WO2022047811A1

WO2022047811A1 - Robot end docking mechanism

Info

Publication number: WO2022047811A1
Application number: PCT/CN2020/113920
Authority: WO
Inventors: 程敏; 黄志康; 张大伟
Original assignee: 亿嘉和科技股份有限公司
Priority date: 2020-09-01
Filing date: 2020-09-08
Publication date: 2022-03-10
Also published as: CN111958579B; CN111958579A

Abstract

Disclosed in the present application is a robot end docking mechanism, comprising an end assembly (3) installed at an end of an insulating rod of a mechanical arm of a hot-line work robot, a tool end assembly (4) connected to the end assembly (3) in a matching manner, and a tool table (21) used for placing the tool end assembly (4). The docking mechanism of the present application is simple in docking steps, simplifies a docking process, improves the work efficiency and quality, and greatly improves the work efficiency of the robot; and by means of the design where a roller climbs to press a disk spring, the impact and abrasion caused by traditional rigid docking are avoided, and the docking success rate is guaranteed.

Description

Robot end docking mechanism

This application claims the priority of the Chinese patent application with application number 202010906219.3 filed with the China Patent Office on September 1, 2020, the entire contents of the above application are incorporated into this application by reference.

technical field

The present application relates to the field of live working robots, for example, to a robot end docking mechanism.

Background technique

At present, the field of live work in the power industry is mainly manual work. The operator is sent to the designated position by lifting the bucket arm truck, and the operator holds the work tool to complete the wire stripping, trimming, overlapping and other processes. Due to the special environment such as high altitude, high pressure and strong magnetic field, manual operation has many disadvantages, such as long operation time, low efficiency, limited single operation process, and risks such as electric shock or falling from high altitude. Therefore, in order to solve the problems caused by manual operation In recent years, live working robots have been studied at home and abroad to solve this technical bottleneck.

At present, the live working robots on the market mainly use the operator in the background terminal to control the manipulator to take different work tools to carry out different work processes, and the end-of-manipulator docking tools generally use external forces such as electric, hydraulic or air pressure to unlock the end of the tool. and locked,

This docking method is difficult to operate. Electric docking not only increases the transmission system, making the structure complex and bulky, but also the high-voltage and strong magnetic environment will interfere with the electric system. There are also air tightness risks such as leakage of hydraulic pressure and air pressure. Work efficiency is greatly reduced.

SUMMARY OF THE INVENTION

This application proposes a robot end docking mechanism, which can use the degree of freedom of the end of the manipulator to realize powerless docking, and independently complete the operation processes such as docking, locking, operation, unlocking, and disengagement, and realizes a simple docking method, lightweight docking mechanism, and docking. Process efficiency, etc.

A robot end docking mechanism, comprising an end assembly installed at the end of an insulating rod of a live working robot manipulator, a tool end assembly matched and connected with the end assembly, and a tool table for placing the tool end assembly;

The end assembly includes a butt plate that is butted with the end of the insulating rod, a plurality of butt members are arranged on the butt plate along the circumferential direction, and a butt block is radially extended at the end of the butt member;

The tool end assembly includes a tool tray whose lower part is connected with the working tool, and a docking channel for the movement of the docking block is arranged in the tool tray; a corresponding groove corresponding to the docking block is provided at the starting point of the docking channel , the end point is provided with a limit block for limiting the movement distance of the docking block; a locking groove is provided on the side wall of the tool disk, and a locking rod is rotatably installed in the locking groove, and the upper The end of the locking rod abuts on the docking block when the end assembly and the tool end assembly are butted, and a spring is fixedly installed between the inner side of the front end of the locking rod and the side wall of the tool disk;

An unlocking lever for pressing the locking lever is provided on the tool table at a position corresponding to the locking lever of the tool end assembly.

The end assembly further includes a pressure plate, which is a hollow structure; a plurality of through holes are evenly arranged in the circumferential direction of the butt plate, and sink holes corresponding to the through holes are evenly spaced at the bottom of the butt plate. In the counterbore, two disc springs are placed in the order of symmetrical stacking; the pressure plate is provided with a threaded hole corresponding to the through hole on the butt plate; the lower part of the butt plate is pierced through It passes through the hollow structure of the pressure plate and is butted with the upper end of the working tool, and passes through the through hole on the butt plate and the disc spring in the counterbore through the plug bolt to connect with the plate spring on the pressure plate. Threaded holes are connected with each other.

A butting groove is formed in the center of the tool plate, and the lower part of the abutting plate passes through the hollow structure of the pressure plate and is matched with the abutting groove and is butted with the upper end of the working tool.

A chamfer is provided on the edge of the butt groove.

An installation groove is provided on the tool plate corresponding to the pair of structural members, and the inclined surface block is installed upside down in the installation groove to form a butt channel; the lower surface of the inclined surface block is a spiral structure; the inclined surface block The starting point of the helical structure is provided with a docking groove corresponding to the docking block, and the end point of the helical structure of the inclined block and the side surface of the installation groove form a limit portion for restricting the movement of the docking block.

The tool end assembly also includes a guide positioning plate, the upper end of the guide positioning plate is butted with the tool plate; a positioning step is provided at the central groove on the guide and positioning plate, and the lower end of the tool plate is in the phase position. A positioning boss is provided at the position; the positioning step is matched with the positioning boss; a number of bottom surface mounting holes are arranged at the lower end of the guiding positioning plate, and the working tool is connected with the mounting holes at the lower end of the guiding positioning plate. Cooperate to achieve connection.

A cylindrical pin mounting hole is formed on the upper surface of the tool disk at a corresponding position in the locking groove, and the cylindrical pin passes through the cylindrical pin mounting hole to rotatably install the locking rod in the locking groove Inside.

The abutting member is a cam bearing column, and the abutting block at the end of the cam bearing column is a roller.

A threaded table is provided on the docking plate for fixing the upper end of the roller bearing column, threaded holes are opened on both sides of the threaded platform, and the threaded platform is fixed on the docking plate by bolts.

A holding groove is provided above the docking plate, the holding groove is a hollow cylindrical structure, and an installation opening is provided on the side wall of the holding groove; the side wall of the holding groove is also provided There are several pin holes, the pins pass through the pin holes, and after the insulating rod is inserted into the holding groove, it abuts on the insulating rod; the opening of the side wall of the holding groove is provided with a fastening screw, and the clamping groove and the insulating rod are locked by locking the fastening screw.

A robot end docking mechanism provided by this application can realize:

1. The docking mechanism is simple in structure, light in weight and easy to disassemble; it can avoid potential safety hazards such as electromagnetic interference and leakage caused by electric, hydraulic, pneumatic and other power docking;

2. The design of the roller climbing extruded disc spring avoids the impact and wear caused by the traditional rigid butt joint;

3. The docking steps are simple, the docking process is shortened, the efficiency and quality of the work volume are improved, and the robot operation efficiency is greatly improved;

4. The large chamfering of the docking slot and the middle hole on the tool plate ensures sufficient docking redundancy, and the roller climbs the slope to continuously reduce the redundancy until the disc spring is compressed, which ensures the success rate of docking.

Description of drawings

1 is a schematic structural diagram of a docking tool at the end of a robotic arm in an embodiment of the present invention;

2 is a schematic structural diagram of a terminal assembly in an embodiment of the present invention;

3 is a schematic diagram of a three-dimensional structure of a terminal assembly in an embodiment of the present invention;

4 is a schematic structural diagram of a tool end assembly in an embodiment of the present invention;

FIG. 5 is a schematic three-dimensional structure diagram of a tool end assembly in an embodiment of the present invention;

6 is a schematic cross-sectional structural diagram of the butt joint between the end assembly and the tool end assembly in the embodiment of the present invention;

7 is a schematic diagram of a three-dimensional structure of a docking mechanism on a tool table in an embodiment of the present invention.

The picture includes: 1. The sixth axis of the robot arm, 2. Insulation rod, 3. End assembly, 4. Tool end assembly, 5. Work tool, 6. Upper docking plate, 7. Latch pin, 8. Plug bolt, 9 , Disc spring, 10, Pressure plate, 11, Roller bearing column, 12, Roller, 13, Tool plate, 14, Bevel block, 15, Lock lever, 16, Guide positioning plate, 17, Spring, 18, Cylindrical pin , 19, positioning guide pin, 20, unlocking lever, 21, tool table, 22, positioning boss, 23, positioning step, 24, bottom mounting hole.

detailed description

The present application will be further clarified below with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a schematic structural diagram of a docking tool at the end of a manipulator in an embodiment of the present application. As shown in FIG. 1 , the robot end docking mechanism of the present application includes an end assembly 3 installed at the end of an insulating rod of a live working robot manipulator and a tool end assembly 4 that is cooperatively connected with the end assembly 3, and the tool end assembly 4 is cooperatively connected with the working tool .

FIG. 2 is a schematic structural diagram of a terminal assembly in an embodiment of the present application. As shown in FIG. 2 , the end assembly 3 includes an upper butt plate 6 , a pressure plate 10 , a roller bearing column 11 , a roller 12 and a disc spring 9 . A holding groove is provided above the upper butt plate 6, the holding groove is a hollow cylindrical structure, and an installation opening is arranged on the side wall of the holding groove; The plug 7 passes through the plug hole, and after the insulating rod 2 is inserted into the holding groove, it abuts on the insulating rod 2, and a fastener is also provided at the opening of the side wall of the holding groove, and the fastener adopts a fastening screw, By locking the two fastening screws at the opening of the side wall of the holding groove, the holding groove of the upper butt plate 6 is locked with the insulating rod 2, so as to realize the fixed connection between the upper butt plate 6 and the insulating rod 2; Three through holes are evenly arranged in the circumferential direction, and countersunk holes for stacking the disc springs 9 corresponding to the through holes are evenly spaced at the bottom of the upper butt plate 6, and the two disc springs 9 are placed in the countersunk in the order of symmetrical stacking. in the hole. The pressure plate 10 is provided with a threaded hole corresponding to the through hole on the upper butt plate 6, and the plug bolt 8 passes through the through hole on the upper butt plate 6, passes through the disc spring 9 in the counterbore, and then connects with the plate spring 9 in the counterbore. The threaded holes on the pressure plate 10 are matched and connected.

As shown in FIG. 3 , three matching through holes are evenly arranged on the upper butt plate 6 , and matching through holes are also provided on the pressure plate 10 at positions corresponding to the matching through holes of the upper butt plate 6 . The three rollers support The column 11 passes through the matching through hole on the pressure plate 10 and the matching through hole on the upper butt plate 6 respectively. The upper end of the column 11 is fixed on the upper butt plate 6, and the inner side of the lower end is provided with a threaded hole, and the roller is rotated and installed on the threaded hole. 12.

In the present application, a threaded table is provided on the upper butt plate 6 for fixing the upper end of the roller bearing column 11 , and threaded holes are opened on both sides of the threaded table, and the threaded table is fixed on the upper butt plate 6 by two screws. FIG. 4 is a schematic structural diagram of a tool end assembly in an embodiment of the present application. As shown in FIG. 4 , the tool end assembly 4 includes a tool disk 13 , a ramp block 14 , a locking rod 15 , a guide positioning disk 16 , a spring 17 and a cylindrical pin 18 . The center of the tool plate 13 is provided with a docking groove, and the lower surface of the tool plate 13 is provided with an installation groove corresponding to the three roller bearing columns 11, and the inclined surface block 14 is installed upside down in the installation groove; the lower surface of the inclined surface block 14 has a spiral structure. , its upper surface is fixedly installed in the installation groove by means of threads, and a docking groove corresponding to the roller 12 of the upper docking plate 6 is provided at the starting point of the helical structure of the inclined surface block 14, which is used for butting with the roller 12; in the tool plate 13 The side wall of the installation groove is in contact with the end point of the spiral structure of the inclined plane block 14 to limit the movement of the roller 12 at the end of the roller bearing column 11 . As shown in FIG. 5 , a locking groove is provided on the outer side wall of the tool disk 13 along the circumferential direction, and a cylindrical pin mounting hole is opened on the upper surface of the tool disk 13 at the corresponding position in the locking groove, and the cylindrical pin 18 passes through the cylindrical The pin mounting hole installs the upper locking rod 15 in the locking groove, and the upper locking rod 15 can be rotated and installed vertically with the cylindrical pin 18 as the fulcrum; 3. When docking with the tool end assembly 4, it abuts on the roller 12 at the lower end of the roller bearing column 11 to restrict the rotation of the roller 12, thereby restricting the rotation of the end assembly 3; The inner side of the pressing block is provided with a spring mounting hole, the cylindrical surface of the tool disc 13 is provided with a slot corresponding to the spring mounting hole in the inner side of the pressing block of the locking rod 15, and the surface of the slot is provided with a spring mounting hole. Press them into the spring mounting holes on the inner side of the pressing block of the locking rod 15 and the cutting groove of the tool plate 13 respectively.

As shown in FIG. 6 , a positioning step 23 and a screw mounting hole are provided at the upper center of the guide positioning plate 16 , a positioning boss 22 is correspondingly provided at the lower end of the tool plate 13 , and the positioning step 23 is connected to the positioning boss 22 of the tool plate 13 . The screw mounting holes cooperate with the threaded holes of the tool disk 13 to realize the fixed connection between the guide positioning disk 16 and the tool disk 13 . A plurality of bottom surface mounting holes 24 are provided on the bottom surface of the guiding positioning plate 16 , and the upper end of the working tool 5 is installed in the bottom surface mounting holes 24 of the guiding positioning plate 16 .

In the present application, the pressure plate 10 is a hollow structure, and the lower part of the upper docking plate 6 passes through the hollow structure of the pressure plate 10 and is butted with the upper end of the working tool 5 , thereby realizing the torque transmission of the insulating rod 2 .

In the present application, a docking groove is formed in the center of the tool disk 13 . A chamfer is provided on the edge of the butt groove to ensure sufficient butt redundancy between the lower part of the upper butt plate 6 and the tool plate 13 . When the roller 12 and the inclined plane block 14 continue to rotate relative to each other to climb the slope, the redundancy is continuously reduced until the disc spring 9 is compressed, which ensures the success rate of docking.

As shown in FIG. 7 , the tool end assembly 4 is placed on the tool table 21, the locking lever 15 is pressed by the unlocking lever 20 on the tool table 21, and the spring is in a compressed state at this time; the insulating rod 2 is driven by the sixth axis 1 of the mechanical arm Descend to the designated position above the tool table 21. When docking, the roller 12 on the roller bearing column 11 is aligned with the docking groove of the tool plate 13; After the designated position, the sixth axis 1 of the robotic arm drives the insulating rod 2 to drive the upper docking plate 6 to start to rotate. At this time, the roller 12 begins to climb down along the spiral block of the inverted inclined plane block 14, and the pressure plate 10 is slightly lifted by the tool plate. 13 is squeezed, the disc spring 9 is slightly squeezed by the pressure plate 10, the pressure generated by the disc spring 9 after being squeezed reversely acts on the pressure plate 10, and then acts on the roller 12 through the tool plate 13, so that the roller 12 and the inclined plane block 14 is closely fitted to realize the strong connection of the tool end assembly 4 and the end assembly 3 in the axial direction. The upper docking plate 6 assembly is lifted by the mechanical arm, the tool end assembly 4 is lifted by the upper docking plate 6, and the locking lever 15 leaves the unlocking lever 20 at the same time, the spring 17 starts to return, and the locking lever 15 is pushed by the spring 17 into the recess on the tool plate 13. The groove blocks the rotation of the roller 12, thereby realizing the locking in three directions of the axial direction, the radial direction and the rotation after the docking, and completing the docking and locking.

When the operation is completed, the tool end assembly 4 is put back on the tool table 21, the spring 17 in the upper locking lever 15 is squeezed by the unlocking lever 20 on the tool table 21, the locking in the rotation direction is released, and the upper docking plate 6 is in the first position of the robot arm. Under the action of the six-axis 1, it rotates in the opposite direction to the position of the docking slot, and then lifts up to realize the detachment of the upper docking plate 6 and the tool plate 13, and the unlocking is completed. Each and every type of work tool is equipped with the same tool end components, and the change of the work tool can be realized by replacing only the tool at the end of the robot to grab a different tool position.

Claims

A robot end docking mechanism, comprising an end assembly (3) mounted on the end of an insulating rod of a live working robot manipulator, a tool end assembly (4) cooperatively connected with the end assembly (3), and a tool end assembly (4) for placing the tool end assembly ( 4) the tool table (21);

The end assembly (3) comprises a butt plate that is butted with the end of the insulating rod, a plurality of butt members are arranged on the butt plate along the circumferential direction, and a butt block is radially extended at the end of the butt member;

The tool end assembly (4) includes a tool tray (13) whose lower part is connected with the working tool (5), and a docking channel for the movement of the docking block is provided in the tool tray (13); the starting point of the docking channel There is a corresponding groove corresponding to the docking block at the end point, and a limit block for limiting the movement distance of the docking block is provided at the end point; a locking groove is provided on the side wall of the tool disc (13). An upper locking rod (15) is rotatably installed in the locking groove, and the end of the upper locking rod (15) abuts on the abutting block when the end assembly (3) and the tool end assembly (4) are butted together , a spring (17) is fixedly installed between the inner side of the front end of the locking rod (15) and the side wall of the tool tray (13);

An unlocking lever (20) for pressing the locking lever (15) is provided on the tool table (21) at a position corresponding to the locking lever (15) of the tool end assembly (4).
The robot end docking mechanism according to claim 1, wherein the end assembly (3) further comprises a pressure plate (10), and the pressure plate (10) is a hollow structure; a plurality of through holes, countersunk holes corresponding to the through holes are evenly spaced at the bottom of the docking plate, and two disc springs (9) are placed in the counterbore in a symmetrically stacked order; The pressure plate (10) is provided with threaded holes corresponding to the through holes on the butt plate; the lower part of the butt plate passes through the hollow structure of the pressure plate (10), and is connected to the working tool (5) The upper ends are butted and connected with the threaded holes on the pressure plate after passing through the through holes on the butt plate and the disc springs (9) in the counterbore through the ram bolts (8).
The robot end docking mechanism according to claim 2, wherein a docking groove is formed in the center of the tool plate (13), and the lower part of the docking plate passes through the hollow structure of the pressure plate (10) and is connected to the The butting groove is matched with the upper end of the working tool (5).
The robot end docking mechanism according to claim 3, wherein a chamfer is provided on the edge of the docking groove.
The robot end docking mechanism according to claim 1, wherein an installation groove is provided on the tool tray (13) at a position corresponding to the pair of structural members, and the inclined block (14) is installed upside down on the installation A butting channel is formed in the groove; the lower surface of the inclined plane block (14) is a helical structure; the starting point of the helical structure of the inclined plane block (14) is provided with a butt joint groove corresponding to the butt joint block, and the inclined plane block (14) 14) The end point of the helical structure and the side surface of the installation groove form a limit portion for restricting the movement of the abutment block.
The robot end docking mechanism according to claim 1, wherein the tool end assembly (4) further comprises a guide positioning plate (16), the upper end of the guide positioning plate (16) and the tool plate (13) Butt joint; a positioning step (23) is provided at the central groove of the guide positioning disc (16), and a positioning boss (22) is provided at the phase position of the lower end of the tool disc (13); the positioning step ( 23) Cooperate with the positioning boss (22); a plurality of bottom surface mounting holes (25) are provided at the lower end of the guide positioning plate (16), and the working tool (5) is connected to the guide positioning plate (16). 16) The mounting holes (25) at the lower end are matched to realize the connection.
The robot end docking mechanism according to claim 1, wherein a cylindrical pin mounting hole is opened on the upper surface of the tool plate (13) at a corresponding position in the locking groove, and the cylindrical pin (18) passes through The cylindrical pin mounting hole rotatably mounts the locking rod (15) in the locking groove.
The robot end docking mechanism according to claim 1, wherein the docking member is a cam bearing column (11), and the docking block at the end of the cam bearing column (11) is a roller (12).
The robot end docking mechanism according to claim 8, wherein a threaded platform is provided on the docking plate for the upper end of the fixed roller bearing column (11), and threaded holes are opened on both sides of the threaded platform, and The threaded table is fastened to the docking disc by means of bolts.
The robot end docking mechanism according to claim 1, wherein a holding groove is provided above the docking plate, the holding groove is a hollow cylindrical structure, and a side wall of the holding groove is provided with a mounting groove There are also several pin holes on the side wall of the holding groove, the plug (7) passes through the plug holes, and after the insulating rod (2) is inserted into the holding groove, it abuts against On the insulating rod (2); a tightening screw is provided at the opening of the side wall of the holding groove, and the holding groove and the insulating rod (2) are locked by locking the tightening screw.