Bimodal adjusting end effector of overhead line system operation robot and use method of bimodal adjusting end effector

Abstract

The invention provides a bimodal adjusting end effector of a contact network operation robot and a using method thereof, and relates to the field of robot operation. The end effector comprises a main shaft, a self-tightening clamping unit arranged at the front end of the main shaft, an outer layer unit arranged around the main shaft, an adjusting unit arranged between the clamping unit and the main shaft, a mode switching unit arranged between the adjusting unit and the outer layer unit and a driving unit for driving the main shaft to rotate. Bolts of various specifications can be operated, the situation of local stress concentration can be avoided, and the method is suitable for the scene of refined maintenance of the overhead line system.

Description

Technical Field

[0001] This invention relates to the field of robotic operations, and in particular to a dual-modal adjustable end effector for overhead contact line operations robots and its usage method. Background Technology

[0002] As a critical infrastructure for train traction power supply, the overhead contact system of high-speed railways directly affects the safety and continuity of train operation through its structural integrity and connection reliability. During long-term service, key components such as the overhead contact system cantilever arms, dropper clamps, and positioning devices are generally connected using multi-bolt fastening structures. Affected by factors such as train operation vibration, temperature changes, and environmental corrosion, these fastening components require regular inspection, tightness adjustment, or replacement.

[0003] Currently, the maintenance of overhead contact line bolts is still mainly done manually at height. Workers need to perform repeated tightening and loosening operations on multiple bolts using work vehicles or lifting platforms. This is not only labor-intensive and inefficient, but also poses safety risks such as falls and misoperation. At the same time, manual operation is significantly affected by individual experience, making it difficult to ensure the consistency of stress on multi-bolted structures during disassembly and assembly, thus posing potential structural safety hazards.

[0004] To improve operational efficiency and safety, robots have been gradually introduced to assist in the maintenance of overhead contact lines in recent years. However, existing overhead contact line maintenance robots still have significant shortcomings at the end effector level. On the one hand, existing end effectors are mostly single-function designs, usually optimized only for one function in bolt tightening or clamping. They are difficult to simultaneously meet the clamping and adjustment requirements of bolts of different specifications and the high-torque tightening requirements in the same operation. This leads to the need for frequent tool changes or the use of complex multi-actuator combination structures, increasing system complexity and reducing overall reliability.

[0005] On the other hand, when dealing with multi-bolt structures, existing robot operation solutions generally adopt sequential or single-point disassembly and assembly methods, lacking collaborative operation strategies for the multiple specifications and frequent specification switching of contact wire bolts. Summary of the Invention

[0006] The main objective of this invention is to propose a dual-modal adjustable end effector for overhead contact line operation robots and its usage method, which can operate on bolts of various specifications and is suitable for scenarios involving fine-grained maintenance of overhead contact lines.

[0007] This invention is achieved through the following technical solution:

[0008] The end effector of the overhead contact line operation robot with dual-modal adjustment is used to perform tightening operations on multiple fasteners in overhead contact line operations. The end effector includes a main shaft, a self-tightening clamping unit located at the front end of the main shaft, an outer unit arranged around the main shaft, an adjustment unit located between the clamping unit and the main shaft, a mode switching unit located between the adjustment unit and the outer unit, and a drive unit that drives the main shaft to rotate. Before the tightening operation, the connection between the main shaft and the outer unit is disconnected by the mode switching unit. The drive unit drives the main shaft to rotate so that the adjustment unit can adjust the radius of the clamping unit to match the clamping radius required by the fastener being operated. During the tightening operation, the mode switching unit connects the main shaft and the outer unit, and the drive unit drives the clamping unit to rotate to perform the tightening operation on the fastener. During the tightening operation, the output torque of the drive unit is adjusted according to the error between the actual attitude angle and the target attitude angle of the end effector.

[0009] Furthermore, the clamping unit includes three clamping plates arranged at even intervals around the circumference. Each clamping plate includes a movable plate extending axially along the main shaft, a flat plate vertically disposed on the movable plate, and a clamping plate disposed on the flat plate. The movable plate is radially movable on the adjusting unit along the main shaft, and the outer edge of the movable plate is inclined inward.

[0010] Furthermore, the adjustment unit includes a screw with external threads, a matching threaded sleeve, and an inner ring bushing connecting the threaded sleeve to the main shaft. A disc is provided at the front end of the screw, and three arc-shaped pieces are evenly spaced on the disc. One end of each arc-shaped piece has a protrusion. A groove is provided on the moving plate, and the moving plate is located within the interval formed by two adjacent arc-shaped pieces with the protrusion embedded in the groove. The front end of the outer unit has a tapered section with the same inclination direction as the outer edge of the moving plate, so as to cooperate with the screw and the threaded sleeve to realize the radial movement of the moving plate.

[0011] Furthermore, the outer unit also includes an outer ring bushing, and the mode switching unit includes a clutch mechanism connected between the outer ring bushing and the main shaft, which enables the outer unit to rotate synchronously with the main shaft or not rotate with the main shaft.

[0012] Furthermore, the radius R of the clamping unit varies with the driving angle of the driving unit. The changing relationship is ,in, This is a proportionality coefficient, the magnitude of which is related to the transmission ratio of the adjustment unit, the pitch parameter, and the structure and size of the clamping plate. This is the initial bias, corresponding to the equivalent radius of the clamping unit when it is in its minimum open state. and It can be obtained through theoretical modeling or experimental calibration.

[0013] Furthermore, it also includes obtaining the actual attitude angle of the end effector. Angle sensor, based on attitude error The compensation control quantity acting on the drive unit is calculated as follows: To adjust the output torque of the drive unit, wherein, , Given the target attitude angle, , , The parameter can be obtained through system identification or empirical tuning, and t represents time.

[0014] Furthermore, the clamping plate includes an inclined block with its outer side facing inward and a flat block disposed inside the inclined block and extending to both sides.

[0015] Furthermore, it also includes a transition piece connecting the outer ring bushing and the robot end flange to achieve a rigid connection and coaxial installation between the end effector and the robot.

[0016] Furthermore, the drive unit includes a motor and a flexible coupling connecting the motor and the main shaft. The motor may be a servo motor or a stepper motor.

[0017] This invention is also achieved through the following technical solutions:

[0018] The method of using the end effector of the overhead contact line operation robot based on any of the above-described dual-modal modulation methods includes the following steps:

[0019] Step S1: Determine the required clamping radius for each fastener based on the specifications of the N fasteners in the work area.

[0020] Step S2: Using the minimum total operation time as the optimization objective, solve... To obtain the optimal twisting sequence, where the objective function is... , This indicates the execution sequence number of all fasteners within the work area. This represents the r-th fastener to which a tightening operation is performed. This represents the operation time required for the r-th fastener to undergo a tightening operation. This represents the time it takes for the end effector to move when switching from the r-th fastener to the (r+1)-th fastener being tightened. This time is related to the positions of the two fasteners and the moving speed of the end effector. This represents the clamping unit radius adjustment time required when switching from the r-th fastener to the (r+1)-th fastener being tightened. This time is related to the change in the clamping radius of the two fasteners.

[0021] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. Before tightening the bolt, the mode switching unit disconnects the main shaft from the outer unit. The drive unit drives the main shaft to rotate, which in turn drives the adjustment unit to adjust the radius of the clamping unit to fit the bolt being operated. During the tightening operation, the mode switching unit connects the main shaft to the outer unit, so that the outer unit rotates synchronously with the main shaft, thereby driving the clamping unit to rotate to perform the operation on the bolt. The simple and reliable structure meets the clamping adjustment requirements and the high torque tightening requirements, and can operate on bolts of various specifications without changing tools. During the operation, the output torque of the drive unit is adjusted according to the error between the actual attitude angle and the target attitude angle of the end effector, so as to achieve attitude self-adaptation and torque controllability under flexible structure and environmental disturbance conditions. Therefore, it is suitable for the scenario of fine maintenance of catenary, and meets the comprehensive requirements of intelligent and automated operation and maintenance of catenary for high efficiency, high safety and high reliability.

[0023] 2. When determining the operation sequence of each fastener, the optimization objective is to minimize the total operation time. The design of the objective function is related to the operation time required for each fastener, the time required for fastener position change, and the time required for clamping unit radius adjustment. This is to achieve efficient and continuous tightening of fasteners of multiple specifications in the operation area while comprehensively considering the spatial distribution, specification differences, and clamping unit radius adjustment time of each fastener. This significantly reduces the time loss caused by robot movement and clamping unit radius adjustment, and improves the overall efficiency and stability of the operation. Attached Figure Description

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Figure 1 This is a cross-sectional structural diagram of the present invention.

[0026] Figure 2 This is a schematic diagram of the structure of the present invention after it is connected to a robot.

[0027] Figure 3 This is a schematic diagram of the structure of the present invention with the conical segment removed.

[0028] Figure 4 This is a schematic diagram showing the state when the radius of the clamping unit of the present invention is at its minimum.

[0029] Figure 5 This is a schematic diagram showing the state when the radius of the clamping unit of the present invention is at its maximum.

[0030] Figure 6 This is a diagram showing the correspondence between the diameter of the clamping unit and the driving angle of the driving unit in this invention.

[0031] Figure 7 This is a schematic diagram of the structure of the clamping piece of the present invention.

[0032] Figure 8 This is a schematic diagram of power transmission when the main shaft of the present invention is disconnected from the outer unit.

[0033] Figure 9 This is a schematic diagram of power transmission when the main shaft of the present invention is connected to the outer unit.

[0034] Figure 10 A schematic diagram of the working area for bolt and nut pairs of various specifications.

[0035] Figure 11 This is a schematic diagram showing the optimized screwing sequence.

[0036] Among them, 1. Robot flange; 2. End effector; 21. Motor; 22. Flexible coupling; 23. Spindle; 24. Clamping plate; 241. Moving plate; 2411. Groove; 242. Flat plate; 2431. Inclined block; 2432. Flat block; 251. Screw; 252. Screw sleeve; 253. Inner ring bearing; 254. Disc; 255. Arc-shaped plate; 256. Protrusion; 2611. Inner conical section; 2612. Opening; 2613. Outer conical section; 262. Outer ring bushing; 27. Mode switching unit; 3. Transition component. Detailed Implementation

[0037] The present invention will be further described below through specific embodiments.

[0038] like Figures 1 to 11 As shown, the dual-modal adjustable end effector of the overhead contact line operation robot is used to perform tightening operations on multiple fasteners in overhead contact line operations. The end effector 2 includes a main shaft 23, a self-tightening clamping unit located at the front end of the main shaft 23, an outer unit surrounding the main shaft 23, an adjustment unit located between the clamping unit and the main shaft 23, a mode switching unit 27 located between the adjustment unit and the outer unit, a drive unit that drives the main shaft 23 to rotate, and a transition piece 3 connected between the outer ring bushing and the robot flange 1 to achieve a rigid connection and coaxial installation between the end effector 2 and the robot. Before the tightening operation, the connection between the main shaft 23 and the outer unit is disconnected by the mode switching unit 27. The drive unit drives the main shaft 23 to rotate so that the adjustment unit can adjust the radius of the clamping unit to adapt to the clamping radius required by the fastener being operated. During the tightening operation, the mode switching unit 27 connects the main shaft 23 and the outer unit, and the drive unit drives the clamping unit to rotate to perform the tightening operation on the fastener. During the tightening operation, the output torque of the drive unit is adjusted according to the error between the actual attitude angle and the target attitude angle of the end effector 2. The fasteners are bolt and nut pairs. The specific structure of the transition piece 3 and the specific structure of the transition piece 3 connecting the end effector 2 and the robot flange 1 are both existing technologies.

[0039] The drive unit includes a motor 21 and a flexible coupling 22 connecting the motor 21 and the main shaft 23. The motor 21 may be a high-torque-density servo motor 21 or a stepper motor 21 to meet the fine control requirements of the clamping unit size adjustment stage and the high torque output requirements of the bolt tightening stage. The power output by the motor 21 is transmitted along the main shaft 23 after reduction, providing a basis for power distribution in different operating modes. The motor 21 is controlled by a control module integrated with the robot control system. The control module receives task planning instructions and attitude error compensation amounts, and adjusts the motor output speed and output torque to achieve stable switching between the clamping adjustment mode and the tightening operation mode, as well as precise torque control during the tightening process.

[0040] The clamping unit includes three clamping plates 24 evenly spaced around the circumference. Each clamping plate 24 includes a movable plate 241 extending axially along the main shaft 23, a flat plate 242 vertically mounted on the movable plate 241, and a clamping plate mounted on the flat plate 242. The movable plate 241 is radially movable on the adjustment unit along the main shaft 23, with its outer edge inclined inward. The clamping plate includes an inclined block 2431 with its outer surface inclined inward and a flat block 2432 located inside the inclined block 2431 and extending to both sides. When adjusting the clamping unit, the encoder on the motor 21 acquires the drive angle in real time. The drive angle signal is transmitted to the control module integrated with the robot control system. The control module calculates the opening radius of the clamping unit based on the drive angle, thereby achieving precise adjustment of the clamping unit and ensuring stable clamping of bolts of different specifications. More specifically, the radius R of the clamping unit varies with the drive angle of the drive unit. The changing relationship is ,in, This is a proportionality coefficient, the magnitude of which is related to the transmission ratio of the adjustment unit, the pitch parameter, and the structure and size of the clamping plate 24. This is the initial bias, corresponding to the equivalent radius of the clamping unit when it is in its minimum open state. and This is a proportionality coefficient, which can be obtained through theoretical modeling or experimental calibration. For example... Figure 6 The diagram shows the relationship between the drive angle and the diameter of the clamping unit, obtained through experimental calibration. To ensure the safety and reliability of the end effector 2, the drive angle... Limited to a preset range Accordingly, the adjustment range of the clamping unit radius R is limited to ,in, The minimum opening radius of the corresponding clamping unit. The maximum opening radius of the corresponding clamping unit is determined by the structural dimensions of the clamping unit and its stroke limits. In clamping configuration mode, the controller precisely controls the drive angle. This allows for continuous and controllable adjustment of the clamping unit's opening radius R within the aforementioned range, to accommodate bolts or nuts of different specifications.

[0041] The adjustment unit includes a screw 251 with external threads, a screw sleeve 252 that matches the screw 251, and an inner ring bushing that connects the screw sleeve 252 to the main shaft 23. A disc 254 is provided at the front end of the screw 251. Three arc-shaped pieces 255 are evenly spaced on the disc 254. One end of each arc-shaped piece 255 has a protrusion 256. A groove 2411 is provided on the moving plate 241. The moving plate 241 is located within the interval formed by two adjacent arc-shaped pieces 255, and the protrusion 256 is embedded in the groove 2411. The front end of the outer unit has a tapered section with the same inclination direction as the outer edge of the moving plate 241, so as to cooperate with the screw 251 and the screw sleeve 252 to realize the radial movement of the moving plate 241. More specifically, the conical segment includes an inner conical segment 2611 and an outer conical segment 2613 arranged at intervals. The inner conical segment 2611 is provided with an opening 2612 corresponding to the interval position formed by the two arc-shaped pieces 255 to make way for the clamping piece 24. The outer conical segment 2613 applies force to the front or rear section of the moving plate 241 of the clamping piece 24.

[0042] The mode switching unit 27 includes a clutch mechanism connected between the outer ring bushing of the outer unit and the main shaft 23. This clutch mechanism allows the outer unit to rotate synchronously with or without the main shaft 23, thus switching the power transmission path between the clamping unit radius adjustment mode and the bolt tightening operation mode. In this embodiment, the clutch mechanism is a pneumatic clutch. The specific structure of the pneumatic clutch and its connection structure with the outer ring bushing are existing technologies.

[0043] In such Figure 8 In the clamping unit radius adjustment mode shown, the red path of the pneumatic clutch illustrates the power transmission process: power is output from motor 21, transmitted through flexible coupling 22 and main shaft 23 to drive the adjustment unit. In this working mode, the pneumatic clutch is disengaged, and power is transmitted only along the red path without reaching the outer ring sleeve, thus creating relative rotation between the main shaft 23 and the outer unit. This relative rotation affects the adjustment unit and clamping unit, causing the screw 251 to extend or retract, thereby reducing or increasing the clamping unit radius. More specifically, the inner ring sleeve rotates with the main shaft 23, driving the screw sleeve 252 to rotate. When the screw 251 extends or retracts under the action of the screw sleeve 252, the outer conical section 2613 applies force to the moving plate 241 of the clamping plate 24. Because the outer edge of the moving plate 241 is inclined, when extended, the force applied by the outer conical section 2613 is located on the more outwardly inclined part of the moving plate 241, causing the clamping plate 24 to be pushed radially inward, thereby reducing the radius of the clamping unit. During the tightening operation, the clamping unit and the tapered section generate a self-tightening effect, and the greater the reaction force, the stronger the clamping force.

[0044] like Figure 9 In the bolt tightening operation mode shown, compressed air is introduced through the pneumatic clutch to engage it, forming a rigid connection between the main shaft 23 and the outer bushing. Power is output from the motor 21 and transmitted simultaneously to the outer bushing and the clamping unit via the flexible coupling 22 and the main shaft 23. This causes the main shaft 23 and the outer unit to rotate synchronously, eliminating relative motion between them. The clamping unit does not undergo radial dimension changes but rotates at the same speed as the main shaft 23 to complete the tightening operation. Because there is no relative motion between the clamping units, the radius of the clamping unit remains constant during the tightening process, ensuring a stable and reliable clamping state.

[0045] In bolt tightening mode, the output rotational torque of end effector 2 It can be represented as ,in, The output torque of motor 21, The total reduction ratio of the configured reduction mechanism is a standard reduction mechanism that comes with the motor, which is existing technology. The overall transmission efficiency is improved by controlling the engagement and disengagement of the pneumatic clutch. This allows for rapid switching between clamping and adjusting modes and bolt tightening modes, enabling multi-functional operations without adding an additional drive source. This significantly simplifies the structure of the end effector 2 and improves system reliability.

[0046] like Figure 10 The diagram shows a modeling scenario of multiple bolt and nut pairs within the area of ​​the cantilever connector. A local coordinate system F is established within this area, where the x-axis and y-axis lie in the working plane, used to describe the spatial position of each bolt and nut pair within the working area. Multiple bolt and nut pairs requiring tightening operations exist within the working area, distinguished by their numbers, as shown in the diagram. to Each bolt and nut pair corresponds to a planar position coordinate, which represents its spatial position in the working area, and also corresponds to a specification parameter, such as specification s1 and specification s2.

[0047] like Figure 11 As shown, in Figure 10The diagram shows the optimized screwing sequence based on the modeling of the work area. Lines and arrows indicate the movement direction and work sequence of the robot's end effector between each bolt and nut pair. In this example, the optimized screwing sequence is: 1 → 7 → 5 → 3 → 2 → 4 → 6 → 8. This sequence comprehensively considers the spatial distance between each bolt and nut pair and the required clamping radius changes for different bolt sizes during the planning process. This allows the robot to move to the next target with a shorter path after completing one target, and minimizes the number of diameter adjustments caused by size changes, thereby reducing the overall operation time.

[0048] To address potential attitude deviations or external disturbances that may occur to the structure containing the target fastener during actual operation, this invention constructs a pose sensing and compensation mechanism. An angle sensor is installed on the end effector 2 or the robot body to obtain the actual attitude angle of the end effector 2. Target attitude angle of end effector 2 Given by the task planning module, and being a known quantity, the attitude error is defined as follows: The controller calculates the compensation control quantity based on this attitude error. This control quantity will act on the drive unit to adjust its output torque. In this embodiment, the compensation control uses a proportional-integral-derivative (PID) control algorithm, and its control law is expressed as follows: ,in, , , Here, t represents the controller parameters that can be obtained through system identification or empirical tuning, and t represents time. Through the aforementioned pose perception and compensation mechanism, the system can correct attitude deviations caused by installation errors, structural flexibility, or external disturbances in real time within a certain range, thereby improving the alignment stability between the end effector 2 and the target fastener axis. Furthermore, a torque sensor can be used to monitor the output torque during operation to achieve smoother and more reliable tightening control, avoiding over-tightening or under-tightening.

[0049] The method of using the end effector of the overhead contact line operation robot based on the dual-modal modulation described above includes the following steps:

[0050] Step S1: Determine the required clamping radius for each fastener based on the specifications of the N fasteners in the work area.

[0051] Specifically, the work area is determined by the area that the robot and its end effector can operate in. For example... Figure 9 As shown, each fastener in the area to be worked on is numbered according to its own serial number. The k-th fastener Its local coordinate system The two-dimensional position and specification information are jointly represented, that is , Indicates the first The position coordinates of each fastener in the working plane This indicates the specifications of the fastener.

[0052] For specifications For fasteners, calculate the required clamping radius based on their dimensional parameters. , This is the mapping function from specifications to radius, which can be obtained from mechanical handbooks and other materials.

[0053] Step S2, when the operation is performed on the fastener Switch to At this time, the robot needs to complete two processes: spatial movement and radius adjustment. The end effector starts from the position... Move to The time cost can be expressed as ,in The equivalent moving speed of the end effector during the operation. It indicates the distance between two locations.

[0054] Because different specifications of fasteners correspond to different clamping radii, therefore, from Switch to Radius adjustment is required, and its time cost is determined by the amount of radius change, expressed as: ,in This is a mapping function between the change in the radius of the clamping unit and the adjustment time. This function is determined by the motion characteristics and drive speed of the clamping unit and can be obtained through debugging and testing. Furthermore, for each fastener... The screwing operation requires a fixed working time, denoted as... .

[0055] Therefore, the optimization objective is to minimize the total operation time, and the solution is obtained by... To obtain the optimal twisting sequence, where the objective function is... , This indicates the execution sequence number of all fasteners within the work area. This represents the r-th fastener to which a tightening operation is performed. This represents the operation time required for the r-th fastener to undergo a tightening operation. This represents the time it takes for the end effector to move when switching from the r-th fastener to the (r+1)-th fastener being tightened. This time is related to the positions of the two fasteners and the moving speed of the end effector. This represents the clamping unit radius adjustment time required when switching from the r-th fastener being tightened to the (r+1)-th fastener being tightened. This time is related to the change in the clamping radius of the two fasteners. For example... Figure 10 The diagram shown illustrates the optimized screwing sequence.

[0056] The above method enables efficient and continuous tightening of bolt and nut pairs of various specifications within the working area, taking into account factors such as the spatial distribution of fasteners, differences in specifications, and the adjustment time of the clamping radius.

[0057] In this invention, the terms "first," "second," and "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. The use of terms such as "upper," "lower," "left," "right," "front," and "rear" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing the invention, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this invention. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0058] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0059] The above are merely specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A dual-modal adjustable end effector for a catenary operation robot, used to perform tightening operations on multiple fasteners in catenary operations, characterized in that: The end effector includes a spindle, a self-tightening clamping unit located at the front end of the spindle, an outer unit surrounding the spindle, an adjustment unit located between the clamping unit and the spindle, a mode switching unit located between the adjustment unit and the outer unit, and a drive unit that drives the spindle to rotate. Before the tightening operation, the connection between the spindle and the outer unit is disconnected by the mode switching unit. The drive unit drives the spindle to rotate so that the adjustment unit can adjust the radius of the clamping unit to fit the clamping radius required by the fastener being operated. During the tightening operation, the mode switching unit connects the spindle and the outer unit, and the drive unit drives the clamping unit to rotate to perform the tightening operation on the fastener. During the tightening operation, the output torque of the drive unit is adjusted according to the error between the actual attitude angle and the target attitude angle of the end effector.

2. The end effector of the overhead contact line operation robot with dual-modal adjustment according to claim 1, characterized in that: The clamping unit includes three clamping plates arranged at even intervals around the circumference. Each clamping plate includes a movable plate extending along the main shaft axis, a flat plate vertically disposed on the movable plate, and a clamping plate disposed on the flat plate. The movable plate is radially movable on the adjusting unit along the main shaft axis, and the outer edge of the movable plate is inclined inward.

3. The end effector for a dual-modal adjustable overhead contact line robot according to claim 2, characterized in that: The adjustment unit includes a screw with external threads, a matching threaded sleeve, and an inner ring bushing connecting the threaded sleeve to the main shaft. A disc is provided at the front end of the screw, and three arc-shaped pieces are evenly spaced on the disc. One end of each arc-shaped piece has a protrusion. A groove is provided on the moving plate, which is located within the interval formed by two adjacent arc-shaped pieces, and the protrusion is embedded in the groove. The front end of the outer unit has a tapered section with the same inclination direction as the outer edge of the moving plate, so as to cooperate with the screw and the threaded sleeve to realize the radial movement of the moving plate.

4. The dual-modal adjustable end effector for overhead contact line operation robots according to claim 1, 2, or 3, characterized in that: The outer unit also includes an outer ring bushing, and the mode switching unit includes a clutch mechanism connected between the outer ring bushing and the main shaft. The clutch mechanism enables the outer unit to rotate synchronously with the main shaft or not to rotate with the main shaft.

5. The end effector for a dual-modal adjustable overhead contact line robot according to claim 3, characterized in that: The radius R of the clamping unit varies with the driving angle of the driving unit. The changing relationship is ,in, This is a proportionality coefficient, the magnitude of which is related to the transmission ratio of the adjustment unit, the pitch parameter, and the structure and size of the clamping plate. This is the initial bias, corresponding to the equivalent radius of the clamping unit when it is in its minimum open state. and It can be obtained through theoretical modeling or experimental calibration.

6. The dual-modal adjustable end effector for overhead contact line operation robots according to claim 3, characterized in that: It also includes obtaining the actual attitude angle of the end effector. Angle sensor, based on attitude error The compensation control quantity acting on the drive unit is calculated as follows: To adjust the output torque of the drive unit, wherein, , Given the target attitude angle, , , The parameter can be obtained through system identification or empirical tuning, and t represents time.

7. The end effector for a contact wire operation robot with dual-modal adjustment according to claim 1, 2, or 3, characterized in that: The clamping plate includes an inclined block with its outer side facing inward and a flat block disposed inside the inclined block and extending to both sides.

8. The end effector for a catenary robot with dual-modal adjustment according to claim 1, 2, or 3, characterized in that: It also includes a transition piece connecting the outer ring bushing and the robot end flange to achieve a rigid connection and coaxial installation between the end effector and the robot.

9. The end effector for a contact wire operation robot with dual-modal adjustment according to claim 1, 2, or 3, characterized in that: The drive unit includes a motor and a flexible coupling connecting the motor and the main shaft. The motor may be a servo motor or a stepper motor.

10. A method of using the end effector of the overhead contact line operation robot based on the dual-modal adjustment according to any one of claims 1 to 9, characterized in that: Includes the following steps: Step S1: Determine the required clamping radius for each fastener based on the specifications of the N fasteners in the work area. Step S2: Using the minimum total operation time as the optimization objective, solve... To obtain the optimal twisting sequence, where the objective function is... , This indicates the execution sequence number of all fasteners within the work area. This represents the r-th fastener to which a tightening operation is performed. This represents the operation time required for the r-th fastener to undergo a tightening operation. This represents the time it takes for the end effector to move when switching from the r-th fastener to the (r+1)-th fastener being tightened. This time is related to the positions of the two fasteners and the moving speed of the end effector. This represents the clamping unit radius adjustment time required when switching from the r-th fastener to the (r+1)-th fastener being tightened. This time is related to the change in the clamping radius of the two fasteners.

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