A flexible force feedback manipulator for substation inspection robots
Patent Information
- Application Number
- CN202522220418.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-21
- Publication Date
- 2026-09-18
- Estimated Expiration
- 2035-10-21
AI Technical Summary
[0005]针对现有技术的不足，本实用新型提供了一种用于变电站巡检机器人的柔性力反馈机械手，可以解决现有的带机械臂的变电站巡检机器人，在使用时，夹爪通常是刚性夹持，而刚性夹持在检修作业时，容易出现夹爪对电器元件夹持力度较大，造成电器元件损坏的情况发生，或夹持力度较小，导致夹取物掉落问题
1、在检修时，机械臂控制机械手本体的夹爪对电器元件进行夹持，在夹持时，橡胶套贴合电器元件，然后持续夹持，橡胶套受到挤压，加强筋和第一空腔受压形变，橡胶套的设置，可以实现柔性夹持的效果，橡胶套被挤压到一定程度时，凸起柱接触压力传感器，通过压力传感器传输信号，实现力反馈的效果，此时夹持停止，保证电器元件的被夹持稳定，也避免因夹持力度较大，导致电器元件的外壁受损，从而实现柔性力反馈的效果。
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Figure CN224765482U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotic arms for substation inspection robots, specifically a flexible force feedback robotic arm for substation inspection robots. Background Technology
[0002] Substation inspection robots are specialized automated equipment for power systems, consisting of a mobile carrier, communication equipment, and testing equipment. They support remote control or fully autonomous operation modes and are used to replace manual labor in substation equipment inspection. Some substation inspection robots with robotic arms can even replace manual labor for maintenance or testing.
[0003] Existing substation inspection robots with robotic arms typically use rigid grippers. However, during maintenance operations, rigid grippers can cause problems such as excessive gripping force on electrical components, leading to damage, or insufficient gripping force, causing the gripped items to fall.
[0004] Therefore, a flexible force feedback manipulator for substation inspection robots is proposed to solve the problems mentioned above. Utility Model Content
[0005] To address the shortcomings of existing technologies, this utility model provides a flexible force feedback manipulator for substation inspection robots. This addresses the problem that existing substation inspection robots with robotic arms typically use rigid grippers during operation. Rigid grippers can lead to situations where the grippers apply excessive force to electrical components, causing damage, or the gripping force is too weak, causing the gripped items to fall.
[0006] To achieve the above objectives, this utility model provides the following technical solution: It includes a substation inspection robot body and a robotic arm. A robotic hand body is fixedly connected to the end of the robotic arm. The robotic hand body includes a gripper, and a rubber sleeve is fitted over the outer side of the gripper. A force feedback mechanism is provided inside the rubber sleeve. The force feedback mechanism includes a first cavity, a protruding column, a reinforcing rib, a second cavity, a fixing hole, and a pressure sensor. A hole is formed through one side of the gripper, and the pressure sensor is fixedly connected inside the hole. The first cavity is located inside the rubber sleeve, the protruding column is fixedly connected inside the first cavity, the reinforcing rib is fixedly connected inside the first cavity, the second cavity is located inside the reinforcing rib, and the fixing hole is located inside the rubber sleeve.
[0007] Preferably, the pressure sensor is provided with a corrugated groove on one side of the inner rubber sleeve of the fixing hole.
[0008] Preferably, an installation mechanism is provided at the connection between the rubber sleeve and the gripper. The installation mechanism includes a post, a first through groove and a second through groove. The post is fixedly connected to one side of the rubber sleeve. The first through groove is opened through one side of the post. The second through groove is opened through the outside of the gripper. An anti-disengagement bracket is inserted through the inside of the first through groove.
[0009] Preferably, the outer wall of the end of the anti-detachment bracket is fitted with the inner wall of the first through groove, and the outer wall of the insertion post is fitted with the inner wall of the second through groove.
[0010] Preferably, the end of the anti-detachment frame is provided with an anti-detachment mechanism, which includes a sliding hole, a slider, a spring, a slot and a buckle. The sliding hole is opened inside the anti-detachment frame, the slider is slidably connected inside the sliding hole, the spring is sleeved on the lower half of the outer side of the slider, the slot is opened at the end of the anti-detachment frame, and the buckle is engaged with the end of the anti-detachment frame.
[0011] Preferably, there are two slots, and the two ends of the buckle are engaged inside the two slots.
[0012] Preferably, the outer wall of the protrusion of the slider is in contact with the inner wall of the sliding hole, and the sliding hole and the slot are connected.
[0013] Compared with the prior art, this utility model provides a flexible force feedback manipulator for substation inspection robots, which has the following beneficial effects: 1. During maintenance, the robotic arm controls the gripper of the robotic arm body to clamp the electrical components. During clamping, the rubber sleeve adheres to the electrical components, and then the clamping continues. The rubber sleeve is compressed, and the reinforcing ribs and the first cavity are deformed under pressure. The rubber sleeve can achieve a flexible clamping effect. When the rubber sleeve is compressed to a certain extent, the protruding post contacts the pressure sensor. The pressure sensor transmits a signal to achieve a force feedback effect. At this time, the clamping stops, ensuring the stability of the clamped electrical components and avoiding damage to the outer wall of the electrical components due to excessive clamping force, thus achieving a flexible force feedback effect.
[0014] 2. The rubber sleeve is inserted into the clamping claw via the insertion post, and the anti-disengagement bracket is inserted into the first through slot. It is limited by the sliding limiter. The two ends of the buckle are engaged inside the two slots and limit the maximum stroke of the sliding block to prevent the sliding block from sliding completely into the sliding hole, thereby further fixing the rubber sleeve and preventing it from falling off. The snap-fit fixing setting after insertion makes it easy to install the rubber sleeve and replace it later. Attached Figure Description
[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the corrugated groove structure of this utility model; Figure 3 This is a schematic diagram of the buckle structure of this utility model; Figure 4 This is a schematic diagram of the slider position structure of this utility model; Figure 5 This is a schematic diagram of the reinforcing rib structure of this utility model; Figure 6 This is a schematic diagram of the insertion post position structure of this utility model.
[0016] In the diagram: 1. Substation inspection robot body; 2. Robotic arm; 3. Robotic hand body; 4. Gripper; 5. Rubber sleeve; 6. Corrugated groove; 7. First cavity; 8. Protruding column; 9. Reinforcing rib; 10. Second cavity; 11. Fixing hole; 12. Pressure sensor; 13. Insertion post; 14. First through groove; 15. Second through groove; 16. Anti-detachment frame; 17. Sliding hole; 18. Slider; 19. Spring; 20. Slot; 21. Buckle. Detailed Implementation
[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example
[0018] Please see Figure 1 - Figure 6 This embodiment describes a flexible force feedback manipulator for a substation inspection robot, comprising a substation inspection robot body 1 and a robotic arm 2. The end of the robotic arm 2 is fixedly connected to the manipulator body 3. The manipulator body 3 includes a gripper 4, and a rubber sleeve 5 is fitted on the outer side of the gripper 4. A force feedback mechanism is provided inside the rubber sleeve 5. The force feedback mechanism includes a first cavity 7, a protruding post 8, a reinforcing rib 9, a second cavity 10, a fixing hole 11, and a pressure sensor 12. A hole is provided through one side of the gripper 4, and the pressure sensor 12 is fixedly connected inside the hole. The first cavity 7 is located inside the rubber sleeve 5, the protruding post 8 is fixedly connected inside the first cavity 7, the reinforcing rib 9 is fixedly connected inside the first cavity 7, the second cavity 10 is located inside the reinforcing rib 9, and the fixing hole 11 is located inside the rubber sleeve 5.
[0019] During maintenance, the robotic arm 2 controls the gripper 4 of the robotic arm body 3 to clamp the electrical components. During clamping, the rubber sleeve 5 adheres to the electrical components and is then continuously clamped. The rubber sleeve 5 is compressed, and the reinforcing rib 9 and the first cavity 7 are deformed under pressure. The rubber sleeve 5 provides a flexible clamping effect. When the rubber sleeve 5 is compressed to a certain extent, the protruding post 8 contacts the pressure sensor 12, and the pressure sensor 12 transmits a signal to achieve a force feedback effect. At this point, the clamping stops, ensuring the stability of the clamped electrical components and preventing damage to the outer wall of the electrical components due to excessive clamping force. This achieves a flexible force feedback effect. After maintenance is completed, the electrical components are released, and the rubber sleeve 5 returns to its original position after deformation due to the rebound of the reinforcing rib 9 and the first cavity 7.
[0020] Please see Figures 2-3 The pressure sensor 12 is located inside the fixing hole 11, and a corrugated groove 6 is provided on one side of the rubber sleeve 5.
[0021] To facilitate the installation of the rubber sleeve 5, an installation mechanism is provided at the connection between the rubber sleeve 5 and the gripper 4. The installation mechanism includes a post 13, a first through groove 14, and a second through groove 15. The post 13 is fixedly connected to one side of the rubber sleeve 5. The first through groove 14 is opened through one side of the post 13. The second through groove 15 is opened through the outside of the gripper 4. An anti-detachment bracket 16 is inserted through the inside of the first through groove 14. An anti-detachment mechanism is provided at the end of the anti-detachment bracket 16. The anti-detachment mechanism includes a sliding hole 17, a slider 18, a spring 19, a slot 20, and a buckle 21. The sliding hole 17 is opened inside the anti-detachment bracket 16. The slider 18 is slidably connected inside the sliding hole 17. The spring 19 is sleeved on the lower half of the outer side of the slider 18. The slot 20 is opened at the end of the anti-detachment bracket 16. The buckle 21 is engaged at the end of the anti-detachment bracket 16.
[0022] The rubber sleeve 5 is slidably inserted into the clamp 4 via the insert post 13, and then the anti-detachment bracket 16 is inserted into the first through slot 14. During insertion, the slider 18 slides into the sliding hole 17 and compresses the spring 19. After complete insertion, the spring 19 returns to its original position and pushes out the slider 18. The slider 18 limits the anti-detachment bracket 16 to prevent it from detaching, thus completing the fixation of the rubber sleeve 5. Then, the two ends of the buckle 21 are snapped into the inside of the two slots 20, limiting the maximum travel of the slider 18 and preventing the slider 18 from completely sliding into the sliding hole 17, further fixing the rubber sleeve 5 and preventing it from detaching. The snap-fit fixation after insertion facilitates the installation of the rubber sleeve 5 and makes it easy to replace later.
[0023] Please see Figures 3-6The outer wall of the end of the anti-detachment bracket 16 is in contact with the inner wall of the first through groove 14, the outer wall of the insert post 13 is in contact with the inner wall of the second through groove 15, there are two slots 20, the two ends of the buckle 21 are engaged in the inside of the two slots 20, the outer wall of the protrusion of the slider 18 is in contact with the inner wall of the sliding hole 17, and the sliding hole 17 and the slot 20 are connected.
[0024] The working principle of the above embodiments is as follows: During maintenance, the robotic arm 2 controls the gripper 4 of the robotic arm body 3 to clamp the electrical components. During clamping, the rubber sleeve 5 adheres to the electrical components and is then continuously clamped. The rubber sleeve 5 is compressed, and the reinforcing rib 9 and the first cavity 7 are deformed under pressure. The rubber sleeve 5 is designed to achieve a flexible clamping effect. When the rubber sleeve 5 is compressed to a certain extent, the protruding post 8 contacts the pressure sensor 12. The pressure sensor 12 transmits a signal to achieve a force feedback effect. At this time, the clamping stops, ensuring the stability of the clamped electrical components and avoiding damage to the outer wall of the electrical components due to excessive clamping force. This achieves a flexible force feedback effect. After maintenance is completed, the electrical components are released, and the rubber sleeve 5 returns to its original position after deformation through the rebound of the reinforcing rib 9 and the first cavity 7. The rubber sleeve 5 is slidably inserted into the clamp 4 via the insert post 13, and then the anti-detachment bracket 16 is inserted into the first through slot 14. During insertion, the slider 18 slides into the sliding hole 17 and compresses the spring 19. After complete insertion, the spring 19 returns to its original position and pushes out the slider 18. The slider 18 limits the anti-detachment bracket 16 to prevent it from detaching, thus completing the fixation of the rubber sleeve 5. Then, the two ends of the buckle 21 are snapped into the inside of the two slots 20, limiting the maximum travel of the slider 18 and preventing the slider 18 from completely sliding into the sliding hole 17, further fixing the rubber sleeve 5 and preventing it from detaching. The snap-fit fixation after insertion facilitates the installation of the rubber sleeve 5 and makes it easy to replace later.
[0025] The installation, connection, or setting methods disclosed in this embodiment are all common mechanical connection methods. As long as they can achieve their beneficial effects, they can be implemented. Therefore, this embodiment will not elaborate on their specific structural composition and working principle.
[0026] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A flexible force feedback manipulator for substation inspection robots, characterized in that: The system includes a substation inspection robot body (1) and a robotic arm (2). The end of the robotic arm (2) is fixedly connected to a robotic hand body (3). The robotic hand body (3) includes a gripper (4). A rubber sleeve (5) is fitted on the outside of the gripper (4). A force feedback mechanism is provided inside the rubber sleeve (5). The force feedback mechanism includes a first cavity (7), a protruding column (8), a reinforcing rib (9), a second cavity (10), a fixing hole (11), and a pressure sensor (12). A hole is opened through one side of the gripper (4). The pressure sensor (12) is fixedly connected inside the hole. The first cavity (7) is opened inside the rubber sleeve (5). The protruding column (8) is fixedly connected inside the first cavity (7). The reinforcing rib (9) is fixedly connected inside the first cavity (7). The second cavity (10) is opened inside the reinforcing rib (9). The fixing hole (11) is opened inside the rubber sleeve (5).
2. The flexible force feedback manipulator for substation inspection robots according to claim 1, characterized in that: The pressure sensor (12) is located inside the rubber sleeve (5) of the fixing hole (11) and has a corrugated groove (6) on one side.
3. A flexible force feedback manipulator for a substation inspection robot according to claim 2, characterized in that: An installation mechanism is provided at the connection between the rubber sleeve (5) and the gripper (4). The installation mechanism includes a post (13), a first through groove (14), and a second through groove (15). The post (13) is fixedly connected to one side of the rubber sleeve (5). The first through groove (14) is opened through one side of the post (13). The second through groove (15) is opened through the outside of the gripper (4). An anti-disengagement bracket (16) is inserted through the inside of the first through groove (14).
4. A flexible force feedback manipulator for a substation inspection robot according to claim 3, characterized in that: The outer wall of the end of the anti-detachment bracket (16) is in contact with the inner wall of the first through groove (14), and the outer wall of the insert (13) is in contact with the inner wall of the second through groove (15).
5. A flexible force feedback manipulator for a substation inspection robot according to claim 3, characterized in that: The anti-detachment frame (16) is provided with an anti-detachment mechanism at its end. The anti-detachment mechanism includes a sliding hole (17), a slider (18), a spring (19), a slot (20), and a buckle (21). The sliding hole (17) is opened inside the anti-detachment frame (16). The slider (18) is slidably connected inside the sliding hole (17). The spring (19) is sleeved on the lower half of the outer side of the slider (18). The slot (20) is opened at the end of the anti-detachment frame (16). The buckle (21) is engaged at the end of the anti-detachment frame (16).
6. A flexible force feedback manipulator for a substation inspection robot according to claim 5, characterized in that: There are two slots (20), and the two ends of the buckle (21) are engaged inside the two slots (20).
7. A flexible force feedback manipulator for a substation inspection robot according to claim 5, characterized in that: The outer wall of the protrusion of the slider (18) is in contact with the inner wall of the sliding hole (17), and the sliding hole (17) and the slot (20) are connected.