Multi-degree-of-freedom manipulator intelligent grabbing device and method for insulator

Abstract

The application discloses a kind of multi-degree-of-freedom manipulator intelligent gripping device and method for insulator, and relates to the technical field of insulator processing, comprising: control base;Mechanical arm, set in the top of control base;Butt joint plate, fixedly connected to the operating port of mechanical arm;Two adjusting guide rails are fixedly connected in two reserved holes opened on butt joint plate, and two adjusting guide rails are slidably connected with two adjusting carriages.The multi-degree-of-freedom manipulator intelligent gripping device and method for insulator disclosed by the application has the following advantages: when clamping, hydraulic cylinder one drives the surrounding piece to implement surrounding friction positioning on the ball head with the adaptive air bag, the adaptive air bag increases the contact surface and friction limiting, hydraulic cylinder two pushes the single-point positioning pressing block to carry out multi-point supercharging, provides additional friction force compensation, enhances dynamic anti-slippage capability, at the same time, the extension pressing plate gradually extrudes the connecting rod at the extrusion spring in the surrounding adjustment, continuously applies pressure after completion of surrounding, and further ensures the effect of clamping firmness.

Description

Technical Field

[0001] This invention relates to the field of insulator processing technology, and in particular to a multi-degree-of-freedom robotic intelligent gripping device and method for insulators. Background Technology

[0002] The intelligent manufacturing equipment industry has become a core force driving industrial transformation and upgrading. As a key component of this industry, industrial robots are being widely used in the automated operation of various production lines. In the field of insulator manufacturing, the handling, stacking, and loading / unloading of blanks and finished products are gradually being upgraded from traditional manual or simple mechanical operations to intelligent gripping systems of industrial robots based on industrial vision technology.

[0003] Existing multi-degree-of-freedom robotic intelligent gripping devices for insulators use pneumatic grippers to grasp the steel caps and feet on the insulators. However, since the grippers and ball heads rely solely on the static friction provided by the rigid contact surface to balance the workpiece's weight, when the robotic arm performs dynamic actions such as acceleration, deceleration, or posture flipping, the torque generated by the ball head's own weight will far exceed that under static gripping conditions. This can easily cause the ball head to experience a slight relative sliding or rolling tendency within the V-shaped or arc-shaped jaws of the grippers, leading to the ball head's geometric center deviating from the theoretical positioning reference surface of the grippers. This squeezing offset not only disrupts the force-closed state of the gripping system, causing a sharp decrease in gripping stability, but may also damage the surface of the ball head due to local stress concentration, and in severe cases, even cause the workpiece to slip during transport. Summary of the Invention

[0004] This invention discloses a multi-degree-of-freedom robotic arm intelligent gripping device for insulators, aiming to solve the problem that existing devices mainly rely on static friction to grip ball heads. While this can be maintained under static conditions, when the robotic arm changes direction or speed, the dynamic torque generated by the weight of the ball head easily overcomes the friction, causing the ball head to deflect and slip within the arc-shaped jaws. This problem not only undermines gripping stability and leads to positioning deviations, but may also cause stress concentration to scratch the ball surface, and in severe cases, even lead to workpiece detachment accidents.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-degree-of-freedom robotic arm intelligent gripping device for insulators includes: Control base; A robotic arm is mounted on top of the control base; The docking plate is fixedly connected to the operating port of the robotic arm; Two adjusting guide rails are fixedly connected to two reserved holes opened on the mating plate. Two adjusting slides are slidably connected in the two adjusting guide rails. A mounting plate is fixedly connected to the same side of the two adjusting slides. Two limiting ring rails are fixedly connected to the opposite sides of the two mounting plates; A vibration damping and reinforcement mechanism is installed on a limiting ring rail. The vibration damping and reinforcement mechanism includes a conversion slider and a mounting column, and the conversion slider is slidably connected to the limiting ring rail. An enclosing extension clamping mechanism is disposed on a mounting column. The enclosing extension clamping mechanism includes a ring plate, which is fixedly connected to one end of the mounting column.

[0006] In a preferred embodiment, the surrounding extension clamping mechanism further includes: Three sliding grooves are formed in a ring on one side of the ring plate, and sliding blocks are slidably connected inside each of the three sliding grooves; Three surrounding pieces are fixedly connected to three sliding blocks respectively. Adaptive airbags are fixedly connected to the inner arc surface of each of the three surrounding pieces, and extension rods are fixedly connected to the outer side wall of each of the three surrounding pieces away from the ring plate. The middle block is fixedly connected to the side of the extension rod facing the center line of the ring plate. Both sides of the middle block are connected to the extension pressure plate by hinges. Compression springs are fixedly connected at equal distances on the arc surfaces of the two extension pressure plates. One end of the compression spring is fixedly connected to the outer wall of the extension rod.

[0007] In a preferred embodiment, the surrounding extension clamping mechanism further includes: The partition cylinder is fixedly connected to the mounting holes opened on each surrounding piece; The mounting rod is fixedly connected to the outer wall of the partition cylinder. A top block is fixedly connected to the end of the mounting rod, and a positioning slide rod is fixedly connected to the side of the top block facing the inside of the partition cylinder. A sliding sleeve is slidably connected to a positioning slide rod. An end frame is fixedly connected to the outer wall of the sliding sleeve away from the top block, and a hydraulic cylinder two is fixedly connected to the side of the top block facing the end frame. The output end of the hydraulic cylinder two is fixedly connected to the outer wall of the end frame. A pressure sensor is fixedly connected to the inner wall of an end frame. The end frame is fixedly connected at equal intervals around the pressure sensor with telescopic connecting rods, and the ends of multiple telescopic connecting rods are fixedly connected to the same single-point positioning pressure block.

[0008] In a preferred embodiment, the surrounding extension clamping mechanism further includes: An external frame is fixedly connected to the outer wall of the ring plate near each sliding groove; Hydraulic cylinder one is fixedly connected to the side of each external frame facing the sliding block, and the output end of hydraulic cylinder one is fixedly connected to the side of the adjacent sliding block.

[0009] In a preferred embodiment, the vibration damping and reinforcement mechanism further includes: A connecting plate is fixedly connected to one side of the conversion slider. One end of the mounting column is fixedly connected to the outer wall of the connecting plate. Each conversion slider is fixedly connected to a mounting bracket on the outer wall near the outer and inner rings of the limiting ring rail. A reinforcing cylinder is fixedly connected to the opposite side of the two mounting brackets. A fitting pressure plate is fixedly connected to the output end of the two reinforcing cylinders. Multiple sub-rods are arranged in a ring on the side of the connecting plate near the mounting column. Each sub-rod is fixedly connected to a shock-absorbing spring rod at equal intervals on the side facing the mounting column. One end of the multiple shock-absorbing spring rods on the same sub-rod is fixedly connected to the same shock-absorbing bonding plate, which fits into the annular groove opened on the mounting column.

[0010] In a preferred embodiment, it also includes: A reinforcing sleeve is fixedly connected to the outer wall of the docking plate, and the reinforcing sleeve is also fixedly connected to the outside of the robotic arm operating port; Two fixed blocks are fixedly connected to one side of the docking plate. An adjusting cylinder is fixedly connected to the opposite side of each of the two fixed blocks. The output ends of the two adjusting cylinders are fixedly connected to one side of the adjacent adjusting slide.

[0011] In a preferred embodiment, it also includes: Two bases are fixedly connected to two adjusting slides, respectively; Two vision positioning modules are fixedly connected to two bases.

[0012] In a preferred embodiment, it also includes: Two conversion motors are fixedly connected to opposite sides of two mounting plates. The output shafts of the two conversion motors are fixedly connected to rotating shafts via couplings. Two rotating connecting rods are symmetrically distributed on the outer side wall of the rotating shafts. One end of the rotating connecting rod is fixedly connected to the outer side wall of the adjacent conversion slider.

[0013] In a preferred embodiment, it also includes: The positioning ring frame is fixedly connected to one end of the mounting column; An outer ring plate is fixedly connected to the outer side wall of the positioning ring frame. Positioning cylinders are distributed in a ring on the inner side wall of the outer ring plate, and a clamping plate is fixedly connected to the output end of each positioning cylinder.

[0014] A method for intelligent gripping of insulators using a multi-degree-of-freedom robotic arm, employing the intelligent gripping device for insulators as described above, includes the following steps: Step 1: The robotic arm moves the docking plate to the designated position for the insulator. The vision positioning module determines the specific position of the insulator. Then, the robotic arm moves the docking plate to make multi-degree-of-freedom adjustments to complete the initial adjustment. After the initial adjustment, the conversion motor is started according to the position of the insulator steel cap and steel foot ball head. The conversion motor drives the positioning ring frame and the surrounding extension clamping mechanism to switch to the outside of the steel cap and steel foot ball head. Step 2: Start the adjusting cylinder to push the adjusting slide along the adjusting guide rail, which will move the two limit ring rails and the surrounding extension clamping mechanism on them to the ball head of the insulator steel foot; at the same time, start the hydraulic cylinder one, which will drive the three surrounding plates to retract centripetally along the sliding groove through the sliding block, so that the matching airbag on the inner arc surface of the surrounding plate forms a ring-shaped surrounding friction positioning of the ball head; during the retraction of the surrounding plate, the extension pressure plate contacts the connecting rod at the ball head connection and gradually squeezes the compression spring. After the surrounding plate completes the surrounding of the ball head, the compression spring drives the extension pressure plate to continuously extend and squeeze the connecting rod; Step 3: Start hydraulic cylinder two, push the sliding sleeve to slide along the positioning slide rod, drive the single-point positioning pressure block in the end frame to move towards the ball head surface and perform single-point pressure compression at multiple positions of the ball head, and the pressure sensor provides real-time feedback on the clamping force value at each point; Step 4: After the steel ball head is clamped, the positioning cylinder is activated. The positioning cylinder drives the clamping plate to position and clamp the steel cap. After the steel cap and steel ball head are clamped, the robotic arm moves the insulator.

[0015] As can be seen from the above, the multi-degree-of-freedom robotic intelligent gripping device for insulators provided by the present invention has the following technical effects: when clamping, hydraulic cylinder one drives the surrounding plate and the matching airbag to perform surrounding friction positioning on the ball head; the matching airbag increases the contact surface and friction limit; hydraulic cylinder two pushes the single-point positioning pressure block to perform multi-point pressure, providing additional friction compensation and enhancing dynamic anti-slip capability; at the same time, the extension pressure plate gradually squeezes the compression spring at the connecting rod during the surrounding adjustment, and continues to apply pressure after the surrounding is completed, further ensuring the clamping firmness. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom robotic arm intelligent grasping device for insulators proposed in this invention.

[0017] Figure 2 for Figure 1 Enlarged view of the combined structure of the connecting plate, adjusting carriage, and limiting ring rail.

[0018] Figure 3 for Figure 2 A top view of the overall structure.

[0019] Figure 4This is a schematic diagram of the combined structure of the adjusting slide, limiting ring rail, shock absorption and reinforcement mechanism, and surrounding extension clamping mechanism of the intelligent gripping device for multi-degree-of-freedom manipulators for insulators proposed in this invention.

[0020] Figure 5 This is a schematic diagram of the combined structure of the shock absorption and reinforcement mechanism and the surrounding extension clamping mechanism of the multi-degree-of-freedom robotic arm intelligent gripping device for insulators proposed in this invention.

[0021] Figure 6 This is a schematic diagram of the surrounding extension clamping mechanism of a multi-degree-of-freedom robotic intelligent grasping device for insulators proposed in this invention.

[0022] Figure 7 This is a schematic diagram of the combined structure of the surrounding plate, the adapting airbag, and the extension pressure plate in the surrounding extension clamping mechanism of the multi-degree-of-freedom robotic intelligent grasping device for insulators proposed in this invention.

[0023] Figure 8 This is a cross-sectional view of the combined structure of the partition cylinder and end frame of a multi-degree-of-freedom robotic intelligent gripping device for insulators proposed in this invention.

[0024] Figure 9 This is a schematic diagram of the combined structure of the limiting ring rail and the shock absorption and reinforcement mechanism of a multi-degree-of-freedom robotic arm intelligent grasping device for insulators proposed in this invention.

[0025] Figure 10 This is a schematic diagram of the shock absorption and reinforcement mechanism of a multi-degree-of-freedom robotic arm intelligent gripping device for insulators proposed in this invention.

[0026] In the diagram: 1. Control base; 2. Robotic arm; 3. Adjusting slide; 4. Docking plate; 5. Conversion motor; 6. Adjusting guide rail; 7. Limiting ring rail; 8. Mounting plate; 9. Base; 10. Vision positioning module; 11. Enclosing extension clamping mechanism; 1101. Ring plate; 1102. Enclosing piece; 1103. Extension rod; 1104. Sliding block; 1105. Hydraulic cylinder one; 1106. Mounting rod; 1107. Extension pressure plate; 1108. Intermediate block; 1109. Compression spring; 1110. Adaptor airbag; 1111. Partition cylinder; 1112. External frame; 1113. Sliding groove; 1114. Top block; 1115. Positioning slide rod; 1116. 11. Hydraulic cylinder 2; 11.17. Sliding sleeve; 11.18. Pressure sensor; 11.19. End frame; 11.20. Single-point positioning block; 11.21. Telescopic connecting rod; 12. Vibration damping and reinforcement mechanism; 12.01. Mounting column; 12.02. Conversion slider; 12.03. Adhesive plate; 12.04. Reinforcement cylinder; 12.05. Mounting bracket; 12.06. Connecting plate; 12.07. Dividing rod; 12.08. Vibration damping adhesive plate; 12.09. Vibration damping spring rod; 13. Fixing block; 14. Reinforcement sleeve; 15. Adjusting cylinder; 16. Positioning ring frame; 17. External ring piece; 18. Clamping plate; 19. Rotating shaft; 20. Rotating connecting rod; 21. Positioning cylinder. Detailed Implementation

[0027] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0028] The present invention discloses a multi-degree-of-freedom robotic arm intelligent gripping device for insulators. It is mainly used in existing devices where the gripping of ball heads mainly relies on static friction. While this can be maintained under static conditions, when the robotic arm changes direction or speed, the dynamic torque generated by the weight of the ball head can easily overcome the friction, causing the ball head to deflect and slip within the arc-shaped jaws. This problem not only undermines gripping stability and causes positioning deviations, but may also scratch the ball surface due to stress concentration, and in severe cases, even lead to workpiece detachment accidents.

[0029] Reference Figures 1-10 A multi-degree-of-freedom robotic arm intelligent gripping device for insulators, comprising: Control base 1; Robotic arm 2 is mounted on top of control base 1; Docking plate 4 is fixedly connected to the operating port of robotic arm 2; Two adjusting guide rails 6 are fixedly connected to two reserved holes on the docking plate 4. Two adjusting slides 3 are slidably connected in the two adjusting guide rails 6. Mounting plates 8 are fixedly connected to the same side of the two adjusting slides 3. Two limiting ring rails 7 are fixedly connected to the opposite side of two mounting plates 8; The shock absorption and reinforcement mechanism 12 is set on the limiting ring rail 7. The shock absorption and reinforcement mechanism 12 includes a conversion slider 1202 and a mounting column 1201, and the conversion slider 1202 is slidably connected to the limiting ring rail 7. The surrounding extension clamping mechanism 11 is disposed on the mounting post 1201. The surrounding extension clamping mechanism 11 includes a ring plate 1101, and the ring plate 1101 is fixedly connected to one end of the mounting post 1201.

[0030] In specific application scenarios, when clamping the ball head at the insulator steel foot, the hydraulic cylinder 1105 is adjusted to drive the surrounding plate 1102 and the adapter airbag 1110 to surround and position the ball head. The adapter airbag 1110 increases the friction limit on the ball head after it is surrounded. Then, the hydraulic cylinder 1116 is adjusted to drive the single-point positioning pressure block 1120 below the sliding sleeve 1117 to perform single-point compression on multiple positions of the ball head. On the basis of surrounding friction positioning, single-point pressure positioning can apply additional clamping force in a specific direction, thereby providing additional friction compensation under dynamic working conditions and further enhancing the anti-slip capability.

[0031] Specifically, the enclosed structure increases the contact area with the ball head, and the wave-shaped or arc-shaped contact surface on the clamping surface can effectively disperse the pressure. At the same time, the single-point pressure boosting positioning forms a second layer of anti-loosening protection on the basis of the enclosed friction. When the dynamic load causes the friction force of the main contact surface to approach the critical value, the single-point pressure boosting mechanism can provide additional, direction-specific clamping force, which is equivalent to compensation for friction. This design greatly increases the reliability of clamping and ensures that the insulator will not fall off unexpectedly when turning at high speed or large angle.

[0032] It should be noted that during the adjustment process of the hydraulic cylinder 1105 driving the surrounding plate 1102, the extension pressure plate 1107 and the connecting rod at the ball head connection point come into contact and are gradually squeezed. As a result, the compression spring 1109 is gradually compressed. After the surrounding plate 1102 completes the surrounding of the ball head, the extension pressure plate 1107 extends and squeezes the connecting rod under the action of the compression spring 1109, thereby further improving the firmness of the insulator after clamping.

[0033] Reference Figure 1 , Figure 4 , Figure 6 , Figure 7 and Figure 8 In a preferred embodiment, the surrounding extension clamping mechanism 11 further includes: Three sliding grooves 1113 are formed in a ring on one side of the ring plate 1101, and sliding blocks 1104 are slidably connected inside each of the three sliding grooves 1113. Three surrounding pieces 1102 are fixedly connected to three sliding blocks 1104 respectively. Adaptive airbags 1110 are fixedly connected to the inner arc surface of each of the three surrounding pieces 1102, and extension rods 1103 are fixedly connected to the outer side wall of each of the three surrounding pieces 1102 away from the ring plate 1101. The intermediate block 1108 is fixedly connected to the side of the extension rod 1103 facing the center line of the ring plate 1101. Both sides of the intermediate block 1108 are connected to the extension pressure plate 1107 by hinges. The two extension pressure plates 1107 are fixedly connected at equal distances on their arc surfaces. One end of the compression spring 1109 is fixedly connected to the outer wall of the extension rod 1103.

[0034] Reference Figures 6-8 In a preferred embodiment, the surrounding extension clamping mechanism 11 further includes: The partition cylinder 1111 is fixedly connected to the mounting hole opened on each surrounding piece 1102; Mounting rod 1106 is fixedly connected to the outer wall of partition cylinder 1111. A top block 1114 is fixedly connected to the end of mounting rod 1106, and a positioning slide rod 1115 is fixedly connected to the side of top block 1114 facing the inside of partition cylinder 1111. The sliding sleeve 1117 is slidably connected to the positioning slide rod 1115. The outer side of the sliding sleeve 1117 away from the top block 1114 is fixedly connected to the end frame 1119, and the side of the top block 1114 facing the end frame 1119 is fixedly connected to the hydraulic cylinder 1116. The output end of the hydraulic cylinder 1116 is fixedly connected to the outer side of the end frame 1119. The pressure sensor 1118 is fixedly connected to the inner wall of the end frame 1119. The end frame 1119 is fixedly connected to telescopic connecting rods 1121 at equal distances around the pressure sensor 1118, and the ends of multiple telescopic connecting rods 1121 are fixedly connected to the same single-point positioning pressure block 1120.

[0035] Reference Figure 6 and Figure 7 In a preferred embodiment, the surrounding extension clamping mechanism 11 further includes: The outer frame 1112 is fixedly connected to the outer wall of the ring plate 1101 near each sliding groove 1113; Hydraulic cylinder 1105 is fixedly connected to the side of each external bracket 1112 facing the sliding block 1104, and the output end of hydraulic cylinder 1105 is fixedly connected to the side of the adjacent sliding block 1104.

[0036] Reference Figure 1 , Figure 4 , Figure 9 and Figure 10 The vibration damping and reinforcement mechanism 12 also includes: A connecting plate 1206 is fixedly connected to one side of the conversion slider 1202. One end of the mounting column 1201 is fixedly connected to the outer wall of the connecting plate 1206. Each conversion slider 1202 is fixedly connected to a mounting bracket 1205 on the outer wall near the outer and inner rings of the limiting ring rail 7. A reinforcing cylinder 1204 is fixedly connected to the opposite side of the two mounting brackets 1205. A bonding pressure plate 1203 is fixedly connected to the output end of the two reinforcing cylinders 1204. Multiple branch rods 1207 are arranged in a ring on the side of the connecting plate 1206 near the mounting post 1201. Each branch rod 1207 is fixedly connected to a shock-absorbing spring rod 1209 at equal intervals on the side facing the mounting post 1201. One end of the multiple shock-absorbing spring rods 1209 on the same branch rod 1207 is fixedly connected to the same shock-absorbing bonding plate 1208. The shock-absorbing bonding plate 1208 fits into the annular groove opened on the mounting post 1201.

[0037] Specifically, when clamping the ball head at the insulator's steel cap and steel foot, the shock-absorbing spring rod 1209, together with the shock-absorbing and shock-absorbing bonding plate 1208, reduces the vibration impact generated during the adjustment of each structure. At the same time, after the conversion motor 5 drives the conversion slider 1202 for adjustment, the reinforcing cylinder 1204 drives the bonding pressure plate 1203 to squeeze the limiting ring rail 7, thereby further fixing the adjusted conversion slider 1202 and ensuring that the conversion slider 1202 is in a stable state during the insulator clamping and movement.

[0038] Reference Figure 2 and Figure 3 In a preferred embodiment, it further includes: The reinforcing sleeve 14 is fixedly connected to the outer wall of the docking plate 4, and the reinforcing sleeve 14 is fixedly connected to the outside of the operating port of the robotic arm 2. Two fixing blocks 13 are fixedly connected to one side of the docking plate 4. An adjusting cylinder 15 is fixedly connected to the opposite side of the two fixing blocks 13. The output end of the two adjusting cylinders 15 is fixedly connected to one side of the adjacent adjusting slide 3.

[0039] Reference Figure 2 In a preferred embodiment, it further includes: Two bases 9 are fixedly connected to two adjusting slides 3 respectively; Two visual positioning modules 10 are fixedly connected to two bases 9.

[0040] Reference Figure 2 , Figure 4 and Figure 5 In a preferred embodiment, it further includes: Two conversion motors 5 are fixedly connected to opposite sides of two mounting plates 8. The output shafts of the two conversion motors 5 are fixedly connected to rotating shafts 19 via couplings. Two rotating connecting rods 20 are symmetrically distributed on the outer side wall of the rotating shafts 19. One end of the rotating connecting rod 20 is fixedly connected to the outer side wall of the adjacent conversion slider 1202.

[0041] Reference Figure 4 and Figure 5 In a preferred embodiment, it further includes: The positioning ring frame 16 is fixedly connected to one end of the mounting post 1201; An outer ring plate 17 is fixedly connected to the outer side wall of the positioning ring frame 16. Positioning cylinders 21 are distributed in a ring on the inner side wall of the outer ring plate 17, and each positioning cylinder 21 has a clamping plate 18 fixedly connected to its output end.

[0042] A method for intelligent gripping of insulators using a multi-degree-of-freedom robotic arm, employing the intelligent gripping device for insulators as described above, includes the following steps: Step 1: The robotic arm 2 moves the docking plate 4 to the designated position for the insulator. The vision positioning module 10 determines the specific position of the insulator. Then, the robotic arm 2 moves the docking plate 4 to perform multi-degree-of-freedom adjustments to complete the initial adjustment. After the initial adjustment, the conversion motor 5 is started according to the position of the insulator steel cap and steel foot ball head. The conversion motor 5 drives the positioning ring frame 16 and the surrounding extension clamping mechanism 11 to switch to the outside of the steel cap and steel foot ball head. Step 2: Start the adjusting cylinder 15 to push the adjusting slide 3 to slide along the adjusting guide rail 6, which will drive the two limiting ring rails 7 and the surrounding extension clamping mechanism 11 on them to move to the ball head of the insulator steel foot; at the same time, start the hydraulic cylinder 1105, which will drive the three surrounding plates 1102 to retract centripetally along the sliding groove 1113 through the sliding block 1104, so that the matching airbag 1110 on the inner arc surface of the surrounding plate 1102 forms a ring-shaped surrounding friction positioning on the ball head; during the retraction of the surrounding plate 1102, the extension pressure plate 1107 contacts the connecting rod at the ball head connection and gradually squeezes the compression spring 1109. After the surrounding plate 1102 completes the surrounding of the ball head, the compression spring 1109 drives the extension pressure plate 1107 to form a continuous extension compression on the connecting rod; Step 3: Start hydraulic cylinder 2 1116, push the sliding sleeve 1117 to slide along the positioning slide rod 1115, drive the single-point positioning pressure block 1120 in the end frame 1119 to move towards the ball head surface and perform single-point pressure compression at multiple positions of the ball head, and the pressure sensor 1118 provides real-time feedback of the clamping force value at each point; Step 4: After the steel ball head is clamped, the positioning cylinder 21 is activated. The positioning cylinder 21 drives the clamping plate 18 to position and clamp the steel cap. After the steel cap and steel ball head are clamped, the robotic arm 2 moves the insulator.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom robotic arm intelligent gripping device for insulators, characterized in that, include: Control base (1); A robotic arm (2) is mounted on top of the control base (1); The docking plate (4) is fixedly connected to the operating port of the robotic arm (2); Two adjusting guide rails (6) are fixedly connected to two reserved holes on the docking plate (4). Two adjusting slides (3) are slidably connected in the two adjusting guide rails (6). Mounting plates (8) are fixedly connected to the same side of the two adjusting slides (3). Two limiting ring rails (7) are fixedly connected to the opposite side of two mounting plates (8); The shock absorption and reinforcement mechanism (12) is set on the limiting ring rail (7). The shock absorption and reinforcement mechanism (12) includes a conversion slider (1202) and a mounting column (1201), and the conversion slider (1202) is slidably connected to the limiting ring rail (7). An enclosing extension clamping mechanism (11) is disposed on the mounting post (1201). The enclosing extension clamping mechanism (11) includes a ring plate (1101), and the ring plate (1101) is fixedly connected to one end of the mounting post (1201).

2. The multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 1, characterized in that, The surrounding extension clamping mechanism (11) also includes: Three sliding grooves (1113) are formed in a ring on one side of the ring plate (1101), and sliding blocks (1104) are slidably connected inside the three sliding grooves (1113). Three surrounding pieces (1102) are fixedly connected to three sliding blocks (1104) respectively. Adaptive airbags (1110) are fixedly connected to the inner arc surface of each of the three surrounding pieces (1102), and extension rods (1103) are fixedly connected to the outer sidewalls of each of the three surrounding pieces (1102) away from the ring plate (1101). The intermediate block (1108) is fixedly connected to the side of the extension rod (1103) facing the center line of the ring plate (1101). Both sides of the intermediate block (1108) are connected to the extension pressure plate (1107) by hinges. The two extension pressure plates (1107) are fixedly connected at equal distances on the arc surface of the two extension pressure plates (1107). One end of the compression spring (1109) is fixedly connected to the outer wall of the extension rod (1103).

3. The multi-degree-of-freedom robotic arm intelligent gripping device for insulators according to claim 2, characterized in that, The surrounding extension clamping mechanism (11) also includes: The partition cylinder (1111) is fixedly connected to the mounting holes opened on each surrounding piece (1102); The mounting rod (1106) is fixedly connected to the outer wall of the partition cylinder (1111). The end of the mounting rod (1106) is fixedly connected to a top block (1114), and a positioning slide rod (1115) is fixedly connected to the side of the top block (1114) facing the inside of the partition cylinder (1111). A sliding sleeve (1117) is slidably connected to a positioning slide rod (1115). An end frame (1119) is fixedly connected to the outer side wall of the sliding sleeve (1117) away from the top block (1114). A hydraulic cylinder (1116) is fixedly connected to the side of the top block (1114) facing the end frame (1119). The output end of the hydraulic cylinder (1116) is fixedly connected to the outer side wall of the end frame (1119). The pressure sensor (1118) is fixedly connected to the inner wall of the end frame (1119). The end frame (1119) is fixedly connected with telescopic connecting rods (1121) at equal distances around the pressure sensor (1118), and the ends of multiple telescopic connecting rods (1121) are fixedly connected to the same single-point positioning pressure block (1120).

4. The multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 3, characterized in that, The surrounding extension clamping mechanism (11) also includes: An external frame (1112) is fixedly connected to the outer wall of the ring plate (1101) near each sliding groove (1113); Hydraulic cylinder one (1105) is fixedly connected to the side of each external bracket (1112) facing the sliding block (1104), and the output end of hydraulic cylinder one (1105) is fixedly connected to the side of the adjacent sliding block (1104).

5. The multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 1, characterized in that, The vibration damping and reinforcement mechanism (12) also includes: A connecting plate (1206) is fixedly connected to one side of the conversion slider (1202). One end of the mounting post (1201) is fixedly connected to the outer wall of the connecting plate (1206). Each conversion slider (1202) is fixedly connected to a mounting bracket (1205) on the outer wall near the outer and inner rings of the limiting ring rail (7). A reinforcing cylinder (1204) is fixedly connected to the opposite side of the two mounting brackets (1205). A bonding pressure plate (1203) is fixedly connected to the output end of the two reinforcing cylinders (1204). Multiple branch rods (1207) are arranged in a ring on the side of the connecting plate (1206) near the mounting post (1201). Each branch rod (1207) is fixedly connected with a shock-absorbing spring rod (1209) at equal distances on the side facing the mounting post (1201). One end of the multiple shock-absorbing spring rods (1209) on the same branch rod (1207) is fixedly connected to the same shock-absorbing bonding plate (1208). The shock-absorbing bonding plate (1208) fits into the annular groove opened on the mounting post (1201).

6. The multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 1, characterized in that, Also includes: The reinforcing sleeve (14) is fixedly connected to the outer wall of the docking plate (4), and the reinforcing sleeve (14) is fixedly connected to the outside of the operating port of the robotic arm (2); Two fixed blocks (13) are fixedly connected to one side of the docking plate (4). An adjusting cylinder (15) is fixedly connected to the opposite side of the two fixed blocks (13). The output end of the two adjusting cylinders (15) is fixedly connected to one side of the adjacent adjusting slide (3).

7. The multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 6, characterized in that, Also includes: Two bases (9) are fixedly connected to two adjusting slides (3); Two visual positioning modules (10) are fixedly connected to two bases (9).

8. The multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 7, characterized in that, Also includes: Two conversion motors (5) are fixedly connected to opposite sides of two mounting plates (8). The output shafts of the two conversion motors (5) are fixedly connected to rotating shafts (19) via couplings. Two rotating connecting rods (20) are symmetrically distributed on the outer side wall of the rotating shafts (19). One end of the rotating connecting rod (20) is fixedly connected to the outer side wall of the adjacent conversion slider (1202).

9. A multi-degree-of-freedom robotic intelligent gripping device for insulators according to claim 8, characterized in that, Also includes: The positioning ring frame (16) is fixedly connected to one end of the mounting column (1201); An outer ring plate (17) is fixedly connected to the outer side wall of the positioning ring frame (16). Positioning cylinders (21) are distributed in a ring on the inner side wall of the outer ring plate (17), and a clamping plate (18) is fixedly connected to the output end of each positioning cylinder (21).

10. A method for intelligent grasping of insulators using a multi-degree-of-freedom robotic arm, comprising using the intelligent grasping device for insulators as described in claim 9, characterized in that... Includes the following steps: Step 1: The robotic arm (2) moves the docking plate (4) to the designated position for the insulator. The visual positioning module (10) determines the specific position of the insulator. Then, the robotic arm (2) moves the docking plate (4) to perform multi-degree-of-freedom adjustments to complete the initial adjustment. After the initial adjustment, the conversion motor (5) is started according to the position of the insulator steel cap and steel foot ball head. The conversion motor (5) moves the positioning ring frame (16) and the surrounding extension clamping mechanism (11) to the outside of the steel cap and steel foot ball head. Step 2: Start the adjusting cylinder (15) to push the adjusting slide (3) to slide along the adjusting guide rail (6), which will drive the two limiting ring rails (7) and the surrounding extension clamping mechanism (11) on them to move to the ball head of the insulator steel foot; at the same time, start the hydraulic cylinder (1105) to drive the three surrounding plates (1102) to shrink centripetally along the sliding groove (1113) through the sliding block (1104), so that the matching airbag (1110) on the inner arc surface of the surrounding plate (1102) forms a ring-shaped surrounding friction positioning on the ball head; during the shrinking process of the surrounding plate (1102), the extension pressure plate (1107) contacts the connecting rod at the ball head connection and gradually squeezes the compression spring (1109). After the surrounding plate (1102) completes the surrounding of the ball head, the compression spring (1109) drives the extension pressure plate (1107) to form a continuous extension compression on the connecting rod; Step 3: Start hydraulic cylinder 2 (1116), push the sliding sleeve (1117) to slide along the positioning slide rod (1115), drive the single-point positioning pressure block (1120) in the end frame (1119) to move towards the ball head surface and perform single-point pressure compression on multiple positions of the ball head, and the pressure sensor (1118) provides real-time feedback on the clamping force value of each point; Step 4: After the steel foot ball head is clamped, the positioning cylinder (21) is started. The positioning cylinder (21) drives the clamping plate (18) to position and clamp the steel cap. After the steel cap and steel foot ball head are clamped, the robotic arm (2) drives the insulator to move.

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