WO2022047812A1

WO2022047812A1 - Robot midair escape mechanism

Info

Publication number: WO2022047812A1
Application number: PCT/CN2020/113931
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: CN112008764B; CN112008764A

Abstract

A robot midair escape mechanism, comprising an escape assembly (2) and a distal end assembly (3). The escape assembly (2) comprises a connecting part fixedly connected to a robotic arm insulating rod (1) and an escape part slidably sleeved on the connecting part. Several claw guiding blocks (7) are provided on the escape part. Upward slanted guide grooves are provided on the claw guiding blocks (7). Claws (8) are rotatably mounted at the lower part of the connecting part. The top ends of the claws (8) are slidably mounted in the guide grooves of the claw guiding blocks (7). Springs (11) are mounted between the upper end inner side of the claws (8) and the connecting part. The distal end assembly (3) comprises an escape docking ring (17) and a driving connector mounted at the center of the escape docking ring (17) via a bearing (24). Engaging grooves are provided on the escape docking ring (17) at positions corresponding to the prongs of the claws (8).

Description

Robot air escape mechanism

This application claims the priority of the Chinese patent application with application number 202010906227.8 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 outdoor live working robots, for example, to a robot air escape mechanism.

Background technique

Artificial intelligence technology has now entered many industries. Because robots have the inherent advantages of operating in some special environments, robot technology is becoming a key research and application object in various industries. The power industry itself has special environments such as high voltage and strong magnetism. Robots instead of manual operations have become a broad prospect for the development of the industry. There are various forms of work in the power industry, including wire bonding, wire trimming, replacement of arresters, porcelain bottles, fuses, insulating protective pipes, etc. Live working robots have become a hot development direction in the power industry. Since the live working robot is characterized by replacing the electrician to perform electric work in a special environment, the end cannot be separated from the cable when the working manipulator fails or the tool is stuck during aerial work, and the operator needs to manually disassemble the cable after the power is cut off. , resulting in low operation efficiency and cumbersome operation, which also increases the negative impact of the live robot operation on the industry, but the failure of the robot arm or the jam of the working tool is inevitable. Therefore, it is urgent to develop a mechanism that can get out of trouble autonomously to solve this problem. An industry technical difficulty.

SUMMARY OF THE INVENTION

The present application provides an aerial escape mechanism for a robot, which can autonomously get out of trouble in the air when the robot cannot get out of the cable when the robot fails to work in the air, and squeezes the end of the stuck mechanical arm to escape from the current non-working mechanical arm. The outer ring makes the jaws disengage from the tool, thereby releasing the mechanical arm and completing the escape.

A robot escape mechanism, including escape components and end components;

The escape assembly includes a connection part that is fixedly connected with the insulating rod of the live working robot mechanical arm and a escape part that is slidably sleeved outside the connection part; a plurality of claw guide blocks are arranged on the escape part, and The claw guide block is provided with an obliquely upward guide groove; a claw is rotatably installed at the lower part of the connecting part, the top end of the claw is slidably installed in the guide groove of the claw guide block, and the lower end is provided with a claw hook; a compression spring is installed between the inner side of the upper end of the jaw and the lower part of the connecting part;

The end assembly includes an escape butt ring and a drive joint installed at the center of the escape butt ring through a bearing; a slot is provided on the escape butt ring at a position corresponding to the claws; In the state of being connected with the end assembly, the claws of the claws are hooked on the claws, the upper end of the drive joint is connected to the connecting portion, and the lower end of the drive joint is connected to the working tool.

The escape part is the escape outer ring, the connecting part is the escape inner ring, a cage is arranged between the escape outer ring and the escape inner ring, and several steel balls are installed on the side wall of the cage.

A number of threaded holes are arranged on the circumferential surface of the outer ring for escape, and corresponding grooves are provided on the outer wall of the inner ring for escape, and the grooves are a pair of parallel grooves; A limit spring plunger is set in the threaded hole on the surface, and the end of the limit spring plunger is attached to the slot; in the free state, the end of the limit spring plunger is attached to the upper slot, so In the downwardly compressed state of the escaped outer ring, the end of the limit spring plunger is attached to the lower cut groove.

The end assembly further includes a pressure plate, a plurality of openings are evenly arranged on the escape butt ring, a counterbore is arranged at the opening on the lower surface of the escape butt ring, and a counterbore is arranged on the upper surface of the pressure plate. There are corresponding threaded holes on it; a disc spring is placed in the countersunk hole, and the plug bolt passes through the opening of the escape butt ring and the disc spring, and is fixed with the threaded hole on the pressure plate, so that the The escape butt ring is connected with the pressure plate.

A number of sliding bearings are also fixed on the outer wall of the connecting part, through holes are provided on the escape butt ring at positions corresponding to the sliding bearings, and cam bearing columns pass through the The through hole is fixed on the escape butt ring, and the upper end thereof corresponds to the sliding bearing.

The upper end of the cam bearing column is fixed on the escape butt ring through a threaded table, a countersunk taper hole is provided on the left and right sides of the threaded table, and a screw is passed through the countersunk taper hole and screwed into the escape ring. in the upper surface of the butt ring.

A number of threaded holes are opened on the lower step surface of the connecting portion, and buffer spring plungers are fixed in the threaded holes. When the escape assembly and the end assembly are connected, the buffer spring plunger The lower end of the plug abuts on the upper surface of the escape butt ring.

The claw guide blocks are at least three claw guide blocks evenly arranged.

An alignment pin is arranged on the inner wall of the upper part of the connecting portion, and the connecting portion and the insulating rod are fixedly connected by the alignment pin and the screw.

A robot air escape mechanism provided by this application can realize:

1. In this application, when the robot fails to work in the air and the machine cannot be separated from the cable, it can autonomously get out of trouble in the air, and use the current non-operating mechanical arm to squeeze the end of the stuck mechanical arm to escape the outer ring, so that the jaws are released. The tool is used to release the mechanical arm and complete the escape. The whole process is simple in operation, ingenious in structural design and convenient in disassembly.

2. The design of the roller and the steel ball greatly reduces the wear of the mechanism, and the design of the spring plunger reduces the buffering efficiency on the contact;

3. The design of the inclined guide groove and the strong compression spring, the groove on the inner ring of the trapping and the spring plunger closely fit, and the small gap between the end component and the inner ring of the trapping, all ensure the strong connection between the claw and the end component. Improve the safety of working at heights.

Description of drawings

1 is a schematic diagram of an overall structure in an embodiment of the present invention;

Fig. 2 is the front view of the escape assembly in the embodiment of the present invention;

3 is a top view of a trapping assembly in an embodiment of the present invention;

4 is a perspective view of a trapping assembly in an embodiment of the present invention;

5 is a cross-sectional view of a trapping assembly in an embodiment of the present invention;

Fig. 6 is the front view of the terminal assembly in the embodiment of the present invention;

Fig. 7 is the top view of the terminal assembly in the embodiment of the present invention;

8 is a perspective view of a terminal assembly in an embodiment of the present invention;

9 is a schematic structural diagram of the connection between the escape component and the end component in the embodiment of the present invention;

FIG. 10 is a schematic structural diagram of the detachment of the escape component from the end component according to the embodiment of the present invention.

In the picture: 1. Insulation rod, 2. Relief components, 3. End components, 4. Working tools, 5. Outer ring for relief, 6. Inner ring for relief, 7. Claw guide block, 8. Claw, 9. Roller , 10, turn the plug to hit the bolt, 11, compression spring, 12, limit spring plunger, 13, steel ball, 14, cage, 15, alignment pin, 16, sliding bearing, 17, escape butt ring, 18, Pressure plate, 19, cam bearing column, 20, docking roller, 21, disc spring, 22, fixed plug bolt, 23, bearing pressure ring, 24, deep groove ball bearing, 25, buffer spring plunger.

detailed description

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

FIG. 1 is a schematic diagram of the overall structure in the embodiment of the application. As shown in FIG. 1 , the robot air escape mechanism of the present application includes an escape assembly 2 and an end assembly 3. The top of the escape assembly 2 is fixed to the insulating rod 1 of the live working robot arm. Connection, the lower end of the end assembly 3 is fixedly connected with the working tool 4 .

FIG. 2 is a front view of the escape assembly in the embodiment of the application, and FIG. 3 is a top view of the escape assembly in the embodiment of the application. As shown in FIG. 2 and FIG. 3 , the escape assembly 2 includes the escape outer ring 5 , the escape inner ring 6 , the claw guide block 7 , the claw 8 , the roller 9 , the rotary plug bolt 10 , the compression spring 11 , and the spring plunger 12 , steel ball 13 , cage 14 , alignment pin 15 and sliding bearing 16 . An alignment pin 15 is arranged on the upper inner wall of the escape inner ring 6 , and the escape inner ring 6 and the insulating rod 1 are fixed by the alignment pin 15 and two screws. The outer ring 5 for escape is sleeved outside the upper part of the inner ring 6 for escape, and a hollow cylindrical cage 14 is arranged between the outer ring 5 for escape and the inner ring 6 for escape, and a plurality of through holes are arranged on the side wall of the cage 14 , the steel ball 13 is placed in the through hole, so that rolling friction is formed between the outer ring 5 and the inner ring 6 of the escape, as shown in FIG. 3 .

At least three claw guide blocks 7 are evenly fixed on the outer wall of the cylindrical surface of the trapping outer ring 5. The claw guide block 7 extends obliquely downward with a guide block, a guide groove is provided on one side of the guide block, and a guide groove is provided in the guide groove. There are rollers 9, and the rollers 9 roll in the guide grooves. The upper end of the claw 8 and the roller 9 are fastened with bolts. The middle part of the claw 8 is rotatably installed on the lower outer wall of the inner ring 6 for getting out of trapped by turning the plug bolt 10, a counterbore is provided on the inner surface of the upper part of the clamping claw 8, and the outer surface of the cylindrical surface of the inner ring 6 for getting out of trapped is on the claw 8. The corresponding position of the countersunk hole is also provided with countersunk holes, and the compression spring 11 is fixedly placed between the countersunk hole in the middle of the clamping claw and the countersunk hole on the inner ring for escape; the lower end of the clamping claw 8 is an inward clamping claw hook.

As shown in Figure 5, three threaded holes are provided on the circumferential surface of the outer ring 5 for escape, and corresponding grooves are provided on the outer wall of the inner ring 6 for escape. The grooves are designed as a pair of parallel grooves, and the limit spring The plunger 12 is screwed into the threaded hole on the circumferential surface of the outer ring 5, and its end is attached to the groove; in the free state, the end of the limit spring plunger 12 is attached to the upper groove, and the outer ring 5 is compressed downward. In the state, the end of the limit spring plunger 12 is attached to the lower notch.

Similarly, three threaded holes are opened on the lower step surface of the inner ring 6 for escape, and buffer spring plungers 25 are fixed in the three threaded holes provided on the step surface of the inner ring 6 for escape. 3. In the connected state, the lower end of the buffer spring plunger 25 abuts on the upper surface of the escape butt ring 17, thereby playing a buffering role; the escape inner ring is provided with three bearing holes for pressing in three to fit with the top of the cam bearing column. sliding bearings for positioning and friction reduction. It is convenient for sliding contact with the cam bearing post 19 of the end assembly 3 .

FIG. 6 is a front view of the end assembly in the embodiment of the application. As shown in FIG. 6 , the end assembly 3 includes the escape butt ring 17 , the pressure plate 18 , the cam bearing post 19 , the butt roller 20 , the disc spring 21 , and the fixing plug bolt. 22. Bearing pressure ring 23 and deep groove ball bearing 24. A clamping groove is provided on the escape butt ring 17 corresponding to the clamping claw 8 on the escape outer ring 5. When the escape assembly 2 and the end assembly 3 are connected, the clamping claw at the lower end of the clamping claw 8 is hooked on the clamping groove. Then, the connection between the escape assembly 2 and the end assembly 3 is realized.

At least three openings are evenly arranged on the escape butt ring 17 , counterbores are provided at the openings on the lower surface of the escape butt ring 17 , and corresponding threaded holes are provided on the upper surface of the pressure plate 18 ; 21 is placed in the countersunk hole, and the bolt 22 is passed through the opening of the escape butt ring 17 and the disc spring 21 through the fixing plug, and then fixed with the threaded hole on the upper surface of the pressure plate 18, thereby connecting the escape butt ring 17 to the pressure plate 18. Connect, and squeeze the two disc springs 21.

As shown in FIG. 4 , three vertically placed sliding bearings 16 are also fixed on the outer wall of the escape inner ring 6 , and three through holes are provided on the escape butt ring 17 at positions corresponding to the sliding bearings 16 on the escape inner ring , the pressure plate 18 is provided with a corresponding through hole, the cam bearing column 19 respectively passes through the through hole on the escape butt ring 17 and the through hole of the pressure plate 18, and is fixed on the escape butt ring 17 by screws, and its upper end is Corresponding to the sliding bearing 16, when the escape assembly 2 and the end assembly 3 are connected, the top end of the cam bearing column 19 is matched through the sliding bearing 16 to play a positioning role; more specifically, the upper end of the cam bearing column 19 is threaded The platform is fixed on the escape butt ring 17, and a countersunk taper hole is provided on the left and right sides of the threaded platform. The screw passes through the countersunk taper hole and is screwed into the upper surface of the escape butt ring, thereby realizing the fixation of the upper end of the cam bearing column 19. ; The inner side of the lower end of the cam bearing column 19 is provided with a threaded hole, and the butt roller 20 is fixedly installed in the threaded hole, as shown in FIG. 8 .

As shown in FIG. 7 , a center hole is opened at the center of the escape butt ring 17, and a drive joint is installed in the center hole through the deep groove ball bearing 24. When the escape assembly 2 and the end assembly 3 are connected, the drive joint is connected to the escape. The inner ring is fixedly connected to realize the transmission of torque, which is then used to drive the working tool 4 . A bearing pressure ring 23 for fixing the deep groove ball bearing 24 is also fixedly installed outside the deep groove ball bearing 24 to prevent the drive joint from coming out. In the present application, the drive joint passes through the inner ring 6 for escape, its front end is hexagonal, and is matched with the end of the insulating rod 1, and the lower end of the drive joint is matched with the working tool 4, thereby realizing torque transmission.

The working process of this application is as follows:

Step 1: As shown in Figure 9, when the robot is working in the air, the escape assembly 2 and the end assembly 3 are in a connected state. At this time, the claw at the lower end of the claw 8 hooks the groove on the escape butt ring 17; when When the working manipulator fails, the robot operates the end of the non-working manipulator to move to the edge of the outer ring of escape;

Step 2: The non-working manipulator uses the escape butt ring at the end to push the escape outer ring 5, so that the escape outer ring 5 moves downward, so the claw guide block 7 outside the escape outer ring 5 moves downward. The claw 8 is rotated and fixed on the inner ring 6 by the plugging bolt 10, which in turn causes the roller 9 to roll obliquely upward relative to the guide groove, and the compression spring 11 is gradually squeezed, so that the clamping claw 8 is under the action of the lever fulcrum of the plugging bolt 10. The lower end is slowly lifted, and the claw hook is disengaged from the slot on the escape butt ring on the end assembly 3, so that the escape assembly 2 is separated from the end assembly 3, and the robot arm is released from trouble.

Step 3: As shown in Figure 10, after the escape assembly 2 is separated from the end assembly 3, the non-working mechanical arm begins to retreat. Since the compression spring 11 begins to gradually return to a free state, the claw 8 immediately returns to the initial state, and the rollers 9 Gradually roll down obliquely, and the outer ring 5 of getting out of trouble moves up slowly to return to the original position, the escape is completed, and the robot arm is retracted smoothly.

Claims

A robot air escape mechanism, comprising a escape assembly (2) and an end assembly (3);

The escape assembly (2) includes a connection part that is fixedly connected with the insulating rod (1) of the live working robot mechanical arm and a escape part that is slidably sleeved outside the connection part; a plurality of clamping claws are arranged on the escape part A guide block (7), an oblique upward guide groove is provided on the claw guide block (7); a claw (8) is rotatably installed at the lower part of the connecting part, and the top of the claw (8) is slidably installed In the guide groove of the claw guide block (7); a compression spring (11) is installed between the inner side of the upper end of the claw (8) and the connecting part;

The end assembly (3) includes an escape butt ring (17) and a drive joint installed at the center of the escape butt ring (17) through a bearing; ) is provided with a card slot at the corresponding position; when the escape assembly (2) and the end assembly (3) are connected, the lower end of the claw (8) is stuck on the card slot, and the drive joint The upper end is connected to the connecting portion, and the lower end is connected to the working tool.
The robot air escape mechanism according to claim 1, wherein the escape part is a escape outer ring (5), the connecting part is a escape inner ring (6), and the escape outer ring (5) and the escape A cage (14) is arranged between the trapping inner rings (6), and several steel balls (13) are installed on the side walls of the cage (14).
The robot air escape mechanism according to claim 2, wherein a plurality of threaded holes are provided on the circumferential surface of the escape outer ring (5), and corresponding threaded holes are provided on the outer wall of the escape inner ring (6). The cut grooves are a pair of parallel cut grooves; a limit spring plunger (12) is set in the threaded hole on the circumferential surface of the outer ring (5) for getting out of trouble, and the end of the limit spring plunger (12) Fitted on the notch; in the free state, the end of the limit spring plunger (12) fits on the upper notch, and the limit spring column in the downwardly compressed state of the escaped outer ring (5) The end of the plug (12) fits in the lower slot.
The robot air escape mechanism according to claim 1, wherein a plurality of sliding bearings (16) are also fixed on the outer wall of the connecting part, and the sliding bearings (16) are connected to the escape butt ring (17). Corresponding positions are provided with through holes, and the cam bearing posts (19) respectively pass through the through holes on the escape butt ring (17), and are fixed on the escape butt ring (17), and its upper end is connected to the The sliding bearing (16) corresponds to.
The robot air escape mechanism according to claim 4, wherein the upper end of the cam bearing column (19) is fixed on the escape butt ring (17) through a threaded table, and each of the left and right sides of the threaded table is provided There is a countersunk taper hole through which the screw is screwed into the upper surface of the escape butt ring (17).
The robot air escape mechanism according to claim 1, wherein a plurality of threaded holes are opened on the lower step surface of the connecting portion, and buffer spring plungers (25) are fixedly arranged in the threaded holes. When the escape assembly (2) and the end assembly (3) are connected, the lower end of the buffer spring plunger (25) abuts on the upper surface of the escape butt ring (17).
The robot air escape mechanism according to claim 1, wherein the gripper guide blocks (7) are at least three gripper guide blocks (7) evenly arranged.
The robot air escape mechanism according to claim 1, wherein an alignment pin (15) is provided on the inner wall of the upper part of the connection part, and the connection part and the insulating rod (1) pass through the alignment pin (15) and screw fixed connection.