft, the sliding shaft is provided with radially connected small rollers, the sliding sleeve is provided with a roller groove, and the sliding is realized through the cooperation of the small roller and the roller groove. Sliding connection and synchronous rotation between the rotating shaft and the sliding sleeve.

Further, the upper roller is rotatably connected between the bearing seat and the tensioning swing lever, the lower roller and the moving roller are respectively rotatably connected to the tensioning bracket and the roller bracket, and the tensioning bracket is also Features smooth patches. The design of the three-side roller and one side of the smooth patch makes the contact friction between the branch line and the thread clamp less, and facilitates the movement of the line.

Further, the thread tensioner also includes a docking assembly, which is used to realize the positioning docking between the fixed jaw assembly and the mechanical arm.

The operation method of the above thread clamp comprises the following steps:

S1: The mechanical arm drives the positive rotation of the clamping screw rod. On the one hand, the nut seat drives the connecting rod to swing, so that the upper roller can be opened to the maximum position. On the other hand, the driving gear, driven gear, sliding sleeve and The sliding shaft transmits torque to the wire take-up screw, thereby pushing the moving roller to the farthest position. In this state, the thread tensioner opens to the maximum opening. into the opening of the tensioner;

S2: The mechanical arm drives the reverse rotation of the clamping screw, the moving roller starts to recover and push the branch line, and at the same time the upper roller starts to close the movement, when the moving roller and the lower roller start to cross and misalign, the mechanical arm stops clamping the thread The rod is driven by rotation, and drives the thread clamp to move to the designated working position;

S3: The mechanical arm continues to drive the reverse rotation of the clamping screw, the moving roller continues to push the branch line inward, and the upper roller continues to reduce the angle until the branch line is covered by the upper roller, lower roller, moving roller, and clamping bracket. Press from four directions to complete the clamping operation.

Further, when the branch line is clamped in the step S3, the connection rod and the nut seat are just in a clamped straight state. By calculating the length of the fulcrum of the jaws and the connecting rod, the clamping force can reach the straight state of the end, which provides a good posture for operations such as threading or threading.

Beneficial effects: Compared with the prior art, the thread gripper and its operating method of a live working robot provided by the present invention have the following advantages: 1. The thread gripper tool has a simple structure and is easy to operate, and meets the requirements of the lightweight design of the robot. At the same time, it realizes a larger opening, which greatly improves the success rate of grasping; 2. The rolling design of the clamping area effectively reduces the friction of threading, and overcomes the defect of insufficient load of the mechanical arm; 3. Divided into two The power not only realizes the clamping demand, but also maximizes the threading space; 4. By selecting the appropriate lever ratio for the length of the connecting rod and the fulcrum, a larger clamping force is realized, the clamping quality is guaranteed, and the operation is improved. efficiency.

Description of drawings

Fig. 1 is the overall schematic diagram of the thread gripper in the embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a docking assembly in an embodiment of the present invention;

Fig. 3 is the open front sectional view of the tensioner in the embodiment of the present invention;

Fig. 4 is a schematic diagram of the state of thread clamping in the embodiment of the present invention;

Fig. 5 is a schematic diagram of the clamping state of the thread clamp in the embodiment of the present invention;

The figure includes: 1. Butt joint assembly, 2. Fixed claw assembly, 3. Moving claw assembly, 4. Tool tray, 5. Inclined block, 6. Locking lever, 7. Guide positioning plate, 8. Gear base, 9 , bearing pressure ring, 10, driven gear, 11, driving gear, 12, thread clamping screw rod, 13, clamping thread base, 14, clamping thread nut, 15, nut seat, 16, guide shaft, 17, thread clamping bracket , 18, smooth patch, 19, lower roller, 20, bush seat, 21, connecting rod, 22, clamping thread swing lever, 23, upper roller, 24, pull rod, 25, take-up screw rod, 26, Roller bracket, 27, take-up nut, 28, bearing seat, 29, moving roller, 30, pressing sheet, 31, universal joint, 32, sliding shaft, 33, sliding sleeve, 34, small roller, 35, feeder.

Detailed ways

Preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings, and the technical solution of the present invention will be explained more clearly and completely.

As shown in FIG. 1 , a new wire tensioner for a live working robot includes a docking assembly 1 , a fixed jaw assembly 2 , and a movable jaw assembly 3 .

As shown in Figure 2, the docking assembly 1 includes a tool tray 4, an inclined plane block 5, a locking bar 6, and a guide positioning disc 7, wherein three inclined plane blocks 5 are connected to the tool tray 4 by screws, and the locking bar 6 and the tool tray 4 are connected by screws. A spring is compressed between the tool discs 4, which are connected by straight pins, and the guiding positioning disc 7 and the tool disc 4 are fixed by screws.

As shown in Figure 3, the fixed jaw assembly 2 includes a gear base 8, a clamping screw rod 12, a clamping base 13, a clamping nut 14, a nut seat 15, a guide shaft 16, a clamping bracket 17, and a smooth patch 18 , Lower roller 19, bush seat 20.

The clamping bracket 17, the clamping base 13, the gear base 8, and the guide positioning plate 7 are sequentially connected and fixed; The gear base 8 is installed through bearings; the nut seat 15 is sleeved on the thread clamping screw rod 12 through the thread clamping nut 14, and the side of the thread clamping base 13 is provided with a rectangular groove, and the nut seat 15 is passed through the thread clamping base 13 to realize sliding connection; one end of the lower roller 19 is rotationally connected with the clamping bracket 17 through a needle bearing, and the axial limit is realized by a circlip, and the other end penetrates into the bush seat In the oil-free bushing on the 20, the two lower rollers 19 are connected through the bush seat 20; Further, the guide shaft 16 is connected between the two side end surfaces of the clamping base 13 and set through the nut seat 15 to ensure the linearity of the movement of the nut seat 15 .

The movable claw assembly 3 includes a driven gear 10, a driving gear 11, a connecting rod 21, a clamping swing lever 22, an upper roller 23, a pull rod 24, a wire take-up screw 25, a roller bracket 26, a wire take-up nut 27, Bearing seat 28, moving roller 29, sliding rotating shaft 32, sliding sleeve 33.

The middle part of the clamping swing lever 22 is hinged with the clamping bracket 17, and its end is hinged with the nut seat 15 through the connecting rod 21. One end of the upper roller 23 penetrates into the bushing hole on the clamping swing lever 22, and passes through The nut seat 15 drives the swing of the connecting rod 21 , and then realizes the opening and closing control of the upper roller 23 through the rotation of the clamping swing lever 22 .

The two pull rods 24 pass through the bushing holes provided by the roller bracket 26 and are loaded into the counterbore on the clamping swing bar 22, and the other ends of the upper roller 23 and the two pull rods 24 pass through the bearing housing 28 For cooperating installation, the bearing seat 28 is also provided with a bushing hole and a counterbore; the moving roller 29 and the roller bracket 26 are installed through bearing cooperation, and the moving roller 29 is axially limited by a circlip; The two ends of the wire screw rod 25 are respectively installed with the clamping swing rod 22 and the bearing seat 28 through bearings, and the bearings are pressed by the pressing plate 30; Then, the sliding drive of the roller support 26 and the moving roller 29 along the pull rod is realized through the rotation of the take-up screw rod 25 .

The offset direction of the gear base 8 is provided with a bearing hole, the driven gear 10 and the gear base 8 are installed through two deep groove ball bearings, and the bearing is pressed by the bearing pressure ring 9; the driving gear 11 and the The clamp screw 12 transmits torque through the flat key, and the axial limit is carried out through the retaining ring. The driving gear 11 and the driven gear 10 are meshed for transmission; the input shaft of the take-up screw 25 is connected with the sliding shaft 32 through the universal joint 31 , the sliding shaft 32 and the sliding sleeve 33 are nested and installed, and the torque transmission between the two can be realized to realize the driving of the take-up screw 25, and the relative sliding can be realized to provide the swing of the tension swing lever 22 space; the sliding sleeve 33 is connected to the output shaft of the driven gear 10 through a universal joint 31, and the clamping screw 12 and the wire take-up are realized through the driving gear 11, the driven gear 10, the sliding sleeve 33, and the sliding shaft 32. The torque transmission between the screw rods 25 realizes the splitting of the power into two, so as to meet the demand for thread clamping. Further, a small roller 34 is threaded into the sliding shaft 32 , and the torque transmission and relative sliding between the sliding shaft 32 and the sliding sleeve 33 are realized through the cooperation of the small roller 34 and the roller groove on the sliding sleeve 33 .

The working process of the above thread clamp is as follows:

Step 1: As shown in Figure 1, the motor at the end of the mechanical arm drives the clamp screw 12 to rotate in the forward direction. At this time, the power is divided into two parts, and a part of the power drives the connecting rod 21 to swing through the clamp nut 14, so that the upper Roller shaft 23 opens to maximum position, and another part of power transmits torque to take-up screw mandrel 25 by driving gear 11, driven gear 10, sliding sleeve 33 and sliding rotating shaft 32, thus pushes mobile roller shaft 29 to the maximum position. Far position, under this state, the thread gripper opens to the maximum opening, the robot grabs the thread gripper and moves to the vicinity of the branch line, and inserts the branch line 35 into the opening of the thread gripper;

The second step: as shown in Figure 4, the motor at the end of the mechanical arm drives the reverse rotation of the clamp screw 12, the moving roller 29 starts to recover and pushes the branch line 35, and the upper roller 23 starts to close the movement at the same time, when the moving roller 29 When fitting with the bush seat 20 in dislocation, the branch line 35 is in a closed environment with a large space. In this state, the branch line 35 cannot escape from the clamp, because three sides of the contact area of the branch line are rollers, and one side is a smooth patch 18 , the contact friction force is small, so the mechanical arm can move the branch line 35 to the designated working position;

The third step: as shown in Figure 5, the motor at the end of the mechanical arm continues to drive the reverse rotation of the clamp screw 12, and the moving roller 29 pushes the branch line 35 to the smooth patch 18, while the upper roller 23 continues to reduce the angle, Until the branch line 35 is pressed in four directions by the upper roller 23, the lower roller 19, the moving roller 29, and the smooth patch 18, the output force of the connecting rod 21 is also at a relatively large position (the end is clamped straight) , to ensure the clamping quality for the next step of threading or hanging.

The above specific embodiments are only descriptions of preferred embodiments of the present invention, rather than limiting the protection scope of the present invention. On the premise of not departing from the design concept and spirit of the present invention, all the modifications, substitutions and improvements made by those skilled in the art to the technical solution of the present invention according to the written description and drawings provided by the present invention shall belong to protection scope of the present invention.

Claims (9)

1. The utility model provides a live working robot's thread tension ware, its characterized in that includes stationary jaw subassembly, moving jaw subassembly, wherein the stationary jaw subassembly includes trapping mechanism support, lower roller bearing, moving jaw subassembly includes upper roller bearing, trapping mechanism pendulum rod, connecting rod, lower roller bearing is connected on trapping mechanism support, upper roller bearing is connected in the one end of trapping mechanism pendulum rod, trapping mechanism pendulum rod middle part is articulated with trapping mechanism support, the other end of trapping mechanism pendulum rod is articulated with the connecting rod, drives the rotation of trapping mechanism pendulum rod through the connecting rod and realizes the open and close control between upper roller bearing and the lower roller bearing, and then realizes trapping mechanism operation;

the movable claw assembly further comprises a bearing seat, a pull rod, a movable rolling shaft and a rolling shaft bracket, wherein the bearing seat is connected to the top end of the upper rolling shaft, the pull rod is fixed between the bearing seat and the wire clamping swing rod, the rolling shaft bracket is sleeved on the pull rod, the movable rolling shaft is connected to the rolling shaft bracket, and the movable rolling shaft is driven by the rolling shaft bracket to slide along the pull rod and further cooperate with the wire clamping operation;

the fixed claw assembly further comprises a nut seat and a wire clamping screw rod, the wire clamping screw rod is connected with the wire clamping support, the nut seat is connected to the wire clamping screw rod in a sleeved mode through a wire clamping nut and hinged to the connecting rod, on one hand, the wire clamping screw rod achieves push-pull driving of the connecting rod through the nut seat, and on the other hand, sliding driving of the roller support along the pull rod is achieved through the transmission mechanism.

2. The wire clamping device of the live working robot as claimed in claim 1, wherein the fixed jaw assembly further comprises a wire clamping base, the wire clamping base is fixed with the wire clamping bracket, the wire clamping screw rod is mounted on the wire clamping base through a bearing, the nut seat is connected with the wire clamping base in a sliding mode, and the linear motion of the nut seat is driven through the rotation of the wire clamping screw rod, so that the push-pull driving of the connecting rod is realized.

3. The wire clamping device of the live working robot as claimed in claim 1, wherein the movable jaw assembly further comprises a wire take-up screw rod and a wire take-up nut, the wire take-up screw rod is mounted between the bearing seat and the wire clamping swing rod through a bearing, the roller support is sleeved on the wire take-up screw rod through the wire take-up nut, and the sliding driving of the roller support is realized through the rotation of the wire take-up screw rod.

4. The wire clamping device of the live working robot as claimed in claim 3, wherein the movable jaw assembly further comprises a sliding rotating shaft, a sliding sleeve, a driving gear and a driven gear, the driving gear is sleeved on the wire clamping screw rod, the driven gear is in meshed transmission with the driving gear, one end of the sliding sleeve is connected with an output shaft of the driven gear through a universal joint, the other end of the sliding sleeve is in sliding connection with the sliding rotating shaft and keeps rotating synchronously, and the end of the wire take-up screw rod is connected with the sliding rotating shaft through the universal joint.

5. The wire clamping device of the live working robot as claimed in claim 4, wherein the sliding sleeve is sleeved on a sliding rotating shaft, the sliding rotating shaft is provided with small rollers which are radially connected, and the sliding sleeve is provided with roller grooves matched with the small rollers.

6. The wire clamping device of the live working robot as claimed in claim 1, wherein the upper roller is rotatably connected between the bearing seat and the wire clamping swing rod, the lower roller and the moving roller are rotatably connected to the wire clamping bracket and the roller bracket respectively, and the wire clamping bracket is further provided with a smooth patch.

7. The gripper of claim 1, further comprising a docking assembly for positioning and docking the gripper assembly with the robotic arm.

8. An operation method of the wire clamping device based on claim 4 is characterized by comprising the following steps:

s1: the mechanical arm drives the wire clamping screw rod to rotate in the positive direction, on one hand, the nut seat drives the connecting rod to swing, so that the upper rolling shaft is opened to the maximum position, on the other hand, torque is transmitted to the wire collecting screw rod through the driving gear, the driven gear, the sliding sleeve and the sliding rotating shaft, so that the moving rolling shaft is pushed to the farthest position, the wire clamping device is opened to the maximum opening in the state, the robot drives the wire clamping device to move to the position near the branch line, and the branch line is inserted into the opening of the wire clamping device;

s2: the mechanical arm drives the wire clamping screw rod to rotate reversely, the movable rolling shaft starts to recover and push the branch wire, meanwhile, the upper rolling shaft starts to perform closing motion, and when the movable rolling shaft and the lower rolling shaft start to be crossed and staggered, the mechanical arm stops the rotation driving of the wire clamping screw rod and drives the wire clamping device to perform wire smoothing motion to a specified operation position;

s3: the mechanical arm continues to drive the wire clamping screw rod to rotate reversely, the movable rolling shaft continues to push the branch wire inwards, and meanwhile, the upper rolling shaft continues to reduce the angle until the branch wire is pressed tightly from four directions by the upper rolling shaft, the lower rolling shaft, the movable rolling shaft and the wire clamping support, so that the wire clamping operation is completed.

9. The method of claim 8, wherein when the branch line is clamped in step S3, the connecting rod and the nut seat are in a straight state.

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