CN-115528609-B - Clamping mechanism device and method for automatic wire stripping of robot

Abstract

A clamping mechanism device and a method for automatic wire stripping of a robot comprise a movable supporting mechanism module, a three-jaw clamping mechanism module and a wire stripper, wherein the pair of three-jaw clamping mechanism modules are respectively arranged at two ends of the movable supporting mechanism module, and the wire stripper is arranged on the movable supporting mechanism module in a sliding manner. According to the wire stripper disclosed by the invention, the relative movement of the robot and the wire stripper is adopted, so that the adverse effect of the robot shaking in the wire stripper process is removed, the wire stripping is more stable and reliable, the automatic lapping efficiency and reliability of the drainage wire are remarkably improved, the phenomenon of clamping the wire clamp when the wire clamp is separated from the fastening device, and the operation efficiency of the wire clamp fastening device is improved. The operator is far away from the live cable, the electric shock risk is reduced, the labor intensity is reduced, the operation efficiency is improved, and the automation degree and the stability of the robot in the live operation drainage wire lap joint task are improved.

Inventors

• ZHANG WEIJUN
• SUN LIANG
• Feng Jiabo

Assignees

• 上海智能制造功能平台有限公司

Dates

Publication Date

20260512

Application Date

20220811

Claims (4)

1. 1. The clamping mechanism device for automatic wire stripping of the robot is characterized by comprising a movable supporting mechanism module, a three-jaw clamping mechanism module and a wire stripper, wherein the pair of three-jaw clamping mechanism modules are respectively arranged at two ends of the movable supporting mechanism module, and the wire stripper is arranged on the movable supporting mechanism module in a sliding manner; The movable supporting mechanism module comprises a supporting main body and a double-slide rail driving mechanism arranged on the supporting main body, wherein a wire stripper is arranged on the double-slide rail driving mechanism through a wire stripper connecting plate to realize sliding arrangement; The automatic wire stripping is characterized in that a robot with a binocular camera and a clamping mechanism device is used for motion planning, the clamping mechanism device is placed on a cable, the three-jaw clamping mechanism module clamps the cable and then performs wire stripping through a wire stripper, and when the three-jaw clamping mechanism module reaches a wire stripping end point, the cable is loosened and the wire stripper is reset; The double-slide rail driving mechanism comprises two slide rails which are parallel to each other and a slide connecting block which is arranged on the slide rails in a sliding way, wherein one end of each slide rail is provided with a movable air cylinder, and the output end of each air cylinder is connected with the slide connecting block; The three-jaw clamping mechanism module comprises a three-jaw clamp and a fixed plate, wherein the fixed plate is fixedly arranged on two sides of the movable supporting mechanism module respectively, and the three-jaw clamp is arranged at the top end of the fixed plate; the three-jaw clamp comprises a three-jaw fixing plate, a grabbing cylinder, three connecting rods, an upper jaw rod, a lower jaw rod and an inner jaw rod, wherein the grabbing cylinder, the three connecting rods, the upper jaw rod, the lower jaw rod and the inner jaw rod are arranged on the three-jaw fixing plate; The automatic wire stripping includes: Step 1), measuring relative position information of a cable and the robot through a binocular camera by a robot with the binocular camera and the clamping mechanism device, and planning motion by the robot according to the cable position information; the three-jaw clamping device is arranged on a cable, the three-jaw clamping devices at the two ends of the clamping device are in an open state, the piston rod of the clamping cylinder is in an extending state, the V-shaped clamping jaw of the wire stripper is in an open state, the transmission rotary gear is in an open state, the wire stripper is positioned at the wire stripping origin point, and the piston rod of the wire stripping thrust cylinder is in a retracting state; Step 2) when the robot confirms that the signals of all the state points are correct, the robot sends out a three-jaw clamping signal instruction, and the three-jaw clamps at the two ends of the clamping mechanism device execute the clamping instruction to clamp the cable; Step 3) when the robot confirms that the three-jaw clamp clamping signal is correct, the robot sends out a wire stripping signal instruction, the wire stripper executes the wire stripping instruction, the V-shaped clamp is clamped to close the clamping cable, then the tool bit is rotated to strip wires, and meanwhile, the wire stripping instruction received by the wire stripping thrust cylinder pushes out a piston rod to provide wire stripping thrust; Step 4) when the wire stripper reaches a wire stripping end point according to a preset path, the wire stripper is stopped to move and prop up the prop, meanwhile, the pushing cylinder also reaches the stroke end point, the wire stripper tool bit is not provided with wire stripping pushing force any more, the wire stripper tool bit continues to rotate to complete the task of breaking the insulating layer, the insulating layer is automatically guided into the insulating layer recovery box under the action of the recovery box, after the insulating layer is broken, the wire stripper is automatically reset, the tool bit is aligned, the V-shaped clamp is opened, and a wire stripping completion signal instruction is sent out; Step 5) after the robot receives a wire stripping completion instruction of the wire stripper, a three-jaw loosening signal instruction is sent out, and three-jaw clamps at two ends of the clamping mechanism device execute the loosening instruction to loosen the cable; and 6) when the robot confirms that the three-jaw clamp releases the signal, the robot moves the clamping mechanism device with the wire stripper to withdraw the wire cable position, and sends out a wire stripper thrust cylinder retraction signal command after the robot vision technology confirms that the clamping mechanism device withdraws the wire cable position completely, so that the wire stripper position is restored to the wire stripping origin position.
2. 2. The clamping mechanism device for automatic wire stripping of the robot according to claim 1, wherein the two sliding rails are respectively arranged on the two quick-change connecting plates, so that the accuracy of vertical arrangement of the two sliding rails is guaranteed, the three-jaw clamp fixing plate plays a role of a reinforcing rib, the mechanism rigidity is enhanced, the relative position accuracy can be guaranteed in the moving process of the sliding block, and the smoothness of the moving of the sliding block is guaranteed.
3. 3. The clamping mechanism device for automatic wire stripping of a robot according to claim 1, wherein the upper and lower claw bars are of a double-link structure, one end of each of the upper and lower claw bars is rotatably connected with the three links, the other end of each of the upper and lower claw bars is rotatably arranged on the three-jaw fixing plate, specifically, the upper claw bar, the first link, the upper claw bar rotating shaft and the upper claw bar connecting shaft form a claw assembly, the upper claw bar rotates around the upper claw bar rotating shaft and is connected with the first link through the upper claw bar connecting shaft to form a rotating pair, the lower claw bar and the upper claw bar are the same part, the third link and the first link are the same part, the lower claw bar connecting shaft and the upper claw bar connecting shaft are the same part, and the lower claw bar rotating shaft and the upper claw bar rotating shaft are the same part.
4. 4. The clamping mechanism device for automatic wire stripping of a robot according to claim 1, wherein the wire stripper is further provided with a termination moving structure module, and the termination moving structure module comprises two moving jacking posts arranged at different positions, so that the axial stress of the wire stripper when being jacked by the jacking posts is uniform.

Description

Clamping mechanism device and method for automatic wire stripping of robot Technical Field The invention relates to a technology in the field of high-voltage live working of special robots, in particular to a clamping mechanism device and a clamping mechanism method for automatic wire stripping of robots. Background The existing wire stripper for high-voltage live working is used for manual operation, an operator fixes the wire stripper on a long insulating rod in advance, then hangs the wire stripper on a high-voltage live cable, and the wire stripper is operated to clamp the cable through a handheld remote controller to perform wire stripping work. The operator always holds the insulating rod to provide wire stripping force for the wire stripper and carries out corresponding following movement along with axial transverse movement in the wire stripping process of the wire stripper. The automatic wire stripper can not accurately and reliably follow the movement in the automatic operation system of the robot, and the inconsistent wire stripping speed of the wire stripper occurs when the nominal same type of wires are stripped due to the large thickness error of the insulating layers of the wires, and the constant preset wire stripping speed is adopted when the robot follows the movement, so that the moving speed of the robot is inconsistent with the moving speed of the wire stripper in the automatic wire stripping process, and the phenomenon that the wire stripper is blocked on the wires occurs. It is difficult to implement the robot automatic operation function in the robot automatic operation system. On the premise of not affecting the normal function of the existing high-voltage live line wire stripper, the automatic operation in the automatic operation system of the robot is realized, the robot is matched with the robot for application, the application effect of the robot is improved, and the application range of the robot in the field of high-voltage live line operation is promoted. Disclosure of Invention According to the clamping mechanism device and the clamping mechanism method for automatic wire stripping of the robot, the phenomenon that the robot cannot accurately and reliably follow the movement of the wire stripper to generate clamping in the automatic wire stripping operation system for high-voltage live working is solved, adverse effects of the robot shake on the wire stripper in the wire stripping process are removed, wire stripping is stable and reliable, the automatic lapping efficiency and reliability of drainage wires are remarkably improved, the phenomenon that the fastening device is clamped with a wire clamp when the wire clamp is separated from the wire clamp is avoided, and the operation efficiency of the wire clamp fastening device is improved. The operator is far away from the live cable, the electric shock risk is reduced, the labor intensity is reduced, the operation efficiency is improved, and the automation degree and the stability of the robot in the live operation drainage wire lap joint task are improved. The invention is realized by the following technical scheme: The invention relates to a clamping mechanism device which comprises a movable supporting mechanism module, three-jaw clamping mechanism modules and a wire stripper, wherein the pair of three-jaw clamping mechanism modules are respectively arranged at two ends of the movable supporting mechanism module, and the wire stripper is arranged on the movable supporting mechanism module in a sliding manner. The movable supporting mechanism module comprises a supporting main body and a double-slide rail driving mechanism arranged on the supporting main body, wherein the wire stripper is arranged on the double-slide rail driving mechanism through a wire stripper connecting plate to realize sliding arrangement. The double-slide rail driving mechanism comprises two slide rails which are parallel to each other and a slide connecting block which is arranged on the slide rails in a sliding way, wherein one end of each slide rail is provided with a movable air cylinder, and the output end of each air cylinder is connected with the slide connecting block. The two sliding rails are preferably arranged on the two quick-change connecting plates respectively so as to ensure the vertical arrangement precision of the two sliding rails, the three-jaw clamp fixing plate plays a role of a reinforcing rib, the mechanism rigidity is enhanced, the relative position precision can be ensured in the sliding block movement process, and the sliding block movement smoothness is ensured. The three-jaw clamping mechanism module comprises a three-jaw clamp and a fixed plate, wherein the fixed plate is fixedly arranged on two sides of the movable supporting mechanism module respectively, and the three-jaw clamp is arranged at the top end of the fixed plate. The three-jaw clamp comprises a three-jaw fixing plate, a grabbing cylinder, three connecting r