CN-122008295-A - Dual-mode-adjustment end effector of overhead line system operation robot and application method thereof

Abstract

The invention provides a double-mode-adjustment end effector of a contact net operation robot and a use method thereof, relating to the field of robot operation, the end effector comprises a main shaft, a self-tightening clamping unit arranged at the front end of the main shaft, an outer layer unit arranged around the main shaft, an adjusting unit arranged between the clamping unit and the main shaft, a mode switching unit arranged between the adjusting unit and the outer layer unit, and a driving unit for driving the main shaft to rotate. The invention can operate bolts with various specifications, can avoid the condition of causing local stress concentration, and is suitable for the scene of fine maintenance of the overhead contact system.

Inventors

• WEI PENG
• HUANG CHENG
• WANG PINGJIANG
• WANG JIHUANG
• WEN JIANHE
• LIANG ZEHAO
• HUANG JIANFENG
• CHEN WENQI

Assignees

• 华中科技大学
• 泉州华中科技大学智能制造研究院

Dates

Publication Date

20260512

Application Date

20260320

Claims (10)

1. 1. The end effector of the contact net operation robot is used for executing screwing operation on a plurality of fasteners in contact net operation and is characterized by comprising a main shaft, a self-tightening clamping unit arranged at the front end of the main shaft, an outer layer unit arranged around the main shaft, an adjusting unit arranged between the clamping unit and the main shaft, a mode switching unit arranged between the adjusting unit and the outer layer unit and a driving unit for driving the main shaft to rotate.
2. 2. The end effector of a bimodal regulated contact net work robot according to claim 1, wherein the clamping unit comprises three clamping pieces which are uniformly and alternately arranged along the circumference, the clamping pieces comprise a moving plate which extends along the axial direction of the main shaft, a flat plate which is vertically arranged on the moving plate and a clamping plate which is arranged on the flat plate, the moving plate is arranged on the regulating unit in a manner of being capable of moving along the radial direction of the main shaft, and the outer side edge of the moving plate is inclined inwards.
3. 3. The end effector of the contact net operation robot adjusted in a bimodal manner according to claim 2, wherein the adjusting unit comprises a screw rod with external threads, a threaded sleeve matched with the screw rod, and an inner ring shaft sleeve connecting the threaded sleeve with a main shaft, a disc is arranged at the front end of the screw rod, three arc-shaped sheets are uniformly arranged on the disc at intervals, a bump is arranged at one end of each arc-shaped sheet, a groove is arranged on the moving plate, the moving plate is positioned in a space formed by two adjacent arc-shaped sheets and the bump is embedded in the groove, and a conical section with the same inclination direction as the outer side edge of the moving plate is arranged at the front end of the outer layer unit so as to realize radial movement of the moving plate by matching with the screw rod and the threaded sleeve.
4. 4. The end effector of the contact net working robot adjusted in a bimodal manner according to claim 1, 2 or 3, wherein the outer layer unit further comprises an outer ring shaft sleeve, and the mode switching unit comprises a clutch mechanism connected between the outer ring shaft sleeve and the main shaft, and the outer layer unit is synchronously rotated with the main shaft or is not rotated with the main shaft through the clutch mechanism.
5. 5. The bimodal regulated contact net work robot end effector of claim 3, wherein the clamping unit radius R is a function of the driving angle of the driving unit The relation of the changes is that , wherein, Is a proportionality coefficient, the size of which is related to the transmission ratio of the adjusting unit, the pitch parameter, the structure and the size of the clamping piece, For the initial offset, corresponding to the equivalent radius of the clamping unit in the minimum open state, And (3) with Can be obtained by theoretical modeling or experimental calibration.
6. 6. The method for operating the end effector of the contact net robot by bimodal adjustment according to claim 3, further comprising obtaining an actual attitude angle of the end effector According to the attitude error Calculating the compensation control amount acting on the driving unit as To adjust the drive unit output torque, wherein, , For a given attitude angle of the target, 、 、 T represents time, which is a parameter that can be obtained through system identification or empirical tuning.
7. 7. The dual-mode regulated contact net work robot end effector according to claim 1, 2 or 3, wherein the clamping plate comprises an inclined block with an inward inclined outer side and a flat block arranged inside the inclined block and extending to both sides.
8. 8. The dual-mode regulated catenary work robot end effector of claim 1, 2, or 3, further comprising a transition piece coupled between the outer race sleeve and the robot end flange to provide a rigid connection and coaxial mounting between the end effector and the robot.
9. 9. The bimodal regulated catenary work robot end effector of claim 1, 2, or 3, wherein the drive unit comprises a motor and an elastic coupling coupled between the motor and the spindle, the motor comprising a servo motor or a stepper motor.
10. 10. The method for using the end effector of the contact net working robot based on the bimodal regulation according to any one of claims 1 to 9 is characterized by comprising the following steps: s1, determining the clamping radius required by each fastener according to specification parameters of N fasteners in a region to be operated; s2, taking the minimum total operation time as an optimization target, and solving An optimal screwing sequence is obtained, wherein the objective function , Indicating the execution sequence number of all fasteners in the area to be worked, Representing the r-th fastener to be subjected to the screwing operation, Indicating the working time required for the r-th fastener to be subjected to the driving operation, Indicating the time for the end effector to move when switching from the r-th fastener to the (r + 1) -th fastener to perform the driving operation, which is related to the positions of the two fasteners and the moving speed of the end effector, Represents the clamping unit radius adjustment time required when switching from the r-th fastener to the (r+1) -th fastener to which the driving operation is performed, which time is related to the amount of clamping radius change of the two fasteners.

Description

Dual-mode-adjustment end effector of overhead line system operation robot and application method thereof Technical Field The invention relates to the field of robot operation, in particular to a double-mode-adjustment contact net operation robot end effector and a use method thereof. Background The high-speed railway contact net system is used as a key infrastructure for train traction power supply, and the structural integrity and the connection reliability of the high-speed railway contact net system are directly related to the safety and the continuity of train operation. In the long-term service process, key components such as a contact net cantilever, a dropper wire clamp and a positioning device are commonly connected by adopting a multi-bolt fastening structure. The fastening part is affected by factors such as train running vibration, temperature change, environmental corrosion and the like, and the fastening part needs to be periodically subjected to inspection, tightness adjustment or replacement operation. At present, overhead working is still mainly performed by the overhead working system, and operators need to complete repeated tightening operation of the multipoint bolts on the working vehicle or the lifting platform, so that the overhead working system has the advantages of high labor intensity, low working efficiency and safety risks such as falling and misoperation. Meanwhile, the manual operation is obviously affected by individual experience, the stress consistency of the multi-bolt structure in the disassembly and assembly process is difficult to ensure, and potential structural potential safety hazards exist. In order to improve the operation efficiency and the safety, robot auxiliary contact net maintenance is gradually introduced in recent years. However, the existing overhead line system working robot still has obvious defects at the end effector level. On the one hand, the existing tail end clamp is mostly of a single-function design, is usually optimized only for a certain function in screwing or clamping of bolts, is difficult to meet clamping adjustment requirements and large-torque screwing requirements of bolts of different specifications simultaneously in the same operation process, and therefore tools are required to be replaced frequently or a complex multi-actuator combined structure is adopted, system complexity is increased, and overall reliability is reduced. On the other hand, when facing the multi-bolt structure, the existing robot operation scheme generally adopts a sequential or single-point dismounting mode, and lacks a cooperative operation strategy for frequent specification switching of a plurality of contact net bolts. Disclosure of Invention The invention mainly aims to provide a bimodal-adjustment end effector of a contact net operation robot and a use method thereof, which can operate bolts with various specifications and are suitable for the scene of precise maintenance of the contact net. The invention is realized by the following technical scheme: The end effector of the contact net operation robot is used for executing screwing operation on a plurality of fasteners in contact net operation, the end effector comprises a main shaft, a self-tightening clamping unit arranged at the front end of the main shaft, an outer layer unit arranged around the main shaft, an adjusting unit arranged between the clamping unit and the main shaft, a mode switching unit arranged between the adjusting unit and the outer layer unit and a driving unit for driving the main shaft to rotate, before screwing operation, the main shaft is firstly disconnected with the outer layer unit through the mode switching unit, the driving unit drives the main shaft to rotate so as to drive the adjusting unit to adjust the radius of the clamping unit to be suitable for the clamping radius required by the operated fasteners, when screwing operation is carried out, the mode switching unit is connected with the main shaft and the outer layer unit, the driving unit drives the clamping unit to rotate so as to execute screwing operation on the fasteners, and in the screwing operation, the driving unit outputs torque according to the error between the actual attitude angle and the target attitude angle of the end effector. Further, the clamping unit comprises three clamping pieces which are uniformly arranged at intervals on the circumference, each clamping piece comprises a moving plate which extends along the axial direction of the main shaft, a flat plate which is vertically arranged on the moving plate and a clamping plate which is arranged on the flat plate, the moving plate can be arranged on the adjusting unit in a radial moving way along the main shaft, and the outer side edge of the moving plate is inclined inwards. Further, the adjusting unit comprises a screw rod with external threads, a threaded sleeve matched with the screw rod and an inner ring shaft sleeve connected with the threaded s