阅读说明：本技术 一种用于带电作业机器人剥线工具的自适应定位装置 (Self-adaptive positioning device for wire stripping tool of live working robot ) 是由 刘召 徐会正 张炜 陈洪安 于 2020-10-21 设计创作，主要内容包括：本发明提供了一种用于带电作业机器人剥线工具的自适应定位装置,包括快换工具安装板,快换工具安装板上表面设有快换工具盘,快换工具安装板下表面设有左右自由平移机构,左右自由平移机构上连接水平自由旋转机构,水平自由旋转机构旋转部设有连接弯板。本发明一种用于带电作业机器人剥线工具的自适应定位装置,具有两个自由度,一个是直线左右平移自由度,另一个是水平旋转自由度,无论机器人是通过手持摇控盒或示教器靠近待剥线缆,还是通过视觉系统靠近待剥线缆,都可以实现剥线工具到达最佳的剥线位置,实现高质量的剥线作业。(The invention provides a self-adaptive positioning device for a wire stripping tool of an electric working robot, which comprises a quick-change tool mounting plate, wherein a quick-change tool disc is arranged on the upper surface of the quick-change tool mounting plate, a left-right free translation mechanism is arranged on the lower surface of the quick-change tool mounting plate, a horizontal free rotation mechanism is connected to the left-right free translation mechanism, and a connection bent plate is arranged on the rotating part of the horizontal free rotation mechanism. The invention relates to a self-adaptive positioning device for a wire stripping tool of an electric working robot, which has two degrees of freedom, namely a linear left-right translation degree of freedom and a horizontal rotation degree of freedom, so that the wire stripping tool can reach the optimal wire stripping position no matter whether the robot is close to a cable to be stripped through a handheld remote control box or a demonstrator or is close to the cable to be stripped through a vision system, and high-quality wire stripping operation is realized.)

1. The utility model provides an adaptive positioning device for electrified operation robot wire stripping instrument which characterized in that: the tool quick-change device is characterized by comprising a quick-change tool mounting plate (4), wherein a quick-change tool disc (3) is arranged on the upper surface of the quick-change tool mounting plate (4), a left-right free translation mechanism is arranged on the lower surface of the quick-change tool mounting plate (4), a horizontal free rotation mechanism is connected to the left-right free translation mechanism, and a rotating part of the horizontal free rotation mechanism is provided with a connecting bent plate (16); the quick-change tool mounting plate (4) is connected with a translation brake cylinder (23), and the translation brake cylinder (23) pushes a brake lever clamping jaw (12) to limit the free translation position of the horizontal free translation mechanism on the left and right free translation mechanisms; the horizontal free rotation mechanism is connected with a rotating shaft braking cylinder (8), and the rotating shaft braking cylinder (8) pushes a rotating shaft clamping jaw (20) to limit the free rotation position of the horizontal free rotation mechanism.

2. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 1, characterized in that: the left-right free translation mechanism includes: a linear guide rail (11) and a guide rail slide block (18); the guide rail sliding block (18) freely slides in a left-right translational manner on the linear guide rail (11), the linear guide rail (11) is arranged on the lower surface of the quick-change tool mounting plate (4), a left stop block (10) and a right stop block (5) are respectively arranged at the left end and the right end of the quick-change tool mounting plate (4), a guide pillar (19) is arranged between the left stop block (10) and the right stop block (5), a guide pillar connecting plate (13) is arranged on the guide rail sliding block (18), the guide pillar (19) penetrates through a through hole on a boss of the guide pillar connecting plate (13), a pressure spring (6) is sleeved on the guide pillar (19) between the right stop block (5) and the boss of the guide pillar connecting plate (13), the pressure spring (6) is sleeved on the guide pillar (19) between the left stop block (10) and the boss of the guide pillar connecting plate (13), and a, the translation brake cylinder (23) pushes the brake lever clamping jaw (12) to be matched and clamped with the brake lever (2) for fixing.

3. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 2, characterized in that: the horizontal free rotation mechanism includes: a bearing seat (15); the bearing seat (15) is fixedly arranged on the guide pillar connecting plate (13), a bearing (14) is arranged in the bearing seat (15), a rotating shaft (17) is arranged in the bearing (14), the bottom end of the rotating shaft (17) is fixedly connected with the connecting bent plate (16), and the rotating shaft braking cylinder (8) pushes the rotating shaft clamping jaw (20) to clamp and fix the rotating shaft (17).

4. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 1, characterized in that: the quick-change tool mounting plate (4) is fixedly connected with a translation cylinder seat (1), and the translation brake cylinder (23) is arranged on the translation cylinder seat (1).

5. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 2, characterized in that: the guide post connecting plate (13) is connected with a rotating shaft cylinder seat (7), and the rotating shaft brake cylinder (8) is arranged on the rotating shaft cylinder seat (7).

6. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 3, characterized in that: the bearing seat (15) and the connecting bent plate (16) are provided with limiting blocks (9), and the limiting blocks (9) are matched to limit the maximum rotating angle of the connecting bent plate (16).

7. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 2, characterized in that: four guide posts (19) are arranged.

8. The adaptive positioning device for the wire stripping tool of the hot-line work robot according to claim 3, characterized in that: the bearings (14) are two tapered roller bearings.

Technical Field

The invention belongs to the field of intelligent robots, and particularly relates to a self-adaptive positioning device for a wire stripping tool of an electric operating robot.

Background

When a general hot-line work robot carries out wire stripping, a wire stripping tool at the robot end needs to be moved to the position of a cable to be stripped through a hand-held remote control box or a demonstrator, and most scenes are that a person is far away from the wire stripping tool at the moment and the actual position of the wire stripping tool cannot be clearly seen; the other is that a visual system is used for enabling a wire stripping tool arranged at the tail end of the robot to automatically run to the position of a cable to be stripped, but the problem that the wire stripping tool cannot well enter the optimal wire stripping position due to the fact that the visual system has position errors and is influenced by weather conditions exists.

Disclosure of Invention

In view of the above, the present invention is directed to a self-adaptive positioning device for a wire stripping tool of an electric working robot, which has two degrees of freedom, one is a linear left-right translation degree of freedom, and the other is a horizontal rotation degree of freedom, so that no matter whether the robot approaches a cable to be stripped through a hand-held remote control box or a demonstrator, or approaches the cable to be stripped through a vision system, the wire stripping tool can reach an optimal wire stripping position, and high-quality wire stripping operation is realized.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a self-adaptive positioning device for a wire stripping tool of an electric working robot comprises a quick-change tool mounting plate, wherein a quick-change tool disc is arranged on the upper surface of the quick-change tool mounting plate, a left-right free translation mechanism is arranged on the lower surface of the quick-change tool mounting plate, a horizontal free rotation mechanism is connected to the left-right free translation mechanism, and a connection bent plate is arranged on the rotating part of the horizontal free rotation mechanism; the quick-change tool mounting plate is connected with a translation brake cylinder, and the translation brake cylinder pushes a brake rod clamping jaw to limit the free translation position of the horizontal free rotation mechanism on the left and right free translation mechanisms; the horizontal free rotation mechanism is connected with a rotating shaft braking cylinder, and the rotating shaft braking cylinder pushes a rotating shaft clamping jaw to limit the free rotation position of the horizontal free rotation mechanism.

Further, the left-right free translation mechanism includes: linear guide rails and guide rail sliders; the guide rail slider freely translates and slides about linear guide, linear guide sets up at quick change instrument mounting panel lower surface, both ends set up left dog and right dog respectively about the quick change instrument mounting panel, be equipped with the guide pillar between left dog and the right dog, be equipped with the guide pillar connecting plate on the guide rail slider, the guide pillar passes the via hole on the guide pillar connecting plate boss, the pressure spring is established to the cover on the guide pillar between right dog and the guide pillar connecting plate boss, the pressure spring is established to the cover on the guide pillar between left dog and the guide pillar connecting plate boss, be equipped with the brake lever on the guide pillar connecting plate, translation brake cylinder promotes the brake lever clamping jaw.

Further, the horizontal free rotation mechanism includes: a bearing seat; the bearing block is fixedly arranged on the guide pillar connecting plate, a bearing is arranged in the bearing block, a rotating shaft is arranged in the bearing, the bottom end of the rotating shaft is fixedly connected with the connecting bent plate, and the rotating shaft braking cylinder pushes the rotating shaft clamping jaw to clamp and fix the rotating shaft.

Furthermore, the quick-change tool mounting plate is fixedly connected with a translation cylinder seat, and a translation brake cylinder is arranged on the translation cylinder seat.

Furthermore, a rotating shaft cylinder seat is connected to the guide pillar connecting plate, and a rotating shaft brake cylinder is arranged on the rotating shaft cylinder seat.

Furthermore, the bearing seat and the connecting bent plate are both provided with limiting blocks, and the two limiting blocks are matched to limit the maximum rotating angle of the connecting bent plate.

Furthermore, four guide posts are arranged.

Further, the bearings are two tapered roller bearings.

Compared with the prior art, the self-adaptive positioning device for the wire stripping tool of the hot-line work robot has the following advantages:

the self-adaptive positioning device for the wire stripping tool of the hot-line work robot has two degrees of freedom, one is a straight line left-right translation degree of freedom, and the other is a horizontal rotation degree of freedom, so that the wire stripping tool can reach the optimal wire stripping position no matter the robot is close to a cable to be stripped through a handheld remote control box or a demonstrator or is close to the cable to be stripped through a vision system, the high-quality wire stripping operation is realized, and the wire stripping efficiency is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic front view of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of an adaptive positioning device A-A for a wire stripping tool of an electric working robot according to an embodiment of the invention;

FIG. 3 is a cross-sectional view of an adaptive positioning device B-B for a wire stripping tool of an electric working robot according to an embodiment of the invention;

FIG. 4 is a cross-sectional view of an adaptive positioning device C-C for a wire stripping tool of an electric working robot according to an embodiment of the invention;

FIG. 5 is a schematic structural diagram of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the invention;

fig. 6 is a schematic connection diagram of a wire stripping tool of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the present invention;

FIG. 7 is a first adaptive schematic diagram of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the invention;

FIG. 8 is a second adaptive schematic diagram of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the invention;

FIG. 9 is a third adaptive schematic diagram of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the invention;

fig. 10 is a fourth adaptive schematic diagram of an adaptive positioning device for a wire stripping tool of an electric working robot according to an embodiment of the invention.

Description of reference numerals:

1-translating a cylinder block; 2-a brake lever; 3-quick change tool disc; 4-mounting plate of quick-change tool; 5-a right block; 6-pressure spring; 7-rotating shaft cylinder block; 8-rotating shaft brake cylinder; 9-a limiting block; 10-left stop block; 11-a linear guide rail; 12-a brake lever jaw; 13-guide post connecting plate; 14-a bearing; 15-bearing seats; 16-connecting the bent plate; 17-a rotating shaft; 18-a rail slide; 19-guide posts; 20-a spindle clamping jaw; 23-a translational brake cylinder; 24-wire stripping tool.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

As shown in fig. 1-6, an adaptive positioning device for a wire stripping tool of an electric working robot comprises a quick-change tool mounting plate 4, wherein a quick-change tool disc 3 is arranged on the upper surface of the quick-change tool mounting plate 4, a left-right free translation mechanism is arranged on the lower surface of the quick-change tool mounting plate 4, a horizontal free rotation mechanism is connected to the left-right free translation mechanism, and a connection bent plate 16 is arranged on a rotation part of the horizontal free rotation mechanism; the quick-change tool mounting plate 4 is connected with a translation brake cylinder 23, and the translation brake cylinder 23 pushes the brake lever clamping jaw 12 to limit the free translation position of the horizontal free rotation mechanism on the left and right free translation mechanisms; the horizontal free rotation mechanism is connected with a rotating shaft braking cylinder 8, and the rotating shaft braking cylinder 8 pushes a rotating shaft clamping jaw 20 to limit the free rotation position of the horizontal free rotation mechanism.

As shown in fig. 1 to 6, the left-right free translation mechanism includes: a linear guide rail 11 and a guide rail slider 18; guide rail slider 18 is free translation slip about linear guide 11, linear guide 11 sets up at 4 lower surfaces of quick change tool mounting panel, both ends set up left dog 10 and right dog 5 respectively about quick change tool mounting panel 4, be equipped with guide pillar 19 between left dog 10 and the right dog 5, be equipped with guide pillar connecting plate 13 on the guide rail slider 18, guide pillar 19 passes the via hole on the boss of guide pillar connecting plate 13, pressure spring 6 is established to the cover on the guide pillar 19 between right dog 5 and the boss of guide pillar connecting plate 13, pressure spring 6 is established to the cover on the guide pillar 19 between left dog 10 and the boss of guide pillar connecting plate 13, be equipped with brake lever 2 on the guide pillar connecting plate 13, translation brake cylinder 23 promotes brake lever clamping jaw 12 and brake lever 2 and cooperates the centre.

As shown in fig. 1 to 6, the horizontal free-rotation mechanism includes: a bearing housing 15; the bearing block 15 is fixedly arranged on the guide pillar connecting plate 13, a bearing 14 is arranged in the bearing block 15, a rotating shaft 17 is arranged in the bearing 14, the bottom end of the rotating shaft 17 is fixedly connected with the connecting bent plate 16, and the rotating shaft braking cylinder 8 pushes the rotating shaft clamping jaw 20 to clamp and fix the rotating shaft 17.

In this embodiment, when no external force is applied, the guide post connecting plate 13 is located at the middle position of the guide post 19 due to the elastic force of the pressure spring 6, when the guide post connecting plate 13 is applied with the external force from the bearing seat 15, the guide post connecting plate 13 freely translates left and right on the linear guide rail 11 through the connected guide rail slider 18, and the translational brake cylinder 23 can push the brake lever clamping jaw 12 to clamp the brake lever 2 connected with the guide post connecting plate 13, so as to limit the position of the guide post connecting plate 13.

As shown in fig. 1 to 6, the quick-change tool mounting plate 4 is fixedly connected with the translation cylinder block 1, and the translation brake cylinder 23 is arranged on the translation cylinder block 1.

As shown in fig. 1-6, the guide post connecting plate 13 is connected to the rotating shaft cylinder base 7, and the rotating shaft brake cylinder 8 is disposed on the rotating shaft cylinder base 7.

As shown in fig. 1-6, the bearing seat 15 and the connecting bent plate 16 are both provided with a limiting block 9, and the two limiting blocks 9 are matched to limit the maximum rotation angle of the connecting bent plate 16.

As shown in fig. 1-6, four guide posts 19 are provided.

As shown in fig. 1-6, the bearing 14 is a two tapered roller bearing.

In this embodiment, as shown in fig. 1-10, the specific operation method and principle are as follows:

firstly, the quick-change tool disc 3 is connected with the tail end of a robot, the connecting bent plate 16 is connected with a wire stripping tool 24, the wire stripping tool 24 is provided with a V-shaped wire inlet guide port, when the robot carries the wire stripping tool 24 to be close to a cable to be stripped, the rotating shaft braking cylinder 8 pushes the rotating shaft clamping jaw 20 to clamp the rotating shaft 17, the translation braking cylinder 23 pushes the braking rod clamping jaw 12 to clamp and fix the braking rod 2, the wire stripping tool 24 is prevented from rotating and translating left and right in the operation process of the robot, when the wire stripping tool 24 is further close to the cable to be stripped, the rotating shaft braking cylinder 8 and the translation braking cylinder 23 both retract the rotating shaft clamping jaw 20 and the braking rod clamping jaw 12, at the moment, the guide rail sliding block 18 slides in a free translation left and right mode, the rotating shaft 17 rotates freely, and the wire stripping tool 24 realizes a.

Further, as shown in fig. 7-10, after a cable to be stripped enters the wire-feeding guide opening of the wire-stripping tool 24V, the wire-stripping tool 24 with two degrees of freedom receives resistance of the cable to be stripped, the resistance pushes the rotating shaft 17 to rotate, and the bearing seat 15 also horizontally moves along the linear guide rail 11, so that the wire-stripping tool 24 can rotate and horizontally move in a manner of adapting to the state of the cable to be stripped, an optimal position to be stripped is obtained in a self-adapting manner, and the success rate of wire stripping can be greatly improved.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.