WO2023197761A1 - 一种海上升压站电气柜复合操作机器人手装置 - Google Patents

一种海上升压站电气柜复合操作机器人手装置 Download PDF

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Publication number
WO2023197761A1
WO2023197761A1 PCT/CN2023/078361 CN2023078361W WO2023197761A1 WO 2023197761 A1 WO2023197761 A1 WO 2023197761A1 CN 2023078361 W CN2023078361 W CN 2023078361W WO 2023197761 A1 WO2023197761 A1 WO 2023197761A1
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Prior art keywords
fixed
finger
motor
hand device
base
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PCT/CN2023/078361
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English (en)
French (fr)
Inventor
魏昂昂
任鑫
王恩民
王剑钊
童彤
王�华
赵鹏程
杜静宇
张新丽
Original Assignee
中国华能集团清洁能源技术研究院有限公司
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Publication of WO2023197761A1 publication Critical patent/WO2023197761A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06—Screw or nut setting or loosening machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
    • B25B11/02—Assembly jigs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Definitions

  • the present application relates to a robot hand device, and in particular to a robot hand device for composite operation of an electrical cabinet in an offshore booster station.
  • a manipulator device for electrical equipment maintenance proposes a maintenance manipulator including a measuring rod and a repair rod. , but this device realizes the automation of maintenance by directly integrating the screwdriver into the manipulator device. This method has poor adaptability. If the screwdriver does not match, the tool cannot be replaced, and it also limits the use of other operating tools.
  • the purpose of this application is to provide a robot hand device for composite operation of electrical cabinets in offshore booster stations, including composite operations such as pressing, twisting, grabbing, and twisting, so as to reduce the number of tooling fixture replacements when the robot is working, improve efficiency, and overcome the above-mentioned problems.
  • composite operations such as pressing, twisting, grabbing, and twisting
  • a composite robot hand device for an offshore booster station electrical cabinet including a palm base, N robot fingers, a clamping mechanism, a card slot, and a card slot support; the palm base is fixedly connected to a mechanical arm or other driving mechanism, The clamping mechanism is fixed on the palm base, the slot is fixed on the palm base through the slot support, and the robot fingers are fixed on the palm base.
  • the robot finger includes a finger base, a motor, a gear transmission mechanism, a first joint shaft, a first finger section, a belt transmission mechanism, a second joint shaft, and a second finger section.
  • the finger base is fixed in the palm base
  • the motor is fixed in the finger base
  • the output shaft of the motor is connected to the input end of the gear transmission mechanism
  • the gear transmission mechanism The output end is connected to the first joint shaft
  • the first finger segment is fixedly connected to the first joint shaft
  • the input end of the belt transmission mechanism is sleeved on the first joint shaft
  • the output end of the belt transmission mechanism is connected to the second joint shaft.
  • the second joint shaft is connected with the second finger segment.
  • the clamping mechanism includes a motor, a coupling, a screw, 2 clamping blocks, and 2 guide rails; in the clamping mechanism, the motor is fixed in the slot support, and the screw passes through the The coupling is fixed on the output end of the motor, and the clamping block is fixed on the lead screw through the lead screw nut. When the lead screw rotates, the two clamping blocks are driven to clamp or relax along the guide rail.
  • a number of basic operations such as grabbing, pressing, turning and twisting required for the electrical cabinet of the booster station are realized, which improves the automation of the operation and maintenance of the offshore booster station.
  • Figure 1 is a schematic structural diagram provided by an embodiment of the present application.
  • Figure 2 is a schematic structural diagram of a robot finger provided by an embodiment of the present application.
  • Figure 3 is a schematic structural diagram of a clamping mechanism provided by an embodiment of the present application.
  • Figure 4 is a schematic structural diagram during a rotation operation provided by an embodiment of the present application.
  • 1 is the palm base
  • 2 is the robot finger
  • 3 is the clamping mechanism
  • 4 is the card slot
  • 5 is the card slot support
  • 201 is the finger base
  • 202 is the motor
  • 203 is the gear transmission mechanism
  • 204 is the first joint shaft
  • 205 is the first finger section
  • 206 is the belt transmission mechanism
  • 207 is the second joint shaft
  • 208 is the second finger section
  • 301 is the motor
  • 302 is the coupling
  • 303 is the screw
  • 304 It is the clamping block
  • 305 is the guide rail.
  • a composite robot hand device for an offshore booster station electrical cabinet includes a palm base 1, three robot fingers 2, a clamping mechanism 3, a card slot 4, and a card slot support 5; the palm base 1 Fixedly connected with the mechanical arm or other driving mechanism, the clamping mechanism 3 is fixed on the palm base 1, the slot 4 is fixed on the palm base 1 through the slot support, and the robot finger 2 is fixed on the palm base 1.
  • the robot finger includes a finger base 201, a motor 202, a gear transmission mechanism 203, a first joint axis 204, a first finger segment 205, a belt transmission mechanism 206, a second joint axis 207, and a second finger segment 208. .
  • the finger base 201 is fixed in the palm base 1
  • the motor 202 is fixed in the finger base 201
  • the output shaft of the motor 202 is connected to the input end of the gear transmission mechanism 203
  • the output end of the gear transmission mechanism 203 Connected to the first joint shaft 204
  • the first finger section 205 is fixedly connected to the first joint shaft 204
  • the input end of the belt transmission mechanism 206 is sleeved on the first joint shaft 204
  • the output end of the belt transmission mechanism 206 is connected to the second joint shaft 207
  • the second joint axis 207 is connected to the second finger segment 208 .
  • the clamping mechanism 3 includes a motor 301, a coupling 302, a screw 303, two clamping blocks 304, and two guide rails 305; in the clamping mechanism 3, the motor is fixed in the slot support, The screw is fixed to the output end of the motor through a coupling, and the clamping block is fixed to the screw through a screw nut. When the screw rotates, the two clamping blocks are driven to clamp or relax along the guide rail.
  • the motor 202 drives the first joint shaft 204 to rotate through the gear transmission mechanism 203, and then drives the first finger segment 205 to rotate.
  • the first joint shaft is driven through the belt transmission mechanism 206.
  • the second joint shaft 207 rotates, thereby driving the second finger segment 208 to rotate.
  • the first finger segment 205 and the second finger segment 208 jointly form a grip on the object.
  • the three robot fingers are driven by the motor 202 to be in a closed state.
  • the "one-shaped" notch of the card slot 4 is used to block the rotary switch. Since the output end of most robots can output rotation operations, the robot adjusts the rotation force and rotation speed after the rotation switch is blocked in the slot;
  • the final pressing operation can be completed with the front end of the second finger segment 208 of any robot finger 2 .

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种海上升压站电气柜复合操作机器人手装置，包括手掌基座（1）、N个机器人手指（2）、夹持机构（3）、卡槽（4）、卡槽支座（5）；所述手掌基座（1）与机械臂或其他驱动机构固连，所述夹持机构（3）固定在手掌基座（1）上，所述卡槽（4）通过所述卡槽支座（5）固定于手掌基座（1）上，所述机器人手指（2）固定在手掌基座（1）上。本申请通过按、扭、抓、拧等复合操作，减少机器人进行工作时更换工装夹具的次数，提高效率。

Description

一种海上升压站电气柜复合操作机器人手装置
相关申请的交叉引用
本申请要求在2022年4月14日提交中国专利局、申请号为202220864963.6、实用新型名称为“一种海上升压站电气柜复合操作机器人手装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机器人手装置，特别涉及一种海上升压站电气柜复合操作机器人手装置。
背景技术
目前海上风电建设越来越多，但海上升压站距离海岸线远，日常巡检难度大，因此用机器人进行巡检和操作非常必要，但升压站设备较多，特别是各类电气柜设备，这些设备需要进行包括倒闸、拧紧螺丝、按动按钮、扭动玄幻开关等多种操作，专利文献“一种电气设备检修用机械手装置”提出了一种包含测量杆和修理杆的检修机械手，但该装置通过直接在机械手装置中集成螺丝刀来实现检修的自动化，这种方式适应性较差，螺丝刀具不匹配的话无法更换工具，也限制其他操作工具的使用。综上所述，目前缺乏一种较好的机械人手装置完成上述的相关操作，影响机器人技术在海上升压站电气柜巡检过程中的进一步推广应用，需要一种用于海上升压站电气柜复合操作的机器人手装置来提高海上升压站电气柜的日常运维效率。
发明内容
本申请的目的在于提供一种海上升压站电气柜复合操作机器人手装置，包括按、扭、抓、拧等复合操作，减少机器人进行工作时更换工装夹具的次数，提高效率，以克服上述现有技术的缺陷。
为了达到上述目的，本申请的技术方案是：
一种海上升压站电气柜复合机器人手装置，包括手掌基座、N个机器人手指、夹持机构、卡槽、卡槽支座；所述手掌基座与机械臂或其他驱动机构固连，所述夹持机构固定在手掌基座上，所述卡槽通过所述卡槽支座固定于手掌基座上，所述机器人手指固定在手掌基座上。
所述机器人手指包括手指基座、电机、齿轮传动机构、第一关节轴、第一指段、皮带传动机构、第二关节轴、第二指段。在所述机器人手指中，所述手指基座固定在手掌基座中，所述电机固定于手指基座中，所述电机的输出轴与齿轮传动机构的输入端连接，所述齿轮传动机构的输出端与第一关节轴连接，所述第一指段与第一关节轴固连，所述皮带传动机构的输入端套在第一关节轴，所述皮带传动机构的输出端与第二关节轴连接，所述第二关节轴与第二指段连接。
所述夹持机构包括电机、联轴器、丝杠、2个夹块、2个导轨；在所述夹持机构中，所述电机固定于卡槽支座中，所述丝杠通过所述联轴器固定于电机输出端，所述夹块通过丝杠螺母固定于丝杠上，当所述丝杠转动时，带动2个夹块沿着所述导轨对中夹紧或放松。本申请提出的一种海上升压站电气柜复合操作机械人手装置，其优点是：
(1)实现了升压站电气柜所需的抓、按、转、拧等多个基本操作，提高了海上升压站运维操作的自动化程度。
(2)通过采用机器人手装置提高了操作的安全性。
(3)通过实现多种操作有效减少了人员定期出海运维所需成本，提高巡检效率。
附图说明
图1是本申请一个实施例提供的结构示意图。
图2是本申请一个实施例提供的机器人手指的结构示意图。
图3是本申请一个实施例提供的夹持机构的结构示意图。
图4是本申请一个实施例提供的进行转动操作时的结构示意图。
上述附图中，1是手掌基座，2是机器人手指，3是夹持机构，4是卡槽，5是卡槽支座，201是手指基座，202是电机，203是齿轮传动机构，204是第一关节轴，205是第一指段，206是皮带传动机构，207是第二关节轴，208是第二指段，301是电机，302是联轴器，303是丝杠，304是夹块，305是导轨。
具体实施方式
下面结合附图对本申请做详细叙述。
如图1所示的一种海上升压站电气柜复合机器人手装置，包括手掌基座1、3个机器人手指2、夹持机构3、卡槽4、卡槽支座5；手掌基座1与机械臂或其他驱动机构固连，夹持机构3固定在手掌基座1上，卡槽4通过卡槽支座固定于手掌基座1上，机器人手指2固定在手掌基座1上。
如图2所示，机器人手指包括手指基座201、电机202、齿轮传动机构203、第一关节轴204、第一指段205、皮带传动机构206、第二关节轴207、第二指段208。在机器人手指2中，手指基座201固定在手掌基座1中，电机202固定于手指基座201中，电机202的输出轴与齿轮传动机构203的输入端连接，齿轮传动机构203的输出端与第一关节轴204连接，第一指段205与第一关节轴204固连，皮带传动机构206的输入端套在第一关节轴204，皮带传动机构206的输出端与第二关节轴207连接，第二关节轴207与第二指段208连接。
如图3所示，夹持机构3包括电机301、联轴器302、丝杠303、2个夹块304、2个导轨305；在夹持机构3中，电机固定于卡槽支座中，丝杠通过联轴器固定于电机输出端，夹块通过丝杠螺母固定于丝杠上，当丝杠转动时，带动2个夹块沿着导轨对中夹紧或放松。
如图2所示，当进行抓取操作时，电机202通过齿轮传动机构203驱动第一关节轴204进行转动，进而带动第一指段205进行转动，同时第一关节轴通过皮带传动机构206带动第二关节轴207进行转动，进而带动第二指段208进行转动，第一指段205和第二指段208共同形成对物体的抓持。
如图4所示，当需要对电气柜上的转动开关进行操作时，通过电机202驱动3个机器人手指呈收拢状态，此时用卡槽4的“一形”槽口顺着去卡住转动开关的转动旋钮，由于大部分机器人的输出端都能输出转动操作，因此在卡槽卡住转动开关后由机器人调节转动力和转动速度；
当需要对电气柜上进行拧动操作，此处假设为螺丝刀进行操作，螺丝刀通过卡槽的“圆型”槽口卡住螺丝刀的手柄，然后电机301带动丝杠303转动并由丝杠303驱动2个夹块304对中夹住螺丝刀的端部，提供拧动螺丝刀所需的夹持力，同时也由机器人调节转动力和转动速度，
最后是按动操作，有任意机器人手指2的第二指段208的前端即可完成。

Claims (5)

  1. 一种海上升压站电气柜复合操作机器人手装置，包括手掌基座、N个机器人手指、夹持机构、卡槽、卡槽支座；其特征在于，手掌基座与机械臂或其他驱动机构固连，所述夹持机构固定在手掌基座上，卡槽通过卡槽支座固定于手掌基座上，机器人手指固定在手掌基座上。
  2. 根据权利要求1所述的一种海上升压站电气柜复合操作机器人手装置，其特征在于，机器人手指包括手指基座、电机、齿轮传动机构、第一关节轴、第一指段、皮带传动机构、第二关节轴、第二指段，手指基座固定在手掌基座中，电机固定于手指基座中，电机的输出轴与齿轮传动机构的输入端连接，齿轮传动机构的输出端与第一关节轴连接，第一指段与第一关节轴固连，皮带传动机构的输入端套在第一关节轴上，皮带传动机构的输出端与第二关节轴连接，第二关节轴与第二指段连接。
  3. 根据权利要求1所述的一种海上升压站电气柜复合操作机器人手装置，其特征在于，夹持机构包括电机、联轴器、丝杠、2个夹块、2个导轨；电机固定于卡槽支座中，丝杠连接于电机输出端，夹块连接于丝杠上，当丝杠转动时，带动2个夹块沿着导轨对中夹紧或放松。
  4. 根据权利要求3所述的一种海上升压站电气柜复合操作机器人手装置，其特征在于，丝杠通过联轴器固定于电机输出端。
  5. 根据权利要求3所述的一种海上升压站电气柜复合操作机器人手装置，其特征在于，夹块通过丝杠螺母固定于丝杠上。
PCT/CN2023/078361 2022-04-14 2023-02-27 一种海上升压站电气柜复合操作机器人手装置 WO2023197761A1 (zh)

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CN202220864963.6 2022-04-14

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CN217143979U (zh) * 2022-04-14 2022-08-09 中国华能集团清洁能源技术研究院有限公司 一种海上升压站电气柜复合操作机器人手装置

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KR20010108960A (ko) * 2000-06-01 2001-12-08 이중구 전동 구동 방식의 로봇 핸드 시스템
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CN217143979U (zh) * 2022-04-14 2022-08-09 中国华能集团清洁能源技术研究院有限公司 一种海上升压站电气柜复合操作机器人手装置

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