An end effector suitable for robot air switch

Abstract

The present invention provides an end effector suitable for a robot air switch, comprising an actuator body, a paddle mechanism and a base, wherein the two ends of the base are respectively connected to the actuator body and the end of the robot arm, and the actuator body is connected to the paddle mechanism in a transmission manner, and the paddle mechanism is driven by the actuator body to make an arc motion, and the paddle mechanism contacts the wrench of the air switch during the arc motion, thereby driving the wrench of the air switch to move. The working trajectory of the end effector of the present invention is matched with the arc motion trajectory of the wrench of the air switch, so that the force direction of the end effector on the wrench of the air switch is kept perpendicular to the wrench, so that its torque is maximized and the force is well received; the paddle mechanism in contact with the wrench of the air switch has a built-in torsion spring and a limit block, so that when the paddle contacts the wrench of the air switch, it can have a certain adaptability to the change of the wrench angle, thereby increasing the contact area and optimizing the force receiving mode.

Description

Technical Field

[0001] The invention relates to the technical field of air switches, and in particular to an end effector suitable for a robot air switch. Background Art

[0002] With the continuous development of robotics technology and the gradual reduction of machinery manufacturing costs and parts costs, robots have gradually penetrated from the industrial field into our daily lives, gradually replacing humans in some dangerous jobs.

[0003] The power grid electrical control cabinet integrates many electrical switches and is an important part of the power grid. The switches in the cabinet often have high voltages. If they are not operated properly, short circuits may occur, resulting in electric shocks and explosions, posing a serious threat to the personal safety of operators.

[0004] In order to solve the above technical problems, patent CN201410770948.5 discloses a device for remotely controlling a household air switch. It designs a connecting rod device, which is connected to the wrench of the corresponding air switch to form a parallelogram connecting rod structure. The motor can be remotely controlled to drive the connecting rod to move, thereby controlling the connection and disconnection of the air switch. However, this patent needs to be connected to a fixed air switch through a connecting rod device, resulting in a lack of flexibility in its operation, and the connecting rod device has the disadvantages of being large in size and uncontrollable in force.

[0005] Patent CN202210143535.9 discloses a robotic arm and an inspection robot. It designs a composite robotic arm end effector, which has multiple operating mechanisms for electrical switches. The end effector itself does not have a driver, and the robotic arm drives the end effector to operate the switch. The operating structure applied to the air switch is a simple hollow cylinder, into which the wrench of the air switch can be embedded, and the air switch can be connected and disconnected through the movement of the robotic arm. However, this patent requires the robotic arm to perform complex movements.

[0006] Patent CN200820119530.8 discloses an air switch controller. It designs a ball screw device, which is fixed on the corresponding air switch, and can drive the air switch paddle to move by controlling the linear motion of the ball screw device, thereby completing the connection and disconnection. However, its ball screw device can only move linearly, and the moving block fixed on the slider always applies force to the air switch paddle in one direction, which cannot adapt to the movement trajectory of the paddle, and the force condition is not good enough. Summary of the invention

[0007] In view of the shortcomings of the prior art, the present invention provides an end effector suitable for a robot air switch. The present invention has a driving motor inside the end effector, which can drive the corresponding structure inside the actuator to move. The corresponding moving structure inside the driver can contact the wrench of the air switch, thereby controlling the connection and disconnection of the air switch.

[0008] The technical solution of the present invention is: an end effector suitable for a robot air switch, comprising an actuator body, a paddle mechanism and a base, wherein the two ends of the base are respectively connected to the actuator body and the end of the robot arm, and the actuator body is transmission-connected to the paddle mechanism, and the paddle mechanism is driven by the actuator body to perform circular motion, and the paddle mechanism contacts the wrench of the air switch during the circular motion, thereby driving the air switch wrench to move.

[0009] Preferably, the actuator body includes an actuator housing, and a driving motor, a bevel gear, and a driven incomplete gear arranged in the actuator housing, and a bevel gear is arranged on the output shaft of the driving motor, the bevel gear is meshed with the driven incomplete gear, and the driven incomplete gear can make circular motion in the actuator housing under the drive of the bevel gear, and the driven incomplete gear is connected to the bevel gear and the paddle mechanism.

[0010] Preferably, a semi-circular slideway is provided in the actuator housing, and arc-shaped slide beams for matching with the semi-circular slideway are provided on both sides of the driven incomplete gear, and the arc-shaped slide beams are nested in the semi-circular slideway of the actuator housing.

[0011] Preferably, the driven incomplete gear is a semicircular arc structure, and meshing teeth are arranged on the back of the semicircular arc structure driven incomplete gear, and connecting ears are symmetrically arranged on the driven incomplete gear on the other side of the meshing teeth, and connecting holes are arranged on the connecting ears.

[0012] Preferably, the paddle mechanism includes a paddle, a torsion spring, and a connecting shaft, wherein the connecting shaft is arranged in a connecting hole of a connecting ear of the driven incomplete gear, and a paddle is also sleeved on the connecting shaft between the two connecting ears, and a torsion spring is also sleeved on the connecting shaft, and both ends of the torsion spring are respectively nested on the paddle and the driven incomplete gear.

[0013] Preferably, a limit block is sleeved on the connecting shaft outside the two connecting ears, and the position of the paddle is constrained by the limit block.

[0014] Preferably, the base includes a flange seat, and a plurality of springs are arranged between the flange seat and the actuator housing.

[0015] The beneficial effects of the present invention are:

[0016] 1. The working trajectory of the end effector of the present invention is matched with the arc motion trajectory of the wrench of the air switch, so that the force direction of the end effector on the wrench of the air switch is kept perpendicular to the wrench, so that its torque is maximized and the force is well received;

[0017] 2. The paddle mechanism in contact with the wrench of the air switch of the present invention has a built-in torsion spring and a limit block, so that the paddle can have a certain adaptability to the change of the wrench angle when contacting the wrench of the air switch, thereby increasing the contact area and optimizing the force mode;

[0018] 3. The present invention drives the bevel gear to rotate by driving the motor, thereby driving the driven incomplete gear to make circular motion in the semicircular ring slideway, thereby driving the paddle to move; an arc motion trajectory consistent with the air switch wrench is obtained, and when the paddle contacts the air switch wrench, due to the presence of the torsion spring, the paddle can adapt to the angle of the air switch wrench, and the limit block imposes certain constraints on the angle adapted by the paddle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of the present invention;

[0020] Figure 2 is a schematic structural diagram of the end effector of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a hidden part of the actuator housing of the end effector of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the driven incomplete gear of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the paddle mechanism of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the plectrum of the present invention;

[0025] In the figure, 1-actuator body, 2-paddle mechanism, 3-base, 4-air switch;

[0026] 11-actuator housing, 12-driving motor, 13-bevel gear, 14-driven incomplete gear; 15-semicircular ring slideway, 16-arc slide beam, 17-meshing teeth, 18-connecting ear;

[0027] 21-paddle, 22-torsion spring, 23-limiting block;

[0028] 31-flange seat, 32-spring. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings:

[0030] like Figure 1 and 2 As shown, this embodiment provides an end effector suitable for a robot air switch, including an actuator body 1, a paddle mechanism 2 and a base 3. The two ends of the base 3 are respectively connected to the actuator body 1 and the end of the robot arm, and the actuator body 1 is transmission-connected to the paddle mechanism 2. The actuator body 1 drives the paddle mechanism 2 to make an arc motion. During the arc motion, the paddle mechanism 2 contacts the wrench of the air switch 4, thereby driving the wrench of the air switch 4 to move.

[0031] As preferred in this embodiment, Figure 3 As shown, the actuator body 1 includes an actuator housing 11, and a drive motor 12, a bevel gear 13, and a driven incomplete gear 14 arranged in the actuator housing 11. In this embodiment, the actuator housing 11 includes an upper and lower housing, and the upper and lower housings are fixed by multiple bolts. In addition, in this embodiment, the end of the actuator housing 11 away from the base 3 is a semicircular arc structure.

[0032] The actuator housing 11 is provided with a receiving chamber, the drive motor 12 is provided in the receiving chamber of the actuator housing 11 , and a bevel gear 13 is provided on the output shaft of the drive motor 12 , and the bevel gear 13 is driven to rotate by the drive motor 12 .

[0033] The bevel gear 13 meshes with the driven incomplete gear 14, and the driven incomplete gear 14 can make circular motion in the actuator housing 11 under the drive of the bevel gear 13. The driven incomplete gear 14 is connected to the paddle mechanism 2, and the driven incomplete gear 14 can drive the paddle mechanism 2 to make circular motion during the circular motion.

[0034] As preferred in this embodiment, Figure 3 As shown, a semicircular ring slideway 15 is provided in the semicircular arc structure at one end of the actuator housing 11 away from the base 3 .

[0035] like Figure 4 As shown, arc-shaped slide beams 16 for matching with the semi-circular slideway 15 are arranged on both sides of the driven incomplete gear 14 , and the arc-shaped slide beams 16 are nested in the semi-circular slideway 15 of the actuator housing 11 .

[0036] As preferred in this embodiment, Figure 4As shown, the driven incomplete gear 14 is a semicircular arc structure, and a plurality of meshing teeth 17 are arranged on the back of the semicircular arc structure driven incomplete gear 14, and two connecting ears 18 are symmetrically arranged on the driven incomplete gear 14 on the other side of the meshing teeth 17, and the two connecting ears 18 are provided with corresponding connecting holes.

[0037] As preferred in this embodiment, Figure 2 , 5 As shown, the paddle mechanism 2 includes a paddle 21, a torsion spring 22, and a connecting shaft. The connecting shaft is arranged in the connecting hole of the connecting ear 18 of the driven incomplete gear 14, and a paddle 21 is also sleeved on the connecting shaft between the two connecting ears 18. In this embodiment, the paddle 21 is a T-shaped structure, and a corresponding connecting hole is arranged at the lower end of the paddle 21.

[0038] A torsion spring 22 is also sleeved on the connecting shaft, and the two ends of the torsion spring 22 are respectively embedded in the paddle 21 and the driven incomplete gear 14. When the paddle 21 contacts the wrench of the air switch 4, due to the presence of the torsion spring 22, the paddle 21 can adapt to the angle of the wrench of the air switch 4.

[0039] As preferred in this embodiment, Figure 2 and 3 As shown, a limit block 23 is sleeved on the connecting shaft outside the two connecting ears 18, and the position of the paddle 21 is constrained by the limit block 23.

[0040] As a preferred embodiment of the present invention, as shown in 1-3, the base 3 includes a flange seat 31, and the flange seat 31 is also provided with a plurality of screw holes for connecting with the end of the robot arm. A plurality of springs 32 are also provided between the flange seat 31 and the actuator housing 11. In the present embodiment, the number of the springs 32 is 4, and the 4 springs 32 are symmetrically arranged.

[0041] The working principle of this embodiment is:

[0042] The driving motor 12 drives the bevel gear 13 to rotate, thereby driving the driven incomplete gear 14 to move along the semicircular annular slideway 15 on the actuator housing 1, and obtaining a circular motion trajectory consistent with the wrench of the air switch 4. Then, the paddle 21 performs circular motion under the drive of the driven incomplete gear 14. When the paddle 21 contacts the wrench of the air switch 4, due to the presence of the torsion spring 22, the paddle 21 can adapt to the angle of the wrench of the air switch 4, and the limit block 23 constrains the angle adapted by the paddle 21 to a certain extent.

[0043] The above embodiments and descriptions are only for illustrating the principles and best embodiments of the present invention. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and improvements, all of which fall within the scope of the present invention to be protected.

Claims

1. An end effector suitable for a robot air switch, characterized in that: The invention comprises an actuator body (1), a paddle mechanism (2) and a base (3), wherein two ends of the base (3) are respectively connected to the actuator body (1) and the end of the mechanical arm, and the actuator body (1) is transmission-connected to the paddle mechanism (2), and the paddle mechanism (2) is driven by the actuator body (1) to make circular motion, and the paddle mechanism (2) contacts the wrench of the air switch (4) during the circular motion, thereby driving the wrench of the air switch (4) to move; The actuator body (1) comprises an actuator housing (11), a driving motor (12), a bevel gear (13), and a driven incomplete gear (14) arranged in the actuator housing (11), and the output shaft of the driving motor (12) is provided with a bevel gear (13), the bevel gear (13) is meshed with the driven incomplete gear (14), and the driven incomplete gear (14) can make circular motion in the actuator housing (11) under the drive of the bevel gear (13), and the driven incomplete gear (14) is connected to the paddle mechanism (2); the actuator housing (11) is provided with a bevel gear (13), and the driven incomplete gear (14) is meshed with the driven incomplete gear (14), and the driven incomplete gear (14) can make circular motion in the actuator housing (11) under the drive of the bevel gear (13). A semicircular slideway (15) is arranged in the body (11), and arc-shaped slide beams (16) for matching with the semicircular slideway (15) are also arranged on both sides of the driven incomplete gear (14), and the arc-shaped slide beams (16) are nested in the semicircular slideway (15) of the actuator housing (11); a plurality of meshing teeth (17) are arranged on the back of the driven incomplete gear (14), and two connecting ears (18) are symmetrically arranged on the driven incomplete gear (14) on the other side of the meshing teeth (17), and both of the connecting ears (18) are provided with connecting holes; The paddle mechanism (2) comprises a paddle (21), a torsion spring (22), and a connecting shaft, wherein the connecting shaft is arranged in a connecting hole of a connecting ear (18) of a driven incomplete gear (14), and a paddle (21) is sleeved on the connecting shaft between the two connecting ears (18), and a torsion spring (22) is sleeved on the connecting shaft, and two ends of the torsion spring (22) are respectively embedded in the paddle (21) and the driven incomplete gear (14); a limit block (23) is sleeved on the connecting shaft outside the two connecting ears (18), and the position of the paddle (21) is constrained by the limit block (23); The base (3) comprises a flange seat (31), and a plurality of springs (32) are arranged between the flange seat (31) and the actuator housing (11).

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