KR101216879B1

KR101216879B1 - Clamping device for robot employed for cable indenting test

Info

Publication number: KR101216879B1
Application number: KR1020100077990A
Authority: KR
Inventors: 장경남; 정선철; 김종석; 박경흠
Original assignee: 한국수력원자력 주식회사
Priority date: 2010-08-12
Filing date: 2010-08-12
Publication date: 2012-12-28
Also published as: KR20120015680A

Abstract

The present invention relates to a clamping device for a cable press test robot. The clamping device of the cable indentation test robot according to the present invention, the fixing member 20 is mounted to the front end of the cable indentation test robot 12; Clamp block member 30 for pressing and holding): and a clamp moving member 40 for moving the clamp block member 30 up and down with respect to the tip of the robot 12, wherein the clamp block member 30 is a “V” shaped clamping block 32 adapted to support at least two or more cables 14 to be tested, and the clamping block 32 can be rotated at the lower end of the clamp moving member 40. It includes a clamping device of the cable indentation test robot, characterized in that it comprises a rotating pin 34 to be coupled to.
Therefore, the clamping device of the cable indentation test robot according to the present invention, even if there is an obstacle around the cable, the robot can freely move back and forth, and can be firmly supported so that the cable does not move during the indentation test. In addition, it is possible to improve the repeatability and reproducibility of the indentation test by adjusting the clamping force according to the state of the cable, and to reduce the time required to fix the robot to the cable and move to another test point.

Description

Clamping device for robot employed for cable indenting test}

The present invention relates to a clamping device for a cable press-fit test robot, in particular, when the cable press-fit test can be firmly supported the robot and the cable, the robot can be easily attached and detached, and the clamping pressure of the cable can be adjusted The present invention relates to a clamping device for a cable indentation test robot that can improve the repeatability and reproducibility of the indentation test.

In general, in order to diagnose deterioration or aging of a power supply cable used in a power plant or the like, a probe is inserted into the cable to test the aging. In this press-fit test, the press-fit test robot is usually fixed to the cable, and a technique of clamping the cable so as not to be pushed by the probe during the press-fit test is employed.

For example, Korean Patent No. 10-0815878 (Portable Cable Aging Diagnosis Apparatus) of the present applicant has a first clamp for pressing a cable by linearly moving back and forth by engaging a rotating shaft rotated by a screw motor installed inside the main body, and the cable. And an indenter unit having a second clamp and an indenter provided to face the first clamp with a gap therebetween, and an anvil assembly configured to measure the movement distance relative to the pressing force by allowing the indenter to pressurize the surface of the cable. A cable aging diagnostic apparatus, wherein the second clamp is conical with a truncated tip and the truncated portion contacts the cable to flatten a circular cable; The indenter has a truncated cone, and the truncated contact presses the cable surface.

The portable cable aging diagnostic device is a method of pressurizing the cable while being engaged with the rotary shaft rotated by a screw motor installed inside the lower end of the main body of the indentation tester while performing a linear motion. This method is difficult to test when there is an obstacle such as a cable tray around the cable, and it is inconvenient to fix the first and second clamps to the cable every time the test is performed. Therefore, when the indentation test is to be performed several times, it is difficult to formulate the interval of the indentation measurement position as well as a large amount of test time, there is a drawback that the error of the test results can be increased.

The present invention has been invented to solve the above drawbacks, while providing a clamping device for a cable press-fit test robot that can support the robot and the cable firmly while moving smoothly on the cable, and easily removable to the robot. For the purpose of

Still another object of the present invention is to provide a clamping apparatus for a cable indentation test robot which can adjust the clamping pressure according to the state of the cable, thereby improving the repeatability and reproducibility of the indentation test.

The clamping device of the cable indentation test robot according to the present invention for achieving the above object comprises a fixing member mounted to the tip of the cable indentation test robot; A clamp block member connected to the fixing member to clamp and support the cable against the robot; And a clamp moving member for moving the clamp block member up and down with respect to the tip of the robot, wherein the clamp block member is a “V” shaped clamping block configured to support at least two cables to be tested; It characterized in that it comprises a rotation pin for rotatably coupling the clamping block to the lower end of the clamp moving member.

In the clamping apparatus of the cable press test robot according to the present invention, the fixing member includes a mounting portion fixed to the upper surface of the front end of the robot, a vertical portion symmetrically extending down to both ends of the mounting portion, and the vertical portion. It characterized in that it comprises a flange which is coupled to each of the clamp moving member to move up and down while extending outward.

In the clamping apparatus of the cable press test robot according to the present invention, the clamp moving member includes a sliding bar which is slidably fitted to the flange of the fixing member, and an extension part is formed on an upper part of the sliding bar. The ball screw is connected to the rotating shaft of the motor fixed to the flange of the fixing member coaxially characterized in that the rotatably mounted.

In the clamping apparatus of the cable press test robot according to the present invention, the clamp block member further comprises an auxiliary roller to reduce friction with the outer peripheral surface of the cable when the robot moves back and forth for the cable press test. It is done.

In the clamping apparatus of the cable indentation test robot according to the present invention, the clamp block member is characterized in that it further comprises another roller or ball caster on the lower surface of the clamping block.

In the clamping device of the cable indentation test robot according to the present invention, the clamp block member, two long holes are formed on the upper part of the clamping block, the long hole is equipped with a handle is characterized in that the elastic rod is installed elastically mounted lock rod It is done.

Therefore, the clamping device according to the present invention having the configuration described above, the robot can freely move back and forth even if there is an obstacle around the cable, and can be fixed so that the cable does not move during the press-fit test. have. In addition, it is possible to improve the repeatability and reproducibility of the indentation test by adjusting the clamping force of the cable according to the condition of the cable, and to shorten the test time by reducing the work time required for fixing the robot to the cable and moving it.

1 is a perspective view showing a state in which a clamping device according to the present invention can be mounted on a robot to support a cable to perform a press-fit test.
Figure 2 is a perspective view showing a state in which the clamp block member of the clamping device according to the present invention is lowered.
3 is a partially enlarged perspective view showing a modification of the coupling relationship between the clamping block and the sliding bar of the clamping device according to the present invention.

Hereinafter, with reference to the accompanying drawings, the present invention will be described in detail.

1 shows a state in which the clamping device 10 according to the present invention is mounted on a cable press test robot 12. The cable indentation test robot 12 having a indentation test module (not shown) is able to move freely back and forth while contacting the rollers 16 on the cable 14 shown as a virtual line. The robot 12 presses a probe (not shown) while holding the cable 14 fixed at the test point to measure the degree of aging or deterioration of the cable.

As shown in FIG. 2, the clamping device 10 according to the present invention used for such a press-fit test includes a fixing member 20 mounted at the tip of the cable press-fitting robot 12, and the fixing member 20. A clamp block member 30 connected to the robot 12 to crimp and support the cable 14 against the robot 12, and a clamp moving member to move the clamp block member 30 up and down with respect to the tip of the robot 12. It consists of 40. Here, the fixing member 20, the clamp block member 30, and the clamp moving member 40 have the same configuration symmetrically to the tip of the robot 12.

As shown in FIG. 2, the fixing member 20 has a mounting portion 22 fixed to the upper end surface of the robot 12 as a “c” shaped frame by a fastening means (not shown). And a vertical portion 24 which extends both vertically and downwards symmetrically at both ends of the mounting portion 22, and a flange 26 extending outwardly at right angles to the vertical portion 24. The flange 26 is coupled to the clamp moving member 40 so as to be movable up and down, respectively.

The clamp block member 30 is detachably coupled to the lower end of the clamp moving member 40. The clamp block member 30 is generally a "V" shaped clamping block 32 to support at least two or more of the cables 14 to be tested, and the clamping block 32 of the clamp moving member 40 Rotatingly coupled to the lower end includes a rotating pin 34 is formed with a screw (not shown). Therefore, when one rotation pin 34 is rotated to loosen the screw, the clamping block 32 is rotatably suspended at the lower end of the clamp moving member 40 about the other rotation pin 34, so that the indentation test is performed. For this purpose, it is to make an entry path to accommodate the cable (14).

In addition, when the robot 12 moves back and forth for the press-fit test of the cable 14, the clamping block 32 includes an auxiliary roller 36 to reduce the friction with the outer circumferential surface of the cable 14. Protruding rotatably perpendicular to the longitudinal direction of each. Here, since the material of the auxiliary roller 36 is in direct contact with the outer circumferential surface of the cable 14 to be tested, a plastic material having no elastic force is preferable. In addition, the auxiliary roller 36 is preferably a long cylindrical shape.

On the other hand, the clamp moving member 40 is provided with a sliding bar (42) to be slidably fitted in the through hole (26a) formed in the flange 26 of the fixing member (20). An extension portion 44 is formed at an upper portion of the sliding bar 42, and a screw hole 44a is formed at the center of the extension portion 44, and the screw hole 44a is formed of the fixing member 20. A ball screw 48 coaxially connected to a rotating shaft (not shown) of the motor 48 fixed to the flange 26 is rotatably mounted. Therefore, when the motor 46 is driven to rotate, the ball screw 48 is rotated, thereby the sliding bar 42 is moved up and down via the extension portion 44.

However, when the cable 14 having a small diameter is tested, the upward movement distance of the clamping block member 30 is increased, and as a modification of the present invention, the diameter of one end of the auxiliary roller 36 is increased. The upper end may have a truncated cone shape, that is, a trapezoidal cross section.

In addition, when another cable (not shown) is placed under the cable 14 to be tested, if the robot 12 comes into contact with the cable, the robot 12 may not move or interfere with operation due to frictional force. As a variant of the present invention, for this purpose, another roller 38 or a ball caster (not shown) may be provided on the lower surface of the clamping block 32.

On the other hand, in the above embodiment, although the screw-type rotating pin 34 is adopted to rotatably couple the clamping block 32 to the sliding bar 42, since the work of releasing and fastening the rotating pin 34 is cumbersome. You can change this in a simple way. That is, as shown in FIG. 3, as a modification of the present invention, at least one long hole 39 is formed in the upper part of the clamping block 32, in this embodiment, and the handle 50 is provided with a handle 50. ), A locking rod 54 in which elastic means, for example, a coil-shaped spring 52 is elastically installed, may be fitted. Therefore, when the clamping block 32 is coupled to or separated from the sliding bar 42, by pulling the handles 50 on both sides close to each other, the front end of the locking rod 54 is compressed while the spring 52 is compressed. It can be easily separated from the tip groove or hole (not shown) of 42, and on the contrary, can be easily combined using the restoring force of the spring 52.

Next, the operation of the clamping device 10 according to the present invention having the configuration as described above will be described.

First, one side of the clamp block member 30 coupled to the lower end of the clamp moving member 40 is released to allow one side of the clamping block 32 to be separated from the sliding bar 42, and then to be tested. After allowing the cable 14 to enter and fastening one side of the clamping block 32 to the sliding bar 42 again with the pivot pin 34, the clamping block 32 supports the cable 14 in the form of wrapping. do.

Next, when the motor 46 is driven, the sliding bar 42 is raised through the extension 44 while the ball screw 48 is rotated, and thus the clamp block coupled to the lower end of the sliding bar 42. The member 30 is also raised while being clamped while pressing the cable 14. Therefore, when the appropriate clamping pressure is applied, the motor 46 is stopped and the probe (not shown) is pressed into the cable 14 to perform the test.

At this time, the "V" shaped clamping block 32 is fixed by pulling the lower part of the cable 14 with a strong force by the drive of the motor 46, so that the cable does not move or push backward during the indentation test. do. In addition, since the clamping block 32 supports the cable 14 at at least two points, the stability of the clamping operation can be ensured. In addition, since the rising degree of the clamp block member 30, that is, the clamping pressure, can be adjusted using the motor 46 according to the type or state of the cable 14 to be tested, the repeatability and reproducibility of the indentation test can be improved. have.

Next, upon completion of the indentation test at one point, the motor 46 is driven back to lower the sliding bar 42 and the clamp block member 30 to release the clamping force applied to the cable 14. The robot 12 is then moved to the next indentation test point. At this time, the robot 12 moves so that the outer circumferential surface of the cable 14 is in contact between the auxiliary roller 36 provided in the clamp block member 30 and the roller 16 (see FIG. 1) provided at the tip of the robot. Therefore, it is possible to move smoothly without large friction force between them.

However, if another cable is located under the cable 14 to be tested, these cables may be in contact with the robot 12 or may interfere with the forward and backward movement of the robot 12 due to frictional force. Therefore, in the present invention, since the roller 38 or the ball caster (not shown) provided on the lower surface of the clamping block 32 is brought into contact with these cables, the robot 12 can move smoothly without any obstacle. .

On the other hand, when the robot 12 moves to the next indentation test point, as shown in the above description, the motor 46 is driven to raise the sliding bar 42 and the clamp block member 30 to the cable 14. In the state where the clamping force is applied and fixedly supported, the indentation test may be continued.

The above description describes a preferred embodiment of the present invention and the present invention is not limited thereto. It should be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention.

As described above, the clamping device according to the present invention, even if there is an obstacle around the cable, the robot can freely move back and forth, and can be firmly fixed so that the cable does not move during the indentation test. In addition, it is possible to improve the repeatability and reproducibility of the indentation test by adjusting the clamping force according to the state of the cable, and to reduce the time required to fix the robot to the cable and move to another test point.

10: clamping device 14: cable
20: fixing member 30: clamp block member
32: clamping block 34: pivot pin
36; Auxiliary Roller 42: Sliding Bar
46: motor 48: ball screw

Claims

A fixing member 20 mounted at the tip of the cable press-fitting robot 12;
Clamp block member 30 is connected to the fixing member 20 for holding and clamping the cable 14 against the robot 12: And
And a clamp moving member 40 for moving the clamp block member 30 up and down with respect to the tip of the robot 12.
The clamp block member 30 is a "V" shaped clamping block 32 to support at least two or more cables 14 to be tested, and the clamping block 32 of the clamp moving member 40 Clamping device of the cable indentation test robot, characterized in that it comprises a pivot pin 34 rotatably coupled to the lower end.

According to claim 1, wherein the fixing member 20, the mounting portion 22 is fixed to the upper end surface of the robot 12, and the vertical portion (symmetrically extending down to both ends of the mounting portion 22) ( 24) and a clamping device for a cable indentation test robot, characterized in that it comprises a flange (26) which extends outwardly to the vertical portion (24) so that the clamp moving member (40) is movable up and down, respectively. .

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2. The clamp moving member (40) according to claim 1, wherein the clamp moving member (40) is provided with a sliding bar (42) adapted to be slidably fitted into the flange (26) of the fixing member (20). An extension portion 44 is formed, and the extension portion 44 is rotatably connected to the ball screw 48 coaxially with the rotation shaft of the motor 48 fixed to the flange 26 of the fixing member 20. Clamping device of the cable press-fit robot, characterized in that mounted.

The auxiliary roller (36) of claim 1, wherein the clamp block member (30) is configured to reduce friction with the outer circumferential surface of the cable (14) when the robot (12) moves back and forth for the indentation test of the cable (14). Clamping apparatus of the cable indentation test robot, characterized in that it further comprises a).

6. The clamping device for a cable press test robot according to claim 5, wherein the clamp block member (30) is further provided with another roller (38) or a ball caster on the lower surface of the clamping block (32).

According to claim 1, The clamp block member 30, Two long holes 39 are formed on the upper portion of the clamping block 32, The long holes 39 are provided with a handle 50, the elastic means is elastic Clamping device of the cable indentation test robot, characterized in that the locking rod 54 is installed.