CN112809728A - Wire clamping tool suitable for join in marriage net live working robot - Google Patents

Abstract

Translated fromChinese

本发明涉及机器人技术领域，具体为一种适用于配网带电作业机器人的导线夹持工具，包括：机械臂，所述机械臂上设置有两个夹爪；夹持槽，所述夹持槽位于所述夹爪的中间部位，所述夹持槽为半圆槽结构；多个随转轴承，所述多个随转轴承对称地设置于所述夹持槽的内壁。当夹爪抓住导线做绕导线中心旋转的运动时，由于随转轴承的作用，夹爪可以自由绕导线的轴线转动而不产生扭转应力，减小了机械臂的关节负担，仅对导线进行弯曲作业，大大降低配网带电作业机器人夹持移动绝缘导线时的机械臂末端负载。

The invention relates to the technical field of robots, in particular to a wire clamping tool suitable for a live working robot of a distribution network, comprising: a mechanical arm, on which two clamping claws are arranged; a clamping groove, the clamping groove Located in the middle part of the clamping jaw, the clamping groove is a semi-circular groove structure; a plurality of rotating bearings are symmetrically arranged on the inner wall of the clamping groove. When the gripper grasps the wire and rotates around the center of the wire, due to the action of the follow-up bearing, the gripper can freely rotate around the axis of the wire without generating torsional stress, which reduces the joint burden of the mechanical arm, and only performs Bending operation greatly reduces the load on the end of the manipulator when the live work robot of the distribution network clamps and moves the insulated wire.

Description

Wire clamping tool suitable for join in marriage net live working robot

Technical Field

The invention relates to the technical field of robots, in particular to a wire clamping tool suitable for distribution network live working robots.

Background

In traditional distribution network live working, an operator is located on a lifting insulating bucket arm vehicle, and double live working is carried out by utilizing an insulating rod to replace equipment such as a lightning arrester and an insulator. Although a series of normative technical standards and operation criteria are established for distribution network live working operation in recent years, casualty accidents sometimes occur due to large task amount, high risk coefficient and severe environment. Therefore, a great amount of research and development work on distribution network live working robots is carried out at home and abroad, and the robot hopes to replace manual work to carry out live working.

When the distribution network live working robot carries out common distribution network operations such as ignition, lead wire breaking, lightning arrester replacement and the like, the insulated wire needs to be clamped for moving. Most of the insulated wires are aluminum core wires with the diameter exceeding 10mm, the bending rigidity is high, and large load is often brought to the wire clamping and moving operation of the mechanical arm; on one hand, the self-protection stop of the distribution network live working robot caused by overlarge load can be avoided by specially planning the motion track of the mechanical arm, which belongs to the field of force control planning of the mechanical arm from a software algorithm, but the algorithm is relatively complex to realize due to the fact that the dynamic content of the mechanical arm is involved.

Disclosure of Invention

The invention aims to provide a wire clamping tool suitable for a distribution network live working robot, a plurality of follow-up bearings are symmetrically arranged in a clamping groove of a clamping jaw, when the clamping jaw grasps a wire to rotate around the center of the wire, the clamping jaw can freely rotate around the axis of the wire without generating torsional stress due to the function of the follow-up bearings, the joint burden of a mechanical arm is reduced, only the wire is subjected to bending operation, and the tail end load of the mechanical arm when the distribution network live working robot clamps and moves an insulated wire is greatly reduced; meanwhile, the opening and closing mechanism controlled by the thumb and the forefinger on the force feedback device at the remote operation end can directly control the opening and closing of the clamping jaw, and the feedback force of the clamping jaw and the wire can be fed back to the operator end. The motion of the mechanical arm is adjusted by an operator according to the feedback force, so that the telepresence of teleoperation is improved, and the operation speed and the success rate are improved.

In order to achieve the purpose, the invention provides the following technical scheme:

a wire clamping tool suitable for join in marriage net live working robot includes:

the mechanical arm is provided with two clamping jaws;

the clamping groove is positioned in the middle of the clamping jaw and is of a semicircular groove structure;

and the follow-up bearings are symmetrically arranged on the inner wall of the clamping groove.

Preferably, the follower bearing is connected to an inner wall of the clamping groove by a spring.

Preferably, the bottom of the spring is provided with a micro pressure sheet, and the micro pressure sheet is used for detecting the pressure value of the spring.

Preferably, the wire gripping tool further comprises:

remote control of the operation end;

and the communication module is used for transmitting the pressure value detected by the miniature pressure plate to the remote operation end.

Preferably, a tool control clamping jaw is arranged on the teleoperation end and used for controlling the opening and closing degree of the clamping jaw, and the force feedback device comprises an opening and closing mechanism controlled by a thumb and an index finger.

Compared with the prior art, the invention has the beneficial effects that:

(1) according to the invention, the plurality of follow-up bearings are symmetrically arranged in the clamping groove of the clamping jaw, when the clamping jaw grasps the wire to rotate around the center of the wire, due to the effect of the follow-up bearings, the clamping jaw can freely rotate around the axis of the wire without generating torsional stress, so that the joint burden of the mechanical arm is reduced, only the wire is subjected to bending operation, and the tail end load of the mechanical arm when the distribution network live working robot clamps and moves the insulated wire is greatly reduced;

(2) the opening and closing mechanism controlled by the thumb and the index finger on the force feedback device can directly control the opening and closing of the clamping jaws, and the feedback force of the clamping jaws and the conducting wires can be fed back to an operator end. The motion of the mechanical arm is adjusted by an operator according to the feedback force, so that the telepresence of teleoperation is improved, and the operation speed and the success rate are improved.

Drawings

Fig. 1 is a schematic structural diagram of a wire clamping tool suitable for a distribution network live working robot provided by an embodiment of the invention;

fig. 2 is a partial structural block diagram of a wire clamping tool suitable for a distribution network live working robot provided by the embodiment of the invention;

in the figure: 1. a mechanical arm; 2. a clamping jaw; 3. a clamping groove; 4. a bearing rotates along with the rotation; 5. a spring; 6. a micro pressure sheet; 7. remote control of the operation end; 8. a communication module; 9. a force feedback device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 is a schematic structural diagram of a wire clamping tool suitable for a distribution network live working robot according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a wire gripping tool suitable for a distribution network live working robot, which may include:

themechanical arm 1 is provided with twoclamping jaws 2;

theclamping groove 3 is positioned in the middle of theclamping jaw 2, and theclamping groove 3 is of a semicircular groove structure;

a plurality of follow-up bearings 4, a plurality of follow-up bearings 4 are symmetrically arranged on the inner wall of theclamping groove 3.

Further, the follower bearing 4 is connected to the inner wall of theholding groove 3 by aspring 5.

Through the technical scheme, the wire clamping tool provided by the embodiment of the invention is characterized in that the plurality of follow-up bearings 4 are symmetrically arranged in theclamping groove 3 of theclamping jaw 2, when theclamping jaw 2 grabs the wire to rotate around the center of the wire, theclamping jaw 2 can freely rotate around the axis of the wire without generating torsional stress due to the effect of the follow-up bearings 4, the joint burden of a mechanical arm is reduced, only the wire is bent, and the tail end load of the mechanical arm when the distribution network live working robot clamps and moves the insulated wire is greatly reduced. The wire clamping tool provided by the invention has a simple and effective structure, can eliminate the torsional force generated when the wire rotates, can also generate certain deformation at the position of the bearing when the wire is bent, indirectly reduces the torsional force on the joint of the mechanical arm, realizes the reduction of the clamping moving load of the wire by a pure mechanical structure, and greatly simplifies the difficulty of planning the track of the mechanical arm

Fig. 2 is a partial structural block diagram of a wire clamping tool suitable for a distribution network live working robot provided by an embodiment of the invention. In one embodiment of the present invention, as shown in fig. 2, the wire gripping tool may further comprise:

the miniature pressure plate 6 is arranged at the bottom of thespring 5, and the miniature pressure plate 6 is used for detecting the pressure value of thespring 5;

a remote operation end 7;

and the communication module 8 is used for transmitting the pressure value detected by the miniature pressure plate 6 to the remote operation end 7.

Through the technical scheme, the pressure value applied to thespring 5 is detected through the micro pressure plate 6, the pressure value detected by the micro pressure plate 6 is sent to the remote operation end 7 through the communication module 8, and an operator can know the clamping state of theclamping jaw 2 and the wire in time through the remote operation end 7.

Further, in an embodiment of the present invention, the remote operation end 7 is provided with a tool control jaw 9, the tool control jaw 9 can be used for controlling the opening and closing degree of thejaw 2, and the force feedback device 9 comprises an opening and closing mechanism controlled by a thumb and a forefinger.

Through the technical scheme, an operator can directly control the opening and closing of theclamping jaw 2 by utilizing the opening and closing mechanism controlled by the thumb and the index finger on the force feedback device 9, and the clamping force between theclamping jaw 2 and the wire can be fed back to the force feedback device 9. The motion of the mechanical arm is adjusted by an operator according to the feedback force, so that the telepresence of teleoperation is improved, and the operation speed and the success rate are improved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

Translated fromChinese

1.一种适用于配网带电作业机器人的导线夹持工具，其特征在于，包括：1. a wire gripping tool applicable to a live working robot for distribution network, is characterized in that, comprises:机械臂(1)，所述机械臂(1)上设置有两个夹爪(2)；a mechanical arm (1), wherein two clamping jaws (2) are provided on the mechanical arm (1);夹持槽(3)，所述夹持槽(3)位于所述夹爪(2)的中间部位，所述夹持槽(3)为半圆槽结构；a clamping groove (3), the clamping groove (3) is located in the middle part of the clamping jaw (2), and the clamping groove (3) is a semicircular groove structure;多个随转轴承(4)，所述多个随转轴承(4)对称地设置于所述夹持槽(3)的内壁。A plurality of rotating bearings (4), the plurality of rotating bearings (4) are symmetrically arranged on the inner wall of the clamping groove (3).2.根据权利要求1所述的适用于配网带电作业机器人的导线夹持工具，其特征在于，所述随转轴承(4)通过弹簧(5)连接于所述夹持槽(3)的内壁。2. The wire clamping tool suitable for a live working robot in a distribution network according to claim 1, characterized in that the rotating bearing (4) is connected to the clamping groove (3) through a spring (5). inner wall.3.根据权利要求2所述的适用于配网带电作业机器人的导线夹持工具，其特征在于，所述弹簧(5)的底部设置有微型压力片(6)，所述微型压力片(6)用于检测弹簧的压力值。3. The wire clamping tool suitable for a live working robot for distribution network according to claim 2, wherein the bottom of the spring (5) is provided with a miniature pressure piece (6), the miniature pressure piece (6) ) is used to detect the pressure value of the spring.4.根据权利要求3所述的适用于配网带电作业机器人的导线夹持工具，其特征在于，所述导线夹持工具还包括：4. The wire clamping tool suitable for a live working robot in a distribution network according to claim 3, wherein the wire clamping tool further comprises:遥操作端(7)；Remote operation terminal (7);通信模块(8)，所述通信模块(8)用于将所述微型压力片(6)检测到的压力值发送到所述遥操作端(7)。A communication module (8), the communication module (8) is used for sending the pressure value detected by the micro pressure piece (6) to the remote operation terminal (7).5.根据权利要求4所述的适用于配网带电作业机器人的导线夹持工具，其特征在于，所述遥操作端(7)上设置有力反馈装置(9)，所述力反馈装置(9)用于控制所述夹爪(2)的开合程度，所述力反馈装置(9)包括由大拇指和食指控制的开合机构。5. The wire clamping tool suitable for a live working robot in a distribution network according to claim 4, wherein a force feedback device (9) is provided on the teleoperation end (7), and the force feedback device (9) ) is used to control the degree of opening and closing of the jaws (2), and the force feedback device (9) includes an opening and closing mechanism controlled by the thumb and the index finger.

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