Robot cover assembly and installation tool and method thereof

Abstract

The application provides a robot protective sleeve assembly and an installation tool and method thereof. The protective sleeve installation tool comprises a pick-and-place docking assembly, a screw rod driving assembly and a clamping jaw assembly. One end of the pick-and-place docking assembly is docked with the end of the robot for transmission, and the other end is fixed on the upper part of the screw rod driving assembly. The clamping jaw assembly is installed on both ends of the screw rod driving assembly for clamping and installing the protective sleeve assembly. The application is suitable for robot live-line work, can effectively improve work efficiency, avoid the risk of manual work, and does not need an additional motor. Only the power of the flange of the end of the robot is transmitted to the tool through a transmission mechanism, and the work efficiency is greatly improved. The installation process is stable and does not shake, the work safety is improved, and different sizes of protective sleeves can be compatible.

Description

Technical Field

[0001] This invention relates to the field of electrified robots, specifically a robot protective sleeve assembly and its installation tools and methods. Background Technology

[0002] Currently, the power industry mostly uses manual hand-held insulated rod operation for live-line work. For exposed parts such as pole-mounted switch joints and terminal cable joints, insulation protection is required. Usually, workers ride in a bucket truck to the designated height and then use multiple installation auxiliary tools to grab, place, and fasten the insulating protective sleeve. This operation is not only cumbersome and inefficient, but also requires manual live-line operation, which increases safety risks.

[0003] The rise of the robotics industry has greatly driven the development of specialized industries. Robots, by grasping actuators and performing live operations, can mitigate many safety risks and improve operational efficiency. To address the shortcomings of existing manual operation methods, it is necessary to research a set of protective sleeve installation tools and operating methods suitable for robots performing live operations. Summary of the Invention

[0004] To address the problems of existing technologies, this invention provides a protective sleeve installation tool and its operating method, suitable for live robot operations. It effectively improves work efficiency, avoids the risks of manual operation, and requires no additional motor. The power of the robot's end flange is transmitted to the tool through a transmission mechanism, greatly improving work efficiency. The installation process is stable and without shaking, improving operational safety, and it is compatible with protective sleeves of different sizes.

[0005] The present invention provides a robot protective sleeve assembly, including a flexible insulating protective sleeve that wraps around a robotic arm. The bottom of the protective sleeve has a flange, and support plates are respectively bonded to both sides of the flange. Several hot-melt pillars penetrate the flange and the support plates to reinforce them.

[0006] The hot-melt column has two sets. One set of hot-melt columns penetrates one side of the flange and the support plate to fix the flange and the support plate. The other set of hot-melt columns penetrates all the flanges and the support plate. The front end of this set of hot-melt columns has a conical structure to fasten the flanges on both sides of the bottom of the protective sleeve.

[0007] The present invention also provides a protective sleeve installation tool, including a pick-and-place docking assembly, a lead screw drive assembly, and a gripper assembly, wherein one end of the pick-and-place docking assembly is docked and driven with the end of the robot, and the other end is fixed to the upper part of the lead screw drive assembly, and the gripper assembly is respectively installed at both ends of the lead screw drive assembly.

[0008] The lead screw drive assembly provides driving force to the gripper assembly. It includes a driven bevel gear shaft, a driven bevel gear, a driving synchronous pulley, a synchronous belt, a driven synchronous pulley, a limiting post, a lead screw, a lead screw nut, a guide shaft, sliding bearings, an upper plate, a slider fixing plate, and a lower plate. The upper plate and the lower plate are located at the upper and lower parts of the lead screw drive assembly, respectively, and are connected by guide shafts on both sides. The lead screw is located in the middle of the upper and lower plates. The driven bevel gear is fixed to the upper end of the driven bevel gear shaft and meshes with the driving bevel gear. The driving synchronous pulley is fixed to the lower end of the driven bevel gear shaft. The driven synchronous pulley is mounted on the lead screw and transmits power to the lead screw through the synchronous belt. The lead screw nut is fixed to the slider fixing plate and can move up and down between the limiting posts under the drive of the lead screw. Two sliding bearings are fixed at both ends of the slider fixing plate and move up and down along the guide shaft.

[0009] The gripper assembly is used to clamp and install the protective sleeve assembly. It includes a drive rod pin fixing seat, pin A, a drive connecting rod, a locking claw rotating seat, a locking claw assembly, a locking claw connecting rod, and pin B. Two drive rod pin fixing seats are respectively fixed to the two end faces of the slider fixing plate. The locking claw rotating seats are respectively fixed to the lower two sides of the lower plate. One end of each of the two drive connecting rods is mounted on both sides of the drive rod pin fixing seat via pin A and rotates around the holes on both sides. The other end is connected to the outer holes of the two locking claw assemblies via pin A. The inner sides of the two locking claw assemblies are connected to the locking claw rotating seats via pin B.

[0010] The locking claw assembly includes a clamping post, a linear bearing, a fixing block, locking claws, and a mounting post. The locking claws on the two locking claw assemblies surround a protective sleeve mounting cavity, the size of which matches the outer edge of the protective sleeve. A clamping post is provided at the end of each locking claw. One end of the clamping post passes through the flange and fixing plate at the bottom of the protective sleeve to fix it in place, and the other end is connected to the mounting post. A fixing block is mounted on the outer edge of the clamping post via a linear bearing, and the fixing block abuts against the support plate of the protective sleeve.

[0011] The pick-and-place docking assembly includes a drive shaft, a tool disk, a connecting bracket, an active bevel gear, and a fixing frame. The drive shaft passes through the connecting bracket and is rotated and supported by bearings. The tool disk is fixed to the front end of the connecting bracket. The active bevel gear is installed at the end of the drive shaft to transmit power. The fixing frame is fixed to the rear end of the connecting bracket for the installation and fixation of the entire pick-and-place docking assembly.

[0012] The present invention also provides a method for installing a protective case, which uses the above-mentioned protective case installation tool and specifically includes the following steps:

[0013] 1) Clamping the protective sleeve: Unfold the protective sleeve assembly from the bottom, attach it to the corresponding clamping post, press the mounting post to push the clamping post through the corresponding hole of the protective sleeve flange, and hold the protective sleeve assembly by the tapered buckle at the front end of the clamping post;

[0014] 2) Install the protective sleeve: The robotic arm moves the protective sleeve assembly to the designated installation position, closes the locking claw assembly, thereby driving the flange of the protective sleeve assembly to lock in place, and finally the tapered structure at the front end of the hot melt column A passes through the corresponding hole of the flange to achieve fastening.

[0015] 3) Disengagement from the protective sleeve: During the engagement process of the locking claw assembly and the protective sleeve assembly at the flange, the clamping column is squeezed and the conical buckle disengages from the flange of the protective sleeve assembly. As the locking claw assembly further unfolds, the clamping column completely disengages from the protective sleeve assembly.

[0016] The beneficial effects of this invention are as follows:

[0017] 1. Suitable for live-line work of robots, which can effectively improve work efficiency and avoid the risks of manual work.

[0018] 2. No additional motor is required. The power of the robot's end flange is transmitted to the tool through the transmission mechanism, which greatly improves the efficiency of operation.

[0019] 3. The installation process is stable and without shaking, which improves the safety of the operation and is compatible with protective covers of different sizes. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an isometric drawing of the insulating protective sleeve installation tool;

[0022] Figure 2 This is a cross-sectional view of the latching claw assembly;

[0023] Figure 3 This is an isometric view of the insulating protective sleeve;

[0024] Figure 4 This is a cross-sectional view of the insulating protective sleeve;

[0025] Figure 5 This is a cross-sectional view of the insulating protective sleeve;

[0026] Figure 6 This is a diagram showing the initial state of the insulating protective sleeve installation tool;

[0027] Figure 7 This is a diagram showing the engagement state of the insulating protective sleeve installation tool.

[0028] The reference numerals in the figure include: 1. Pick-up and drop-off assembly; 2. Lead screw drive assembly; 3. Gripper assembly; 4. Protective sleeve assembly; 11. Drive shaft; 12. Tool disc; 13. Connecting bracket; 14. Driving bevel gear; 15. Fixing bracket; 21. Driven bevel gear shaft; 22. Driven bevel gear; 23. Driving synchronous belt pulley; 24. Synchronous belt; 25. Driven synchronous belt pulley; 26. Limiting post; 27. Lead screw; 28. Lead screw nut; 29. ​​Guide shaft; 210. Sliding bearing; 211. Upper plate, 212, slider fixing plate, 213, lower plate, 31, drive rod pin fixing seat, 32, pin A, 33, drive connecting rod, 34, locking claw rotating seat, 35, locking claw assembly, 36, locking claw connecting rod, 37, pin B, 351, clamping column, 352, linear bearing, 353, locking claw front end fixing block, 354, locking claw, 355, mounting column, 41, protective sleeve, 42, support plate A, 43, support plate B, 44, hot melt column A, 45, hot melt column B. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] This invention provides a protective case installation tool, such as... Figure 1 As shown, it includes a pick-and-place docking assembly 1, a lead screw drive assembly 2, and a gripper assembly 3, wherein the pick-and-place docking assembly 1 is fixed on the upper part of the lead screw drive assembly 2, and the gripper assembly 3 is respectively installed at both ends of the lead screw drive assembly 2.

[0031] The pick-and-place docking assembly 1 is used for docking and transmission with the robot end effector. The assembly includes a drive shaft 11, a tool disk 12, a connecting bracket 13, an active bevel gear 14, and a fixing frame 15. The drive shaft 11 passes through the connecting bracket 13 and is rotated and supported by bearings. The tool disk 12 is fixed to the front end of the connecting bracket 13. The active bevel gear 14 is installed at the end of the drive shaft 11 and is used to transmit power. The fixing frame 15 is fixed to the rear end of the connecting bracket 13 and is used to install and fix the entire pick-and-place docking assembly 1.

[0032] The lead screw drive assembly 2 provides driving force to the gripper assembly 3. The assembly includes a driven bevel gear shaft 21, a driven bevel gear 22, a driving synchronous pulley 23, a synchronous belt 24, a driven synchronous pulley 25, a limiting post 26, a lead screw 27, a lead screw nut 28, a guide shaft 29, a sliding bearing 210, an upper plate 211, a slider fixing plate 212, and a lower plate 213. The upper plate 211 and lower plate 213 are located at the upper and lower parts of the assembly, respectively, and are connected by the guide shafts 29 on both sides. The lead screw 27 is located between the upper plate 211 and the lower plate 213. In the middle, the driven bevel gear 22 is fixed to the upper end of the driven bevel gear shaft 21 and meshes with the driving bevel gear 14. The driving synchronous pulley 23 is fixed to the lower end of the driven bevel gear shaft 21. The driven synchronous pulley 25 is mounted on the lead screw 27 and transmits power to the lead screw 27 through the synchronous belt 24. The lead screw nut 28 is fixed to the slider fixing plate 212 and can move up and down between the limit posts 26 under the drive of the lead screw 27. Two sliding bearings 210 are fixed at both ends of the slider fixing plate 212 and can move up and down along the guide shaft 29.

[0033] The gripper assembly 3 is used to clamp and install the protective sleeve assembly. The assembly includes a drive rod pin fixing seat 31, pin A 32, drive connecting rod 33, locking claw rotating seat 34, locking claw assembly 35, clamping post 351, locking claw connecting rod 36, pin B 37, linear bearing 352, locking claw front end fixing block 353, locking claw 354, and mounting post 355. The two drive rod pin fixing seats 31 are respectively fixed on the two end faces of the slider fixing plate 212. The locking claw rotating seats 34 are respectively fixed on the lower two sides of the lower plate 213. One end of the two drive connecting rods 33 is respectively installed on the two sides of the drive rod pin fixing seat 31 through pin A 32 and can rotate around the holes on both sides. The other end is connected to the outer holes of the two locking claw assemblies 35 through pin A 32. The inner sides of the two locking claw assemblies 35 are respectively connected to the locking claw rotating seat 34 through pin B 37.

[0034] The latching claw assembly 35, as shown Figure 2 , 6 As shown in Figure 7, the device includes a clamping post 351, a linear bearing 352, a fixing block 353, a snap-fit ​​claw 354, and a mounting post 355. The snap-fit ​​claws 354 on the two snap-fit ​​claw assemblies 35 surround the protective sleeve mounting cavity, and the size of the cavity matches the outer edge of the protective sleeve. The snap-fit ​​claw 354 is provided with a clamping post 351 at its end. One end of the clamping post 351 passes through the flange and fixing plate at the bottom of the protective sleeve to fix the protective sleeve, and the other end is connected to the mounting post 355.

[0035] This invention provides a protective sleeve assembly 4 suitable for robot operation, such as... Figure 3-5As shown, the device includes a protective sleeve 41, support plate A 42, support plate B 43, hot melt pillars A 44 and B 45. The protective sleeve 41 is the main body and is made of silicone rubber or other similar soft and insulating materials. Its appearance can be adjusted according to actual needs. Support plates A 42 and B 43 are located on both sides of the bottom flange of the protective sleeve 41 and are bonded to the flange with glue. The left side is reinforced with support plate A 42 by multiple sets of hot melt pillars A 44, and the right side is reinforced with support plate B 43 by multiple sets of hot melt pillars B 45. The tapered structure at the front end of the hot melt pillar A 44 facilitates the fastening of the bottom flanges of the protective sleeve 41.

[0036] Furthermore, the present invention also provides a method for operating the above-mentioned protective sleeve installation tool, including the following steps:

[0037] 1) Clamping protective sleeve: such as Figure 6 As shown, unfold the protective sleeve assembly 4 from the bottom and attach it to the corresponding clamping post 351. Press the mounting post 355 to push the clamping post 351 through the corresponding hole of the flange of the protective sleeve 41. The protective sleeve assembly 4 is held in place by the tapered buckle at the front end of the clamping post 351.

[0038] 2) Install a protective cover: such as Figure 4 As shown, the robotic arm drives the protective sleeve assembly 4 to the designated installation position, closes the locking claw assembly 35, thereby driving the flange of the protective sleeve assembly 4 to be locked, and finally the front conical structure of the hot melt column A 44 passes through the corresponding hole of the flange to achieve fastening.

[0039] 3) Remove the protective cover: such as Figure 7 As shown, during the process of the latching claw assembly 35 engaging the flange of the protective sleeve assembly 4, the clamping post 351 is squeezed, and the conical buckle disengages from the flange of the protective sleeve assembly 4. During the further unfolding of the latching claw assembly 35, the clamping post 351 completely disengages from the protective sleeve assembly 4.

[0040] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, for the device embodiments, the above descriptions are merely preferred embodiments of the present invention. Since they are fundamentally similar to the method embodiments, the descriptions are relatively simple, and relevant parts can be referred to the descriptions of the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention, without departing from the principle of the present invention, should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for installing a protective cover, characterized in that: The following robot protective sleeve components and installation tools are used: including a flexible insulating protective sleeve that wraps around the robot arm, with a flange at the bottom of the protective sleeve, support plates bonded to both sides of the flange, and several hot-melt pillars penetrating the flange and support plates to reinforce them; It includes a protective sleeve, support plate A, support plate B, hot melt pillar A, and hot melt pillar B. The protective sleeve is the main body. Support plate A and support plate B are located on both sides of the bottom flange of the protective sleeve and are bonded to the flange with glue. The left side is reinforced with support plate A by multiple sets of hot melt pillar A, and the right side is reinforced with support plate B by multiple sets of hot melt pillar B. The tapered structure at the front end of the hot melt pillar A can facilitate the fastening of the bottom flanges on both sides of the protective sleeve 41. The protective sleeve installation tool includes: a pick-and-place docking assembly, a lead screw drive assembly, and a gripper assembly. One end of the pick-and-place docking assembly is connected to the end of the robot for transmission, and the other end is fixed to the upper part of the lead screw drive assembly. The gripper assemblies are respectively installed at both ends of the lead screw drive assembly. The lead screw drive assembly is used to provide driving force to the gripper assembly; The gripper assembly is used to clamp and install the protective sleeve assembly, and includes a drive rod pin fixing seat, pin A, drive connecting rod, locking claw rotating seat, locking claw assembly, locking claw connecting rod, and pin B; The inner sides of the two locking claw assemblies are respectively connected to the locking claw rotating seat via pin B; The snap-fit ​​claw assembly includes a clamping post, a linear bearing, a fixing block, a snap-fit ​​claw, and a mounting post; the snap-fit ​​claw is provided with a clamping post at its end, one end of which passes through the flange and fixing plate at the bottom of the protective sleeve to fix the protective sleeve, and the other end is connected to the mounting post; Specifically, the following steps are included: 1) Clamping the protective sleeve: Unfold the protective sleeve assembly from the bottom, attach it to the corresponding clamping post, press the mounting post to push the clamping post through the corresponding hole of the protective sleeve flange, and hold the protective sleeve assembly by the tapered buckle at the front end of the clamping post; 2) Install the protective sleeve: The robotic arm moves the protective sleeve assembly to the designated installation position, closes the locking claw assembly, thereby driving the flange of the protective sleeve assembly to lock in place, and finally the tapered structure at the front end of the hot melt column A passes through the corresponding hole of the flange to achieve fastening. 3) Disengagement from the protective sleeve: During the engagement process of the locking claw assembly and the protective sleeve assembly at the flange, the clamping column is squeezed and the conical buckle disengages from the flange of the protective sleeve assembly. As the locking claw assembly further unfolds, the clamping column completely disengages from the protective sleeve assembly.

2. The protective sleeve installation tool of the protective sleeve installation method as described in claim 1, characterized in that: The assembly includes a driven bevel gear shaft, a driven bevel gear, a driving synchronous pulley, a synchronous belt, a driven synchronous pulley, limit posts, a lead screw, a lead screw nut, a guide shaft, sliding bearings, an upper plate, a slider fixing plate, and a lower plate. The upper and lower plates are located at the upper and lower parts of the lead screw drive assembly, respectively, and are connected by guide shafts on both sides. The lead screw is located in the middle of the upper and lower plates. The driven bevel gear is fixed to the upper end of the driven bevel gear shaft and meshes with the driving bevel gear. The driving synchronous pulley is fixed to the lower end of the driven bevel gear shaft. The driven synchronous pulley is mounted on the lead screw and transmits power to the lead screw through the synchronous belt. The lead screw nut is fixed to the slider fixing plate and can move up and down between the limit posts under the drive of the lead screw. Two sliding bearings are fixed at both ends of the slider fixing plate and move up and down along the guide shaft. Two drive rod pin fixing seats are fixed on the two end faces of the slider fixing plate respectively. The locking claw rotating seats are fixed on the lower two sides of the lower plate respectively. One end of the two drive connecting rods is installed on both sides of the drive rod pin fixing seat through pin A and rotates around the holes on both sides. The other end is connected to the outer hole of the two locking claw assemblies through pin A.

3. The protective case installation tool of the protective case installation method as described in claim 1, characterized in that: The outer edge of the clamping column is fitted with a fixing block via a linear bearing, and the fixing block abuts against the support plate of the protective sleeve.

4. The protective case installation tool of the protective case installation method as described in claim 1, characterized in that: The pick-and-place docking assembly includes a drive shaft, a tool disk, a connecting bracket, an active bevel gear, and a fixing frame. The drive shaft passes through the connecting bracket and is rotated and supported by bearings. The tool disk is fixed to the front end of the connecting bracket. The active bevel gear is installed at the end of the drive shaft to transmit power. The fixing frame is fixed to the rear end of the connecting bracket for the installation and fixation of the entire pick-and-place docking assembly.

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