Intelligent robot wrapping method for insulated busbars and verification method for wrapping actuator

Abstract

This invention discloses an intelligent robot wrapping method for insulated busbars and a verification method for the wrapping actuator, belonging to the field of insulated busbar technology. The wrapping method includes: both ends of the insulated busbar are fixed to two adjustable support structures; a wrapping robot is manually guided to one end of the insulated busbar; a lidar scans the insulated busbar to obtain its fitted center point, generating path information that is transmitted to the AGV chassis and a six-axis robotic arm; the six-axis robotic arm controls the wrapping actuator to center the insulated busbar and adjust its posture; the six-axis robotic arm controls the wrapping actuator to automatically wrap the insulated busbar. During wrapping: the six-axis robotic arm obtains the wrapping path based on the fitted center point, then performs tracking motion on the insulated busbar according to the wrapping path; and then controls the AGV chassis to move according to the movement posture of the six-axis robotic arm; the AGV chassis's vision system scans the surrounding environment for identification, plans the movement route, and coordinates with the six-axis robotic arm's movements.

Description

Technical Field

[0001] This invention belongs to the field of insulated busbar technology, and specifically relates to an intelligent robot wrapping method for insulated busbars and a verification method for the wrapping actuator, which can be used for wrapping of conduit busbars, epoxy resin cast insulated busbars, etc. Background Technology

[0002] Insulated busbars are one of the key pieces of equipment (materials) in power transmission and transformation systems. They are mainly used in my country's power construction projects for conductor connections between power grid transmission lines and substation transformers, jumpers in transmission lines, connecting conductors in power equipment, and as current-carrying conductors in high-current DC de-icing devices. They are a completely new type of conductor, replacing traditional rectangular, channel, and rod-shaped busbars and flexible conductors, playing a crucial role in the safe and reliable operation of power transmission and transformation systems and power equipment. The conductor is typically made of copper or aluminum alloy tubing. Insulation tape can be wrapped around the conductor, which can be achieved using appropriate wrapping robots.

[0003] For example, patent application number CN202410104969.7 discloses a wrapping system for non-linear pipe fittings, including a wrapping actuator. The wrapping actuator includes a C-shaped housing, a C-shaped gear inside the C-shaped housing and cooperating with it, one or more material trays on the C-shaped gear, and a drive structure on the C-shaped housing for driving the C-shaped gear to rotate. The material trays can rotate on their own axis and revolve around the axis of the C-shaped housing. The wrapping system also includes a pipe fitting suspension device, a robot mobile platform, a manipulator on the robot mobile platform, and a vision guidance device on the manipulator. The wrapping actuator is located on the manipulator, and its notch can pass through the suspension point. The pipe fitting suspension device suspends the pipe fitting using a multi-point suspension method. The vision guidance device can obtain the bending condition and suspension point of the pipe fitting during the wrapping process. The wrapping actuator can adjust its position and posture with the cooperation of the manipulator and the robot mobile platform to pass through the bending position and suspension point. During wrapping, the robot mobile platform moves back and forth along the direction of the pipe fitting to achieve wrapping.

[0004] In existing technologies, in addition to C-shaped wrapping actuators, circular wrapping actuators are also used.

[0005] For example, patent application number CN202421297466.8 discloses a fire-resistant mica tape wrapping device, including a base plate. A circular shell is provided at the top center of the base plate, and a wire harness plate is provided on one side of the circular shell. A recessed area is provided on the outer edge of one side of the circular shell, and a ring gear is adapted to be provided in the recessed area. Both ends of one side of the ring gear are equipped with winders for placing mica tape rolls, and a cover is fixed to the opening of the recessed area of ​​the ring gear. A square shell is provided on the side of the ring gear away from the wire harness plate, and a slot is opened in the center of the square shell and a cavity is provided inside. Pressure rollers for pressing and consolidating the mica tape are symmetrically arranged on the inner circumference of the slot.

[0006] The applicant discovered the following problems during actual use:

[0007] 1. The wrapping actuator can adjust its position and posture with the cooperation of the robotic arm and AGV chassis to pass through bending positions and suspension points. It has high requirements for vision processing, the robotic arm's movements are complex, and the design is difficult.

[0008] 2. The wrapping actuator has a C-shaped structure, which is unstable during use; and the existing external gear meshing drive method results in a large size of the wrapping actuator, which is not convenient for robotic arm operation.

[0009] 3. Existing wrapping technology is basically a teaching model and belongs to the application of automation technology. It plans the path by reading the CAD drawing in advance. The drawing needs to be read again every time the specification is changed, so the level of intelligence is not high. Summary of the Invention

[0010] To address the aforementioned problems, this invention provides an intelligent robot wrapping method for insulated busbars and a verification method for the wrapping actuator. The structure of the wrapping actuator is optimized, employing a ring structure and internal gear meshing drive for more stable operation. The ring gear is reinforced with a metal frame. Furthermore, the verification method validates the wrapping actuator, ensuring its service life and low noise. This enables intelligent wrapping of insulated busbars. The technical solution is as follows:

[0011] On one hand, embodiments of the present invention provide a wrapping actuator, including a circular housing 1 arranged in a front-rear direction, a ring gear 2 rotatably arranged inside the circular housing 1, two winding devices 5 on the ring gear 2, and a drive structure on the circular housing 1 for driving the ring gear 2. The two winding devices 5 are respectively located at both ends of the front side of the ring gear 2. The drive structure includes a drive gear 6 and a servo motor 7 driving the drive gear 6. The wrapping actuator also includes a laser radar 14, two avoidance brackets 4, and four sliding structures 9. The four sliding structures 9 are arranged on the circular housing 1 and are evenly distributed around the axis of the circular housing 1. The circular housing 1 is an annular groove structure with an open inner side, and a connecting part 8 is provided at its top. Two sliding structures 9 are arranged side by side on its left and right sides. The inner edge of the ring gear 2 extends inward through the circular housing 1 and has teeth on it. The number of drive gears 6 is two. Two drive gears 6 are arranged side by side on the circular housing 1, meshing with the top of the inner edge of the ring gear 42; the sliding structure 9 includes an edge pulley 91 and two side pulleys 92, and the circular housing 1 has notches corresponding to the side pulleys 92 and the edge pulley 91; the two side pulleys 92 are slidably connected to the outer edges of the front and rear sides of the ring gear 2, and are arranged radially along the ring gear 2, respectively on the two groove edges of the circular housing 1; the edge pulley 91 is tangent to the outer edge of the ring gear 2, and is arranged in the front-rear direction, and is arranged on the outer edge of the circular housing 1; two winding devices 5 are respectively arranged on the front side of the ring gear 2 through two avoidance brackets 4; the avoidance brackets 4 are located on the adjacent inner side of the front groove edge of the circular housing 1, are arranged radially along the ring gear 2, and are bent outward to the front of the corresponding side pulley 92; the laser radar 14 is arranged on the front side of the connecting part 8.

[0012] In this embodiment of the invention, the sliding structure 9 further includes a first fixed seat 93, a second fixed seat 94, a first L-shaped fixed plate 95, and two second L-shaped fixed plates 96. The first fixed seat 93 is disposed on the outer edge of the rear groove of the circular shell 1 and is arranged in the front-rear direction. The edge pulley 91 is fixed to the outside of the first fixed seat 93 by the first L-shaped fixed plate 95. The second fixed seat 94 is disposed on the outer edge of the circular shell 1 and is arranged in the radial direction of the circular shell 1. It is located next to the first fixed seat 93. The two second L-shaped fixed plates 96 are respectively fixed on the front and rear sides of the second fixed seat 94 and are arranged back to back. The two side pulleys 92 are respectively disposed on the inner side of the two second L-shaped fixed plates 96.

[0013] Furthermore, in this embodiment of the invention, the ring gear 2 has a coaxially arranged annular metal frame 10 on the front center, and the circular shell 1 is made of aluminum alloy; the metal frame 10 is made of aluminum alloy and its rear is embedded in the ring gear 2; the driving gear 6 is made of nylon, and the ring gear 2 is made of polyoxymethylene; the clearance bracket 4 is made of aluminum alloy and is fixed to the front of the metal frame 10; the inner edge of the rear groove is located adjacent to the outer side of the teeth of the ring gear 2 and its top extends downward to form an arc plate 11; the width of the front groove is smaller than the width of the rear groove and its inner edge is located adjacent to the outer side of the aluminum alloy frame 10; the arc plate 11 is arc-shaped and is located above the insulated busbar 12; two driving gears 6 are located on the front of the arc plate 11 and are respectively located at both ends of the arc plate 11; and the servo motor 7 is located on the connecting part 8.

[0014] Specifically, the wrapping actuator in this embodiment of the invention is suitable for insulated busbars 12 with a diameter of 0-120mm; the ring gear 2 has a pitch circle diameter of 300mm, a module of 2.5, 120 teeth, and a tooth thickness of 8mm; the drive gear 6 has a pitch circle diameter of 55mm, a module of 2.5, 22 teeth, and a tooth thickness of 10mm; the gap between the circular housing 1 and the ring gear 2 is 1.5mm; the edge pulley 91 and the side pulley 92 are both rubber-coated wheels with arc surfaces on their circumferences.

[0015] On the other hand, embodiments of the present invention also provide a verification method for a wrap-around actuator, the method comprising:

[0016] S101: Create the initial model of the wrapping actuator using SolidWorks, and set the size parameters, materials, and rotational speed of the ring gear 2, drive gear 6, and circular housing 1.

[0017] S102: Perform mechanical analysis on the circular shell 1 and the ring gear 2 using SolidWorks Simulation to determine whether the maximum displacement of the edge pulley 91 and the side pulley 92 meets the clearance design requirements; if so, proceed to step S103.

[0018] S103: Perform mechanical analysis on the circular shell 1 and the ring gear 2 using SolidWorks Simulation. Under the applied ultimate load, determine whether the maximum stress value of the circular shell 1 is less than the allowable stress of the material after considering the safety factor; if so, proceed to step S104.

[0019] S104: Perform modal analysis on the circular shell 1 and the ring gear 2 using the frequency module of SolidWorks Simulation to obtain the angular frequencies of the circular shell 1 and the ring gear 2 respectively; calculate the maximum operating speed of the ring gear 2 using the rotational speed of the servo motor 7; determine whether the circular shell 1 and the ring gear 2 resonate based on the angular frequency and the maximum operating speed; if not, proceed to step S105.

[0020] S105: Construct a system dynamic model using the SolidWorks Simulink simulation platform to obtain the dynamic response characteristics under unsteady conditions. Perform mechanical analysis on the drive gear 6 and ring gear 2 to obtain the maximum displacement value of ring gear 2. Determine whether the maximum displacement value of ring gear 2 meets the support design margin of the circular shell 1. If it does, the wrapping actuator design is reasonable.

[0021] Specifically, in step S102: a load of 20N is applied to the sliding structure 9; in step S103, the safety factor n... s The value is set to 1.5; in step S104: only cylindrical surface constraints are applied to the outer circular surface of the ring gear 2, without applying other loads; the first 5 natural modal frequencies of the first mode shape of the ring gear 2 are calculated; the first 5 natural modal frequencies are used as the angular frequency range of the ring gear 2; in step S105, the rotation angle of the drive gear 6 is set to 0.01 rad, and the torque of the servo motor 7 is set to 8 N / m.

[0022] In another aspect, embodiments of the present invention also provide an intelligent robot wrapping method for insulated busbars, the method comprising:

[0023] S201: The two ends of the insulated busbar 12 are fixed on two adjustable support structures 13 respectively, and the wrapping robot is manually guided to one end of the insulated busbar 12.

[0024] S202: The lidar 14 scans the insulated busbar 12 to obtain the fitting center point of the insulated busbar 12, generates path information and transmits it to the AGV chassis 16 and the six-axis robotic arm 17. The six-axis robotic arm 17 controls the wrapping actuator 15 to center the axis of the insulated busbar 12 and adjust its attitude.

[0025] S203: The six-axis robotic arm 17 controls the wrapping actuator 15 to automatically wrap the insulated busbar 12. During wrapping: the six-axis robotic arm 17 obtains the wrapping path based on the fitted center point, and then performs the tracking action of the insulated busbar 12 according to the wrapping path. Then, the AGV chassis 16 is moved according to the motion posture of the six-axis robotic arm 17. At the same time, the vision system of the AGV chassis 16 scans the surrounding environment for identification, plans the motion route and coordinates with the action of the six-axis robotic arm 17.

[0026] S204: After moving to the other end of the insulated busbar 12, if the wrapping thickness is insufficient or the number of wrapping layers is not reached, the servo motor 7 rotates in the opposite direction and wraps another layer in the opposite direction according to steps S202-S203.

[0027] S205: Repeat steps S202-S204 until the wrapping thickness or number of wrapping layers meets the requirements.

[0028] The method for obtaining the fitting center point is as follows: obtain the point cloud data returned by the lidar 14 and convert it into a Cartesian coordinate system; fit the circle equation of the edge line of the insulating busbar 12 section to obtain the center point coordinates; obtain a series of point cloud coordinates as the wrapping robot moves, and then fit the curve equation of the center line of the insulating busbar 12 in space.

[0029] The method for obtaining the wrapping path is as follows: Obtain the point corresponding to the center of the wrapping actuator 15 on the fitting center line, search for the point on the fitting center line closest to the center of the wrapping actuator 15, and use the nearest neighbor search to obtain the two points B and C closest to the center of the wrapping actuator 15. Construct a straight line BC using points B and C. The formula for calculating the distance from point A to the straight line BC is as follows:

[0030] ;

[0031] ;

[0032] Where xB, yB, zB represent the coordinates of point B, and xC, yC, zC represent the coordinates of point C;

[0033] The path of the wrapping actuator 15 is determined based on the distance from point A to line BC.

[0034] The speed control method for the wrapping actuator 15 is as follows: The arc length that the wrapping actuator 15 needs to move along the center line is shown below:

[0035] ;

[0036] in, To control the period, s is the arc length obtained by integrating over the centerline length. The linear movement speed of the wrapping actuator 15.

[0037] The attitude control method of the wrapping actuator 15 is as follows: a rotating shaft orthogonal to the center line and the axis of the end face of the wrapping actuator 15 performs spatial attitude transformation on the wrapping actuator 15 to ensure that it has no rotational component around the center line.

[0038] The process of the AGV chassis 16 cooperating with the six-axis robotic arm 17 includes:

[0039] Based on the motion trajectory of the wrapping actuator 15, its displacement vector is projected onto the ground to obtain the horizontal movement component of the wrapping actuator 15, which is realized by the AGV chassis 16; while the changes in height and attitude of the wrapping actuator 15 are realized by the adaptive compliant control compensation of the six-axis robotic arm 17.

[0040] Specifically, the AGV chassis 16 has only three basic motion modes: (1) linear motion, (2) rotation in place, and (3) circular motion; the motion control of the AGV chassis 16 is as follows:

[0041] Within a unit control cycle, the deviation angle between the target orientation of the wrapping actuator 15 and the current heading of the AGV chassis 16 is calculated in real time. Based on the angle deviation monitoring value Δθ, the AGV chassis 16 is driven to complete the target plane vector travel in the following three modes:

[0042] (1) Linear motion: When Δθ is within the threshold range, it responds to the input distance in the form of linear motion; wherein, the motion speed and distance are obtained by the rate of change of the curve equation of the insulated bus 12 and the magnitude of the plane vector.

[0043] (2) Rotate in place, and the operation mode is fixed as "right-hand mode", that is, the wrapping actuator 15 is always located on the right side of the coordinate system of the AGV chassis 16; therefore, when Δθ deviates from the threshold range in the negative direction, it responds to the input angular displacement with angular velocity ω; where angular velocity ω and angular displacement are obtained by the approximate central angle of the curve equation of the insulating bus 12 mapped to the plane vector magnitude.

[0044] (3) Circular motion. Since the operation mode is fixed as "right-hand mode", when Δθ deviates from the threshold range in the positive direction, the input angular displacement is responded by angular velocity ω and instantaneous radius R. Among them, angular velocity ω and angular displacement are obtained by the approximate central angle of the curve equation of the insulating bus 12, the instantaneous arm length, and the plane vector magnitude mapping.

[0045] In the reciprocating motion, the axis of the insulated busbar 12 and the position and pose recording points at each moment obtained by fitting during the forward tracking stage are used as references to guide the AGV chassis 16 to perform the backward motion.

[0046] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows:

[0047] 1. The structure of the wrapping actuator has been optimized, adopting a ring structure and internal gear meshing drive method, which makes the operation more stable. The ring gear is reinforced with a metal skeleton.

[0048] 2. The wrapping actuator has a compact structure and small size, which facilitates the movement of the robotic arm;

[0049] 3. Verify the wrapping actuator using verification methods to ensure its service life, low noise, and stability;

[0050] 4. The fixing method of the pipe fittings has been adjusted to directly fix both ends of the pipe fittings, which reduces the difficulty of program design and the complexity of the robot's movements;

[0051] 5. Since there is no need to avoid the suspension point and the detection is relatively simple, lidar is used for guidance;

[0052] 6. It achieves automatic wrapping of straight sections, bent sections and vertical sections of insulated busbars, with a high degree of automation. Attached Figure Description

[0053] Figure 1 This is a structural diagram of the wrapping robot;

[0054] Figure 2 It is a 3D view of the front side of the wrapping actuator;

[0055] Figure 3 It is a 3D view of the rear side of the wrapping actuator;

[0056] Figure 4 This is a front view of the wrapper actuator;

[0057] Figure 5 This is a schematic diagram of the two-dimensional wrapping process;

[0058] Figure 6 This is a schematic diagram of the unwinding tension dynamics model;

[0059] Figure 7 This is a schematic diagram of a 3D model of the wrap-around actuator;

[0060] Figure 8 It is a schematic diagram of a three-dimensional model of a combination of a circular shell, a ring gear, and a sliding structure;

[0061] Figure 9 It is a schematic diagram of a three-dimensional model of the combination of ring gear and sliding structure;

[0062] Figure 10 This is a schematic diagram of the structure and materials of a ring gear;

[0063] Figure 11 It is a stress contour plot of a circular shell;

[0064] Where a is the mesh diagram of the circular shell, b is the static analysis resultant displacement cloud diagram, and c is the stress cloud diagram and the schematic diagram of the maximum stress.

[0065] Figure 12 The first-order mode shape diagrams of the circular shell and the ring gear are shown.

[0066] Where a is the first mode shape diagram of the ring gear, and b is the first mode shape diagram of the circular shell;

[0067] Figure 13 Transient analysis of ring gear transmission;

[0068] Where a is the stress contour plot, b is the displacement contour plot, c is the strain contour plot, and d is the mesh generation plot;

[0069] Figure 14 This is a stress analysis diagram of the gear;

[0070] Where a is the stress diagram and b is the strain contour diagram;

[0071] Figure 15 This is a displacement contour plot of the ring gear and gear combination;

[0072] Figure 16 A schematic diagram for calculating the midpoint of an insulated busbar;

[0073] Figure 17 This is a schematic diagram of piecewise fitting of a space curve;

[0074] Figure 18 A schematic diagram illustrating the solution for the corresponding point of the center point of the wrapping actuator on the fitted curve;

[0075] Figure 19 This is a schematic diagram of the speed control of the wrapping actuator;

[0076] Figure 20 This is a schematic diagram of the attitude adjustment of the wrapping actuator;

[0077] Figure 21 A schematic diagram of the coordinated motion planning for a mobile robotic arm;

[0078] Figure 22 This is a schematic diagram of the projection of the end effector displacement vector of the wrapping actuator.

[0079] In the diagram: 1. Circular shell, 2. Ring gear, 3. L-shaped bracket, 4. Alternating bracket, 5. Winder, 6. Drive gear, 7. Servo motor, 8. Connecting part, 9. Sliding structure, 10. Metal frame, 11. Arc plate, 12. Insulated busbar, 13. Adjustable support structure, 14. LiDAR, 15. Wrapping actuator, 16. AGV chassis, 17. Six-axis robotic arm;

[0080] 91 Side pulley, 92 Edge pulley, 93 First fixed seat, 94 Second fixed seat, 95 First L-shaped fixed plate, 96 Second L-shaped fixed plate. Detailed Implementation

[0081] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0082] Example 1

[0083] See Figure 2-4 Example 1 provides a wrapping actuator, including a circular housing 1, a ring gear 2, a drive structure, a lidar 14, two winders 5, two clearance brackets 4, and four sliding structures 9, etc.

[0084] The circular shell 1 is arranged along the front-to-back direction and has an annular groove structure with an open inner side. A connecting part 8 is provided vertically at its top, and the shell is made of aluminum alloy. The inner edge of the rear groove of the circular shell 1 is located adjacent to the outer side of the teeth of the ring gear 2, and its top extends downward to form an arc-shaped plate 11. The width of the front groove of the circular shell 1 is smaller than the width of the rear groove, and its inner edge is located adjacent to the outer side of the aluminum alloy frame 10. The arc-shaped plate 11 is arc-shaped and is located above the insulated busbar 12.

[0085] The ring gear 2 is housed within the circular housing 1 and is rotatably mounted on the circular housing 1 via a sliding structure 9. Its inner edge extends inward through the circular housing 1 and is equipped with teeth. It is fitted around the insulated busbar 12 and is made of polyoxymethylene. A ring-shaped metal frame 10 is coaxially mounted on the front center of the ring gear 2. The metal frame 10 is made of aluminum alloy and its rear end is embedded in the ring gear 2.

[0086] The drive structure includes a servo motor 7 and two drive gears 6. The two drive gears 6 are arranged side-by-side on the front side of the arc-shaped plate 11, located at both ends of the plate. They are arranged in a front-rear direction and mesh with the top inner edge of the ring gear 42. The drive gears are made of nylon. The servo motor 7 is mounted on the connecting part 8 in a front-rear direction and synchronously drives the two drive gears 6 (via a timing belt and tensioner).

[0087] The lidar 14 is mounted on the front side of the connecting part 8 via an L-shaped bracket 3, and is arranged in the front-back direction, making it a 360° lidar.

[0088] Four sliding structures 9 are disposed on the circular shell 1 and are evenly distributed around the axis of the circular shell 1. Specifically, the four sliding structures 9 are arranged in a square, with two sliding structures 9 arranged vertically side by side on the left and right sides of the circular shell 1. The sliding structure 9 includes an edge pulley 91, a first fixed seat 93, a second fixed seat 94, a first L-shaped fixed plate 95, two second L-shaped fixed plates 96, and two side pulleys 92, etc. Notches (specifically rectangular notches) are provided on the circular shell 1 at the locations corresponding to the side pulleys 92 and the edge pulleys 91. The first fixed seat 93 is disposed on the outer edge of the rear groove of the circular shell 1 and is arranged in the front-to-back direction. The second fixed seat 94 is disposed on the outer edge of the circular shell 1 and is arranged radially along the circular shell 1, located next to the first fixed seat 93. The two second L-shaped fixed plates 96 are respectively fixed to the front and rear sides of the second fixed seat 94 and are arranged back to back. Two side pulleys 92 are slidably connected to the outer edges of the front and rear sides of the ring gear 2, respectively. They are arranged radially along the ring gear 2 and are respectively located on the inner sides of the two second L-shaped fixing plates 96. The edge pulley 91 is tangent to the outer edge of the ring gear 2. It is arranged in the front-rear direction and is fixed to the outer side of the first fixing seat 93 by the first L-shaped fixing plate 95.

[0089] Two winders 5 are respectively mounted on the front side of the ring gear 2 via two clearance brackets 4, arranged in a front-rear direction, and equipped with an automatic tension adjustment structure. The two clearance brackets 4 are respectively located at both ends of the front side of the ring gear 2, and are arranged symmetrically. Specifically, the clearance brackets 4 are located on the adjacent inner side of the front groove edge of the circular shell 1, arranged radially along the ring gear 2, and bend outward to the front of the corresponding side pulley 92 and the second L-shaped fixing plate 96, and are made of aluminum alloy.

[0090] Example 2

[0091] See Figure 2-4 Example 2 provides a wrapping actuator, whose structure is basically the same as that of Example 1, except that the circular shell 1 in this example includes an upper semi-circular shell and a lower semi-circular shell. The upper and lower semi-circular shells are arranged opposite each other, both of which are semi-circular structures, and they are detachably connected (by bolts (vertically arranged) between them).

[0092] Example 3

[0093] See Figure 2-4Example 3 provides a wrapping actuator, whose structure is basically the same as that of Example 1, except that the wrapping actuator in this example is suitable for insulated busbars 12 with a diameter of 0-120mm. The ring gear 2 has a pitch circle diameter of 300mm, a module of 2.5, 120 teeth, and a tooth thickness of 8mm. The drive gear 6 has a pitch circle diameter of 55mm, a module of 2.5, 22 teeth, and a tooth thickness of 10mm. The gap between the circular housing 1 and the ring gear 2 is 1.5mm. The edge pulley 91 and the side pulley 92 are both rubber-coated wheels with arc surfaces on their circumferences.

[0094] Example 4

[0095] See Figure 1 Example 4 provides a wrapping robot, including a wrapping actuator 15, an AGV chassis 16, a six-axis robotic arm 17, and two adjustable support structures 13. The two adjustable support structures 13 are respectively located at both ends of the insulated busbar 12, and are adjustable vertically. They are fixed to the insulated busbar 12 by being inserted into its ends. The six-axis robotic arm 17 is mounted on the AGV chassis 16, and the wrapping actuator 15 is mounted on the six-axis robotic arm 17. Specifically, the six-axis robotic arm 17 is a DobotStudio Pro, the AGV chassis 16 is an AMB-300-D, and the lidar 14 is an RPLIDAR A2.

[0096] Example 5

[0097] Example 5 provides a verification method for a wrap-around actuator, including:

[0098] like Figure 5 As shown, wrapping or wrapping refers to the process where the strip is guided from the feed reels O1 and O2 to the insulating busbar 12. The rotating body drives the strip to rotate around the center point O at an angular velocity ω1, wrapping it onto the surface of the insulating busbar 12. The tensioning device on the feed reel maintains appropriate tension on the strip. During this process, friction is used to control the tension and prevent the strip from loosening or slipping, ensuring uniform and stable wrapping. The angular velocity ω2 of strip 1 and strip 2 is determined by friction.

[0099] like Figure 6 As shown, the material properties and wrapping process of the insulating tape are analyzed, and the relationship between the wrapping tension and torque of the insulating tape is derived; the tension of the insulating tape under dynamic conditions is obtained, and an open-roll dynamic model is built.

[0100] I. Unwinding Tension Analysis

[0101] Md is the equivalent braking torque acting on the uncoiler roll; D is the unwinding roll diameter; D0 is the roll diameter; ω is the angular velocity of the uncoiler roll; v is the linear velocity of the wrapping tape; b is the wrapping tape width; h is the wrapping tape thickness. Figure 6The dynamic torque balance equation for unwinding the wrapping tape can be derived as follows:

[0102] (1);

[0103] Where: T is the wrapping tape tension; J is the moment of inertia of the unwinding roller; J k J0 is the moment of inertia of the wrapping tape on the unwinding roll; B is the moment of inertia of the unwinding roll mandrel; f (t) is the damping coefficient; m is the mass of the wrapping tape; D1 is the initial diameter of the wrapping tape; ρ is the density of the wrapping tape.

[0104] Derivation of tension:

[0105] (2);

[0106] (3);

[0107] (4);

[0108] (5);

[0109] Substituting equation (5) into equation (4), we get:

[0110] (6);

[0111] (7);

[0112] The reduction in the cross-sectional area of ​​the wrapping tape by unwinding per unit time is equal to the area of ​​the wrapping tape unwound:

[0113] (8);

[0114] Summarized as follows:

[0115] (9);

[0116] The volume diameter is obtained by solving for:

[0117] (10);

[0118] Angular velocity:

[0119] (11);

[0120] From equations (9) and (11), we get:

[0121] (12);

[0122] The expression for tension can be obtained as follows:

[0123] (13).

[0124] From equation (13), we can know the unwinding tension. Influenced by multiple factors: unwinding speed v, roll diameter D, moment of inertia J0 of the uncoiler mandrel, roll diameter D0, wrapping tape density ρ, wrapping tape thickness h, and coefficient of friction B. f The influence of tension is a polynomial of linear velocity, the square of linear velocity, the derivative of linear velocity, the square of the roll diameter, and the fourth power of the roll diameter. It can be seen that tension is a nonlinear, time-varying control object.

[0125] II. Theoretical Wrapping Speed ​​Analysis

[0126] Since the rotating body drives the wrapping belt to rotate around the center point O with an angular velocity ω1, a gear transmission is used for the rotational motion. Considering space utilization, an internal meshing gear structure is adopted, which is compact, has a strong load-bearing capacity, smooth transmission, and high efficiency. The parameters of the ring gear 2 and the driving gear 6 are shown in Table 1:

[0127] Table 1

[0128]

[0129] A dual-encoder servo motor is used as the driver, and the torque is transmitted to the drive gear 6 via synchronous belt drive; the servo motor 7 has a speed n1 of 178 r / min. Calculate the speed ratio between the ring gear 2 and the drive gear 6:

[0130] Pitch circle diameter of drive gear 6:

[0131] (14);

[0132] Pitch circle diameter of ring gear 2:

[0133] (15);

[0134] Therefore, the gear ratio (speed ratio) between ring gear 2 and driving gear 6 is:

[0135] (16);

[0136] Therefore, the speed ratio between ring gear 2 and drive gear 6 is approximately 0.1833.

[0137] Using three identical aluminum L-shaped synchronous pulleys with 12 teeth, the speed ratio of the synchronous belt drive can be calculated based on the design and selection parameters of the L-shaped synchronous belt drive mechanism.

[0138] (17);

[0139] Therefore, the maximum theoretical rotational speed of the wrapping actuator 15 is:

[0140] (18).

[0141] III. Material-Structure Coupling Design of Wrap-Actuator

[0142] like Figure 8 As shown, the 8mm thick ring gear 2 is constrained by the circular shell 1 (11mm groove), and the ring gear 2 meshes with the drive gear 6. At the same time, the circular shell 1 also needs to support other components. The design meets the following requirements: (1) The ring gear 2 can be installed within the limited structural space and can adapt to the tube type in the range of Ø0-120 mm; (2) The strength requirements are met. Within the service life of the wrapping actuator, the circular shell 1 cannot deform or break due to insufficient strength, and it is suitable for robotic arms with a load ≤20kg; (3) The maximum working speed does not coincide with its own inherent mode.

[0143] In the design of the wrapping actuator, large-diameter bearings are no longer used to support the ring gear 2; instead, aluminum alloy is used for the track profile and main body support. Large-diameter metal bearings may generate significant noise during operation, are not as effective at shock absorption as rubber-coated wheels, and are heavier. Rubber-coated wheels can absorb vibrations and reduce noise, and their rubber coating provides better friction, resulting in higher grip and suitability for slippery environments, offering better stability. The rubber-coated wheel is mounted on angle irons (first L-shaped fixing plate 95 and second L-shaped fixing plate 96). The angle irons effectively limit the distance between the rubber-coated wheel and the end face of the ring gear 2 to a minimum of 0-0.5mm, and the distance can be adjusted by using shims. The outer spherical surface of the rubber wheel is always in contact with the end face of the ring gear 2, preventing the ring gear 2 from generating significant impact on the circular housing 1 during operation, while also serving as a limiting constraint.

[0144] IV. Material Selection and Structural Optimization of Ring Gears

[0145] Most mature winding mechanisms, both domestically and internationally, consist of external meshing gears and large-diameter bearings, using the rotational trajectory of the bearings and gears to wind the tube nut. Considering the overall load and operating space, this patent uses an internal meshing gear mechanism. This mechanism is typically smaller in size, suitable for applications with limited space, and due to the larger contact area between the gears, it can withstand a larger load while reducing vibration and noise during operation. Unlike typical single-material structures, the ring gear 2 in this embodiment is made of aluminum alloy coated with non-metallic plastic. The main frame, tensioner, and winder 5 are all made of aluminum alloy to ensure structural strength. Furthermore, it must be considered that during the winding process, the gear mechanism rotates around the generatrix axis. Friction during gear meshing and the sliding of the outer cylindrical surface within the cylindrical shell 1 may generate debris that could significantly impact tube nut production. Therefore, the internal meshing tooth surface and the outer cylindrical surface are made of POM (polyoxymethylene) material to avoid this impact on production.

[0146] V. Dynamic Modeling, Simulation and Analysis of Wrap-around Actuator

[0147] The ring gear 2 and the circular housing 1 are the main components of the wrapping actuator to achieve the wrapping function. Damage to the ring gear 2 and the circular housing 1 will lead to malfunctions such as slow wrapping, jamming, and mechanical vibration, directly affecting the working efficiency of the wrapping actuator. Therefore, the ring gear 2 and the circular housing 1 must have sufficient strength to ensure long-term and effective wrapping operation. The mechanical analysis of the ring gear 2 and the circular housing 1 was performed using SolidWorks Simulation software.

[0148] Static analysis

[0149] The circular shell 1 is attached to the connecting seat for the collaborative robotic arm. As the main support structure, it also bears the weight of other components and other loads such as impacts during movement. The wrapping actuator mainly performs rotary motion and rotation of the robotic arm's end effector. In actual operation, the robotic arm's movement amplitude is small, having little impact on the wrapping actuator, and can be set to gravity. During rotary motion, the ring gear 2 slides within the circular shell 1. The rubber-coated wheels distributed around the circular shell 1 are subjected to the gravitational load of the ring gear 2 and the impact load generated during movement.

[0150] like Figure 11 As shown, with the track facing downwards, a total load of 80N is applied to the rubber-coated wheel angle iron connection points of the support body, consisting of the drive gear 6, the winder 5, and the tensioner. Specifically, 20N is applied to each of the four connection points. Figure 11 (b) The maximum resultant displacement is 0.4719 mm, located in the upper arc segment. Since the groove width of the circular shell 1 is 11 mm, the thickness of the ring gear 2 is 8 mm, and the side clearance between the ring gear 2 and the circular shell 1 is 1.5 mm, the resulting deformation meets the design requirements within the allowable design range. For example... Figure 11(c) The maximum force is 35.71 MPa at the connection between the rubber-coated wheel at the lower part of the circular shell 1 and the side of the circular shell 1.

[0151] The loads applied to each structural component have taken into account the ultimate case. To avoid over-design, the safety factor ns is set to 1.5.

[0152] (19);

[0153] In the formula, σs is the yield strength of the material (MPa). The allowable stress of the material after considering the safety factor is calculated according to formula (19). Considering that aluminum alloy is lightweight, has good corrosion resistance, relatively high strength, is easy to process and form, has good fatigue resistance, and is suitable for structural parts that are used for a long time. Aluminum alloy 6061-T6 is used as the material of the circular shell 1, and its mechanical property parameters are shown in Table 2.

[0154] Table 2

[0155]

[0156] The allowable stress [σ] was calculated to be 184 MPa. The maximum stress values ​​obtained from the simulation calculation were all less than the allowable stress of the material after considering the safety factor. The overall strength of the wrapping actuator meets the design requirements.

[0157] Modal analysis

[0158] Non-standard parts like the ring gear 2, during rotation, generate periodic disturbance forces characterized by centrifugal force due to factors such as inhomogeneity of tooth surface and material structure, manufacturing errors, or misalignment, leading to bending vibration, i.e., lateral vibration. When the frequency of forced vibration coincides with the natural bending frequency of the gear, bending resonance occurs. If the rotational speed of the ring gear 2 reaches or remains near the critical speed, it may cause significant deformation, even damaging the entire wrapping actuator. Its support structure should also avoid vibration at the same frequency during its movement. Therefore, the overall operating speed must avoid the critical speed. There are multiple critical speeds, with the first-order critical speed exhibiting the most severe vibration; thus, this frequency is usually the focus. When performing modal analysis on the ring gear 2 using the frequency module of SolidWorks Simulation, only cylindrical surface constraints were applied to the outer circular surface, without applying other loads, to improve computational efficiency. Simultaneously, considering the relatively low operating speed of this structure, higher-order modes are difficult to achieve; only the first five modes are analyzed. Figure 12 These are the first-order mode shapes of the ring gear 2 and the circular shell 1.

[0159] As shown in Figure 3, the frequency range of the first five natural modes of the ring gear 2 is between 1047.1 and 2609.1 Hz, which is equivalent to an angular frequency of 6579.2 to 16394.0 rad / s.

[0160] Table 3

[0161]

[0162] Based on the output speed of servo motor 7, synchronous belt drive, and number of teeth, the working speed of ring gear 2 is calculated to be 32.63 r / min, and the angular velocity is 3.417 rad / s. Since the angular velocity is significantly different from the first natural frequency of 6579.2 rad / s, ring gear 2 will not resonate. Therefore, the structural design and transmission ratio selection of ring gear 2 are reasonable.

[0163] As shown in Table 4, the frequency range of the first 5 natural modes of the circular shell 1 is between 67.18 and 514.50 Hz, that is, angular frequencies of 422.09-3232.70 rad / s.

[0164] Table 4

[0165]

[0166] Based on the output speed of the servo motor 7 and the transmission ratio of the synchronous belt drive and the gear, the maximum working speed of the ring gear 2 is calculated to be 32.63 r / min, and the angular velocity is 3.417 rad / s. This is significantly different from the first natural frequency of 422.09 rad / s, so the circular shell 1 will not resonate. The structural design of the circular shell 1 is reasonable.

[0167] Transient analysis of internal gear transmission

[0168] Transient analysis was performed on the internal gear transmission system. A dynamic model of the system was constructed using the SolidWorks Simulink simulation platform, focusing on the dynamic response characteristics of the system under unsteady-state conditions. In the simulation model, the ring gear 2 is made of POM (polyoxymethylene) and serves as the driven gear with 120 teeth; the driving gear 6 is a nylon external gear with 22 teeth and a module of 2.5. In actual operation, the gear pair moves at a constant speed. Except for the significant impact and vibration from the motor during startup, the vibrations generated at other times are all lower than the natural frequency of the structure. Figure 13 In the simulation, the rotation angle of the drive gear 6 is set to 0.01 rad, and its hub and keyway are subjected to a torque of 4 N / m from the drive shaft and key, which is the torque of the servo motor 7, 8 N / m.

[0169] Simulation results show that under transient conditions such as startup and sudden load changes, the internal gear transmission system exhibits significant nonlinear dynamic characteristics. Due to the influence of time-varying meshing stiffness and backlash of the gear pair, the system will generate impacts and vibrations during transient processes. Figure 14It can be seen that stress concentration is obvious in the power transmission area, especially in the contact area between the key and the hub keyway. The maximum stress value occurs at the hub keyway of the drive gear 6, which is 4.973×105 N / m. 2 The maximum strain is 3.074 × 10⁻⁶. -5 .like Figure 14 As shown, since the material of the driving gear 6 is nylon, its strain value is relatively large, indicating that it has undergone large elastic deformation during transmission, further demonstrating the vibration mode of the gear under transient conditions; the vibration displacement amplitude of the ring gear 2 is significantly greater than that of the driving gear 6, which is related to the large number of teeth and material properties of the ring gear 2. The maximum displacement value of the ring gear 2 is 0.3614mm, which meets the design margin of the circular shell 1.

[0170] By analyzing the influence of different operating parameters on the transient response of the system, it was found that changes in input speed and load torque significantly affect the vibration characteristics of the system. As the input speed increases, the system vibration frequency increases, but the amplitude decreases; while the increase in load torque leads to intensified system vibration, especially during sudden load changes, when the system generates a large impact load.

[0171] Example 6 provides an intelligent robot wrapping method for insulated busbars, the method comprising:

[0172] I. Core Ideas

[0173] Real-time line tracking analysis is a key module in this patent, serving as the core of the wrapping robot's adaptive capability. Its core function is to perform motion planning for the wrapping actuator 15, ensuring that the actuator 15 maintains an appropriate position and posture relative to the insulated busbar 12 during the wrapping process. Functionally, this method can be divided into three parts: pipe identification, actuator motion planning, and robot motion solving. The three specific functional modules are as follows:

[0174] (1) Pipe identification. Using the point cloud data returned by the lidar 14, the circular equation of the edge line of the insulated busbar 12 section is first fitted to obtain the coordinates of the center point. As the robot moves, a series of point cloud coordinates are obtained. The curve equation of the center line of the insulated busbar 12 in space is fitted using the point cloud coordinates to complete the identification of the insulated busbar 12.

[0175] (2) Motion planning of the wrapping actuator. The three core requirements for the motion of the wrapping actuator 15 are: the linear velocity of the wrapping actuator 15 on the center line is uniform, the end face of the wrapping disc is orthogonal to the center line, and the wrapping disc cannot rotate around the axis of the insulating busbar 12, so as to ensure that the moving speed of the wrapping disc in the direction of the center line axis and the rotation speed of the wrapping are synchronized, and to ensure that the wrapping thickness is uniform.

[0176] (3) Robot motion solution. It is necessary to achieve coordinated motion between the AGV chassis 16 and the six-axis robotic arm 17, avoid interference between the six-axis robotic arm 17, the wrapping actuator 15 and the insulated busbar 12, and avoid the occurrence of singular poses during the motion solution of the six-axis robotic arm 17, otherwise unpredictable motion may occur.

[0177] II. Identification and Fitting

[0178] Using the point cloud data returned by lidar 14, the circular equation of the edge line of the insulated busbar 12 section is first fitted to obtain the coordinates of the center point, such as... Figure 16 As shown, a series of point cloud coordinates are acquired as the robot moves. The curve equation of the center line of the insulated busbar 12 in space is fitted using the point cloud coordinates to complete the identification of the insulated busbar 12.

[0179] The point cloud collected by lidar 14 is converted into Cartesian coordinates to obtain the point coordinates as (x1, y1)……(xi, yi), and the general equation of the ellipse is expressed as shown in equation (20):

[0180] (20);

[0181] The coefficients of the general equation can then be obtained as shown in equation (21):

[0182] (twenty one);

[0183] Using the mathematical relationship between the general equation and the standard equation, as shown in equation (22):

[0184] (twenty two).

[0185] To reduce trajectory estimation errors caused by center point estimation errors, this patent first fits a spatial curve formed by the center points, and then calculates the target center point coordinates and the corresponding tangent vector based on this spatial curve. The spatial curve is represented by parametric equations, with time t as a parameter to represent the coordinate equations of the curve in the x, y, and z coordinate systems. To improve computational efficiency, each parametric equation is expressed as a quadratic polynomial. Partial point cloud data is collected each time to achieve piecewise fitting of the centerline. For example... Figure 17 The diagram shown is a schematic of piecewise fitting of a space curve.

[0186] III. Motion Planning of Wrap-around Actuator

[0187] To determine the arc length coordinates of the wrapping actuator 15, we first need to find the point on the fitted center line corresponding to the center of the wrapping actuator 15. For example... Figure 18As shown, point D is the point on the center line corresponding to the center point A of the wrapping actuator 15. The arc length coordinates of point D on the center line are the same as the arc length coordinates of point A on the center line. The center point of the wrapping actuator 15 deviates from the fitted trajectory. This patent uses a search method to find the point on the center line closest to the center point. Nearest point search is used to obtain the two points B and C closest to the center point of the wrapping actuator 15. Using point B (x... B y B , z B ), C(x) C y C , z C Construct an empty line, and the foot D of the perpendicular from point A to the spatial line BC can be solved as shown in equation (23):

[0188] (twenty three);

[0189] Where k is as shown in equation (24):

[0190] (twenty four).

[0191] The speed control of the wrapping actuator 15 aims to maintain a fixed proportional relationship between the moving speed of the wrapping actuator 15 along the center line of the insulating busbar 12 and the wrapping rotation speed, thereby achieving precise control of the wrapping thickness. For example... Figure 19 As shown, at a given speed of movement around the wrapping line... Then, in a control cycle The arc length that the wrapping actuator 15 needs to move along the centerline is shown in equation (25):

[0192] (25);

[0193] The arc length s can be obtained by integrating the length of the centerline.

[0194] The attitude control of the wrapping actuator 15 must ensure that the end face of the wrapping actuator 15 and the centerline maintain an orthogonal positional relationship. Simultaneously, it must guarantee that the attitude changes of the wrapping actuator 15 in space do not involve any rotational component tangential to the centerline. Otherwise, additional rotational speed will be introduced into the winding rotation of the wrapping actuator 15, resulting in a decrease in winding quality. This patent uses a rotating shaft orthogonal to the centerline and the axis of the end face of the wrapping actuator 15 to perform spatial attitude changes of the wrapping actuator 15, ensuring that it has no rotational component about the centerline.

[0195] like Figure 20 As shown, The pivot is the centerline of insulated busbar 12. Let k be the normal to the end face of the actuator. and Orthogonal rotation axis vectors, S1 is the arc length. The wrapping actuator 15 is wrapped around... The rotation angle ensures that the orientation of the wrapping actuator 15 aligns with that of the insulating busbar 12, without generating a rotational component along the axis of the insulating busbar 12. The equation for the rotation matrix is ​​shown in equation (26):

[0196] (26).

[0197] III. Decoupling of Robot Cooperative Motion

[0198] like Figure 21 As shown, solving the cooperative motion problem requires decomposing the motion of the end effector of the six-axis robotic arm 17 onto the AGV chassis 16 and the six-axis robotic arm 17 to achieve their cooperative motion. Figure 22 As shown, based on the calculated motion of the wrapping actuator 15, its displacement vector is projected onto the ground, i.e., its projection value in the xy plane under world coordinates is removed. This component represents the horizontal movement component of the wrapping actuator 15, which is achieved through the AGV chassis 16. The changes in height and attitude are compensated by adaptive compliant control of the six-axis robotic arm 17.

[0199] The AGV chassis 16, which adopts differential wheel drive, cannot directly achieve omnidirectional displacement in the horizontal plane. It can only achieve three basic motion modes: (1) linear motion, (2) rotation in place, and (3) circular motion. Therefore, based on the target movement position of the vehicle in each minimum unit cycle, the vector needs to be decomposed into the above three basic motions to approximately achieve omnidirectional motion capability.

[0200] First, within a unit control cycle, the deviation angle between the target orientation of the wrapping actuator 15 and the current heading of the AGV chassis 16 is calculated in real time. Based on the angle deviation monitoring value Δθ, the AGV chassis 16 is driven to complete the target plane vector travel in the following three modes.

[0201] (1) Linear motion: When Δθ is within the threshold range, the input distance is responded to in the form of linear motion. The motion speed and distance are determined by the rate of change of the curve equation of the insulated busbar 12 and the magnitude of the plane vector.

[0202] (2) Rotation in place: Since the robot's operation mode is fixed as "right-hand mode", that is, the wrapping actuator 15 is always located on the right side of the coordinate system of the AGV chassis 16, when Δθ deviates from the threshold range in the negative direction, it responds to the input angular displacement with angular velocity ω. Among them, the angular velocity ω and the angular displacement are determined by the rate of change of the curve equation of the insulating busbar 12 and the approximate central angle of the mapping between the plane vector magnitude and the curve equation.

[0203] (3) Circular motion: Since the robot's working mode is fixed as "right-hand mode", when Δθ deviates from the threshold range in the positive direction, it responds to the input angular displacement with angular velocity ω and instantaneous radius R. Among them, the angular velocity ω and angular displacement are determined by the rate of change of the curve equation of the insulating busbar 12, the instantaneous arm length, and the approximate central angle mapped by the plane vector magnitude.

[0204] Furthermore, to ensure stable performance of the robot during reciprocating motion, and to ensure that the wrapping actuator 15 is always located behind the AGV chassis 16 during the return motion, the axis of the insulated busbar 12 obtained from the forward tracking phase and the position and pose recording points at each moment are used as references to guide the AGV chassis 16 to perform backward motion, thereby improving the overlap between the return motion and the forward motion and optimizing the repeatability of the operating state.

[0205] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wrapping actuator, comprising a circular housing (1) arranged in a front-rear direction, a ring gear (2) rotatably arranged inside the circular housing (1), two winders (5) on the ring gear (2), and a drive structure on the circular housing (1) for driving the ring gear (2), wherein the two winders (5) are respectively disposed at both ends on the front side of the ring gear (2), and the drive structure comprises a drive gear (6) and a servo motor (7) for driving the drive gear (6); characterized in that, The wrapping actuator also includes a lidar (14), two avoidance brackets (4) and four sliding structures (9); Four sliding structures (9) are provided on the circular shell (1) and are evenly distributed around the axis of the circular shell (1); The circular shell (1) is an annular groove structure with an open inner side. It has a connecting part (8) at the top and two sliding structures (9) arranged side by side on the left and right sides. The inner edge of the ring gear (2) extends inward through the circular shell (1) and has teeth on it. There are two driving gears (6). The two driving gears (6) are arranged side by side on the circular shell (1) and mesh with the top of the inner edge of the ring gear (42). The sliding structure (9) includes an edge pulley (91) and two side pulleys (92). The circular shell (1) has notches corresponding to the side pulleys (92) and the edge pulley (91). The two side pulleys (92) are slidably connected to the outer edges of the front and rear sides of the ring gear (2), and are arranged radially along the ring gear (2). They are respectively located on the two groove sides of the circular shell (1). The edge pulley (91) is tangent to the outer edge of the ring gear (2), and is arranged in the front-rear direction. It is located on the outer edge of the circular shell (1). Two winders (5) are respectively located on the front side of the ring gear (2) via two clearance brackets (4); the clearance brackets (4) are located on the adjacent inner side of the front groove edge of the circular shell (1), and are arranged radially along the ring gear (2), and are bent outward to the front of the side pulley (92) on the corresponding side. The lidar (14) is located on the front side of the connecting part (8); The sliding structure (9) further includes a first fixed seat (93), a second fixed seat (94), a first L-shaped fixed plate (95), and two second L-shaped fixed plates (96). The first fixed seat (93) is located on the outer edge of the rear groove of the circular shell (1) and is arranged in the front-rear direction. The edge pulley (91) is fixed to the outside of the first fixed seat (93) by the first L-shaped fixed plate (95). The second fixed seat (94) is located on the outer edge of the circular shell (1) and is arranged in the radial direction of the circular shell (1). It is located next to the first fixed seat (93). The two second L-shaped fixed plates (96) are respectively fixed to the front and rear sides of the second fixed seat (94) and are arranged back to back. The two side pulleys (92) are respectively located on the inner side of the two second L-shaped fixed plates (96). The ring gear (2) has a ring-shaped metal frame (10) coaxially arranged in the middle of its front side. The circular shell (1) is made of aluminum alloy. The metal frame (10) is made of aluminum alloy and its rear part is embedded in the ring gear (2). The drive gear (6) is made of nylon. The ring gear (2) is made of polyoxymethylene. The clearance bracket (4) is made of aluminum alloy and it is fixed to the front side of the metal frame (10). The inner edge of the rear groove is located adjacent to the outer side of the teeth of the ring gear (2) and its top extends downward to form an arc plate (11). The width of the front groove is smaller than the width of the rear groove and its inner edge is located adjacent to the outer side of the aluminum alloy frame (10). The arc plate (11) is arc-shaped and is located above the insulated busbar (12). Two drive gears (6) are located on the front side of the arc plate (11) and are located at both ends of the arc plate (11). The servo motor (7) is located on the connecting part (8).

2. The wrapping actuator according to claim 1, characterized in that, The wrapping actuator is suitable for insulated busbars (12) with a diameter of 0-120mm; the ring gear (2) has a pitch circle diameter of 300mm, a module of 2.5, 120 teeth, and a tooth thickness of 8mm; the drive gear (6) has a pitch circle diameter of 55mm, a module of 2.5, 22 teeth, and a tooth thickness of 10mm; the gap between the circular shell (1) and the ring gear (2) is 1.5mm; the edge pulley (91) and the side pulley (92) are both rubber-coated wheels with an arc surface on their circumference.

3. The verification method for the wrap-around actuator as described in any one of claims 1-2, characterized in that, The method includes: S101: Establish the initial model of the wrapping actuator using SolidWorks, and set the size parameters, materials, and rotational speed of the ring gear (2), drive gear (6), and circular shell (1); S102: Perform mechanical analysis on the circular shell (1) and ring gear (2) using SolidWorks Simulation to determine whether the maximum displacement of the edge pulley (91) and side pulley (92) meets the clearance design requirements; if so, proceed to step S103. S103: Perform mechanical analysis on the circular shell (1) and the ring gear (2) using SolidWorks Simulation. Under the applied ultimate load, determine whether the maximum stress value of the circular shell (1) is less than the allowable stress of the material after considering the safety factor. If so, proceed to step S104. S104: Modal analysis of the circular shell (1) and the ring gear (2) is performed using the frequency module of SolidWorks Simulation to obtain the angular frequencies of the circular shell (1) and the ring gear (2) respectively; the maximum working speed of the ring gear (2) is calculated using the rotational speed of the servo motor (7); whether the circular shell (1) and the ring gear (2) resonate is determined based on the angular frequency and the maximum working speed; if not, step S105 is executed. S105: Construct a system dynamic model using the SolidWorks Simulink simulation platform, obtain the dynamic response characteristics under unsteady conditions, perform mechanical analysis on the drive gear (6) and ring gear (2), obtain the maximum displacement value of the ring gear (2), and determine whether the maximum displacement value of the ring gear (2) meets the support design margin of the circular shell (1). If it does, the wrapping actuator design is reasonable.

4. The verification method according to claim 3, characterized in that, In step S102: a load of 20N is applied to the sliding structure (9); in step S103, the safety factor n s Set to 1.5; In step S104: only apply cylindrical surface constraints to the outer circular surface of the ring gear (2), without applying other loads; Calculate the first 5 natural modal frequencies of the first mode shape of the ring gear (2); use the first 5 natural modal frequencies as the angular frequency range of the ring gear (2); in step S105, set the rotation angle of the drive gear (6) to 0.01 rad and the torque of the servo motor (7) to 8 N / m.

5. A method for intelligent robot wrapping of insulated busbars, characterized in that, The method includes: S201: The two ends of the insulated busbar (12) are fixed on two adjustable support structures (13) respectively, and the wrapping robot is manually guided to one end of the insulated busbar (12); S202: The lidar (14) scans the insulated busbar (12) to obtain the fitting center point of the insulated busbar (12), generates path information and transmits it to the AGV chassis (16) and the six-axis robotic arm (17). The six-axis robotic arm (17) controls the wrapping actuator (15) to center the axis of the insulated busbar (12) and adjust its attitude. S203: The six-axis robotic arm (17) controls the wrapping actuator (15) to automatically wrap the insulated busbar (12). During wrapping: the six-axis robotic arm (17) obtains the wrapping path based on the fitted center point, and then performs the tracking action of the insulated busbar (12) according to the wrapping path. Then, the AGV chassis (16) is moved according to the motion posture of the six-axis robotic arm (17). At the same time, the vision system of the AGV chassis (16) scans the surrounding environment for identification, plans the motion route and cooperates with the action of the six-axis robotic arm (17). S204: After moving to the other end of the insulated busbar (12), if the wrapping thickness is insufficient or the number of wrapping layers is not reached, the servo motor (7) rotates in the opposite direction and wraps another layer in the opposite direction according to steps S202-S203. S205: Repeat steps S202-S204 until the wrapping thickness or number of wrapping layers meets the requirements; The method for obtaining the fitting center point is as follows: obtain the point cloud data returned by the lidar (14) and convert it into a Cartesian coordinate system; fit the circle equation of the side line of the insulating busbar (12) section to obtain the center point coordinates; obtain a series of point cloud coordinates with the movement of the wrapping robot, and then fit the curve equation of the center line of the insulating busbar (12) in space. The method for obtaining the wrapping path is as follows: obtain the point corresponding to the center of the wrapping actuator (15) on the fitting center line, search for the point on the fitting center line that is closest to the center of the wrapping actuator (15), use the nearest point search to obtain the two points B and C that are closest to the center of the wrapping actuator (15), and use points B and C to construct a straight line BC. The formula for calculating the distance from point A to the straight line BC is as follows: ； ； Where xB, yB, zB represent the coordinates of point B, and xC, yC, zC represent the coordinates of point C; The path of the wrapping actuator (15) is determined based on the distance from point A to line BC; The speed control method for the wrapping actuator (15) is as follows: The arc length that the wrapping actuator (15) needs to move along the center line is shown below: ； in, To control the period, s is the arc length obtained by integrating over the centerline length. The linear movement speed of the wrapping actuator (15); The attitude control method of the wrapping actuator (15) is as follows: the rotating shaft orthogonal to the center line and the axis of the end face of the wrapping actuator (15) performs spatial attitude transformation on the wrapping actuator (15) to ensure that it has no rotation component around the center line.

6. The wrapping method according to claim 5, characterized in that, The process of the AGV chassis (16) cooperating with the six-axis robotic arm (17) includes: Based on the motion trajectory of the wrapping actuator (15), its displacement vector is projected onto the ground to obtain the horizontal movement component of the wrapping actuator (15), which is realized by the AGV chassis (16); while the changes in height and attitude of the wrapping actuator (15) are realized by the adaptive compliant control compensation of the six-axis robotic arm (17).

7. The wrapping method according to claim 6, characterized in that, The AGV chassis (16) has only three basic motion modes: (1) Linear motion, (2) Rotation in place, (3) Circular motion; The motion control of the AGV chassis (16) is as follows: In a unit control cycle, the deviation angle between the target orientation of the wrapping actuator (15) and the current heading of the AGV chassis (16) is calculated in real time. Based on the angle deviation monitoring value Δθ, the AGV chassis (16) is driven to complete the target plane vector travel in the following three modes: (1) Linear motion: When Δθ is within the threshold range, it responds to the input distance in the form of linear motion; wherein, the motion speed and distance are obtained by the rate of change of the curve equation of the insulated busbar (12) and the magnitude of the plane vector; (2) Rotate in place, and the operation mode is fixed as "right-hand mode", that is, the wrapping actuator (15) is always located on the right side of the coordinate system of the AGV chassis (16); therefore, when Δθ deviates from the threshold range in the negative direction, it responds to the input angular displacement with angular velocity ω; where angular velocity ω and angular displacement are obtained by the approximate central angle of the curve equation of the insulating bus (12) mapped to the plane vector magnitude. (3) Circular motion. Since the operation mode is fixed as "right-hand mode", when Δθ deviates from the threshold range in the positive direction, the input angular displacement is responded by angular velocity ω and instantaneous radius R. Among them, angular velocity ω and angular displacement are obtained by the approximate central angle of the curve equation of the insulating bus (12), the instantaneous arm length, and the plane vector magnitude mapping. In the process of performing reciprocating motion, the axis of the insulated busbar (12) obtained by fitting during the forward tracking stage and the position and pose recording points at each moment are used as references to guide the AGV chassis (16) to perform backward motion.

Images