CN110640704B - Automatic tool library - Google Patents
Automatic tool library Download PDFInfo
- Publication number
- CN110640704B CN110640704B CN201910850553.9A CN201910850553A CN110640704B CN 110640704 B CN110640704 B CN 110640704B CN 201910850553 A CN201910850553 A CN 201910850553A CN 110640704 B CN110640704 B CN 110640704B
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- China
- Prior art keywords
- tool
- calibration
- pusher dog
- driving
- mounting seat
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention relates to the field of electric power engineering equipment, and provides an automatic tool magazine which comprises a tool table, a tool magazine and a tool magazine, wherein the tool table is provided with a plurality of tool positions for placing tools; the pusher dog system is arranged on each tool position and comprises pusher dogs for fixing tools; the calibration device comprises a calibration handle for providing positioning for the pusher dog system, and the pusher dog and the calibration handle move synchronously; the driving system comprises a driving motor and an encoder for recording the displacement of the driving motor; and the transmission system is communicated with the driving system, the calibration device and the pusher dog system on each tool position. The invention can realize the automatic replacement of the tool required by the robot in a live working state when the robot replaces manual work in a high-voltage environment, realize the safety of workers in the high-voltage environment and simultaneously improve the working efficiency.
Description
Technical Field
The invention relates to the field of electric power engineering equipment, in particular to an automatic tool library.
Background
In recent years, along with the increasing pace of the development of Chinese electric power, Chinese power grids are rapidly developed, the operating voltage level of a power grid system is continuously improved, the network scale is continuously enlarged, 6 trans-provincial large-scale regional power grids including a northeast power grid, a northchina power grid, a Chinese power grid, a east-China power grid, a northwest power grid and a south power grid are formed in China, a complete long-distance power transmission power grid frame is basically formed, and the overall scale and the technical level of the Chinese high-voltage power grid are in the world leading level.
Large-scale power grids generate a lot of maintenance work. For safety, a high-voltage power grid is erected in the air by a line tower, the distance of a power transmission line is long, the geographical environment of the power transmission place is complex, manual maintenance is difficult, labor intensity is high, and efficiency is low, so that an electrified working robot is gradually developed to replace manual work to complete some operation steps. The live working robot can complete the operations of live wire breaking, live wire connection, live replacement of the lightning arrester, live replacement of the isolating switch, live replacement of the drop-out fuse, live replacement of the insulating protective tube and the like. However, the existing live working robots still mainly rely on manual intervention to complete related live working operations, such as replacement of live working tools, which are all completed under manual intervention. However, since the work is performed in the high-altitude and high-voltage environment, the personal safety of the workers is seriously threatened, and meanwhile, the hot-line work efficiency is low due to the hot-line work mode interfered by the workers.
Disclosure of Invention
Aiming at the defects of the prior art, the invention researches and invents an automatic tool magazine, which can realize the automatic replacement of live working tools and improve the working efficiency.
In order to solve the technical problems, the invention is realized by the following technical scheme:
an automatic tool library comprises a tool table, a tool table and a tool magazine, wherein the tool table is provided with a plurality of tool positions for placing tools; the pusher dog system is arranged on each tool position and comprises pusher dogs for fixing tools; the calibration device comprises a calibration handle for providing positioning for the pusher dog system, and the pusher dog and the calibration handle move synchronously; the driving system comprises a driving motor and an encoder for recording the displacement of the driving motor; and the transmission system is communicated with the driving system, the calibration device and the pusher dog system on each tool position.
Furthermore, the driving system is connected with a transmission system, the transmission system is simultaneously connected with the pusher dog system and the calibration device, the encoder records the relative displacement of the driving motor driving the pusher dog system to rotate, and the driving motor realizes the taking and placing of the tool through forward rotation or reverse rotation relative displacement.
Furthermore, the calibration device further comprises a limiting device and a calibration mounting seat, the calibration mounting seat is fixedly connected with the tool table, and the limiting device is arranged on the calibration mounting seat.
Furthermore, the limiting device comprises a calibration mounting seat positioning hole, a calibration handle proximity switch and a limiting screw which are arranged on the calibration mounting seat.
Furthermore, the calibration handle is provided with a calibration handle positioning hole, and when the calibration handle positioning hole rotates to the calibration handle proximity switch, the calibration handle rotates; if the calibration handle rotates past the calibration handle proximity switch, the limit screw is used for limiting the calibration handle finally.
Furthermore, the calibration handle is provided with a positioning hole of the calibration handle, and when the positioning hole of the calibration handle is superposed with the positioning hole of the calibration mounting seat, the pusher dog determines the initial horizontal position.
Further, the transmission system comprises a transmission shaft, a driving transmission device, a driven transmission device and a transmission shaft retainer; the transmission shaft holder is arranged on the tool table, the transmission shaft is arranged on the transmission shaft holder, the main transmission device is arranged on the transmission shaft, and the driven transmission device is arranged on the tool table and corresponds to the main transmission device.
Further, the driving transmission device and the driven transmission device are driving conical teeth and driven conical teeth, or a pair of 45-degree staggered gear sets, or a worm and a worm wheel.
Furthermore, the pusher dog system also comprises a pusher dog mounting seat, the pusher dog mounting seat is fixedly connected with the tool table, and when the pusher dog is locked with the driven transmission device, the pusher dog is mounted on the pusher dog mounting seat through a bearing.
Furthermore, a U-shaped groove for installing tools is formed in the pusher dog.
Further, a tool proximity switch is arranged on the inner side of the tool position.
Furthermore, tool position positioning pins are arranged on two sides of the tool position.
Further, the driving system also comprises a driving motor mounting seat and a driving gear set; the driving motor mounting seat is fixed on the tool table, and the driving motor and the driving gear group are arranged on the driving motor mounting seat; the driving motor drives the driving gear set, and the driving gear set drives the transmission system to rotate.
The invention has the beneficial effects that:
according to the automatic tool magazine, when the robot replaces manual operation in a high-voltage environment, the tool required by the robot in a live working state can be automatically replaced, the safety of workers in the high-voltage environment is realized, and meanwhile, the operation efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic structural diagram of the calibration device of the present invention;
FIG. 4 is a schematic diagram of a tool position according to the present invention;
FIG. 5 is a top view of the tool position of the present invention;
wherein: 1. a tool position locating pin; 2. calibrating a mounting seat; 3. a tool proximity switch; 4. a handle proximity switch is calibrated; 5. a limit screw; 6. an active transmission; 7. a pusher dog; 7-1, U-shaped groove; 8. a pusher dog mount; 9. a driven transmission device; 10. a drive shaft; 11. a drive shaft holder; 12. a drive motor; 13. a drive motor mounting base; 14. mounting a fixed frame; 15. a drive gear set; 16. a calibration handle; 17. positioning holes; 18. a tool table.
Detailed Description
The preferred mechanisms and methods of motion realization of the present invention are further described below in conjunction with the figures and the detailed description.
As shown in fig. 1-5, an automatic tool magazine includes a tool table 18, a drive system, a transmission system, a calibration device, and a finger system.
The tool table 18 comprises a plurality of tool positions, 8 tool positions are set by taking fig. 1 as an example, a pair of tool position positioning pins 1 are mounted on two sides of each tool position and used for fixing tools to be placed on the tool table, such as tools required by robots such as wire strippers, wire holders and novel wire clamps during working, a tool proximity switch 3 is arranged on the inner side of each tool position, and the tool proximity switch 3 is used for detecting whether the tools are installed in place; the tool table 18 also includes a mounting fixture 14 for mounting the tool table to a robot (not shown).
As shown in fig. 2, the driving system includes a driving motor 12, a driving motor mount 13, and a driving gear set 15; the driving motor mounting seat 13 is arranged on the tool table 18, and the driving motor 12 and the driving gear set 15 are arranged on the driving motor mounting seat 13; the driving motor 12 drives the driving gear set 15, and the driving gear set 15 drives the transmission shaft 10 to rotate; the encoder of the drive motor records the linear displacement of the drive motor.
The transmission system comprises a transmission shaft 10, a driving transmission device 6, a driven transmission device 9 and a transmission shaft retainer 11; the transmission shaft holder 11 is arranged on the tool table 18, the transmission shaft 10 is arranged on the transmission shaft holder 11, the main transmission device 6 is arranged on the transmission shaft, the driven transmission device is arranged at the position, corresponding to the main transmission device 6, on the tool table 18, each tool position on the tool table 18 is provided with a pair of the driving transmission device 6 and the driven transmission device 9 which are mutually matched, the mutual matching of the driving transmission device 6 and the driven transmission device 9 can be driving conical teeth and the mutual matching of the driven conical teeth, also can be the mutual matching of a pair of 45-degree staggered gear sets, also can be a worm wheel and a worm rod, the worm rod is arranged on the transmission shaft 10, and the worm wheel is arranged at the position, corresponding to the worm rod, of the tool table.
As shown in fig. 3 and 4, the calibration device comprises a calibration handle 16, a proximity switch 4 of the calibration handle, a limit screw 5 and a calibration mounting base 2; the calibration mounting base 2 is fixedly connected with the tool table, the calibration handle 16, the calibration handle proximity switch 4 and the limit screw 5 are all arranged on the calibration mounting base 2, and the calibration handle 16 is fixedly connected with the transmission shaft 10. A calibration handle positioning hole 17 is formed in the calibration handle 16, a mounting seat positioning hole is correspondingly formed in the calibration mounting seat 2, and the calibration handle positioning hole 17 and the mounting seat positioning hole can be overlapped, as shown in fig. 3, the two holes are overlapped; the calibration handle approach switch 4 is soft limiting, the limiting screw 5 is hard limiting, under normal conditions, when the positioning hole 17 of the calibration handle rotates to the calibration handle approach switch 4, the calibration handle 16 rotates, but once the calibration handle 16 rotates to the calibration handle approach switch 4, the limiting screw 5 limits the calibration handle 16 finally.
The pusher dog system comprises a pusher dog 7 and a pusher dog mount pad 8, the pusher dog mount pad 8 is fixedly connected with a tool table 18, and in the actual use process, after the pusher dog 7 is locked with the driven transmission device 9, the pusher dog 7 is mounted on the pusher dog mount pad 8 through a bearing. The pusher dog 7 is provided with a U-shaped groove 7-1 for mounting tools, and when the U-shaped grooves are all upward, the pusher dog is in an initial position, namely a horizontal position, and is horizontal to the tool table.
The working process of the invention is as follows:
firstly, initial state setting is carried out on the automatic tool library through a calibration device, so that the automatic tool library is in an initial state of tool picking and placing, and synchronous action of 8 tool positions on the tool library is guaranteed. The initial state setting steps are as follows:
(1) shifting the calibration handle 16 to make the positioning hole 17 of the calibration handle coincide with the positioning hole of the mounting seat;
(2) a positioning pin penetrates through the superposed calibration handle positioning hole 17 and the superposed mounting seat positioning hole, and the positioning handle 16 is fixed on the calibration mounting seat 2;
(3) each pusher dog 7 is manually installed, so that the U-shaped groove 7-1 is upward, namely, the pusher dogs 7 are parallel to the tool table 18, and the initial state of taking and placing tools is achieved.
And secondly, calibrating the initial position of the automatic tool library by a calibration device. The calibration steps are as follows:
(1) the positioning pin is pulled down, so that the calibration handle 16 can rotate freely;
(2) starting a driving motor 12, driving a calibration handle 16 to rotate through a transmission shaft 10, and clearing the encoder value of the driving motor 12 when the calibration handle 16 rotates to a calibration handle proximity switch 4 (soft limit);
(3) the driving motor 12 drives the calibration handle 16 to rotate, and when the positioning hole 17 of the calibration handle is superposed with the positioning hole of the mounting seat, the encoder records a value A, namely the position of the automatic tool magazine in an initial state (horizontal state).
And thirdly, placing and using the tool. The method comprises the following steps:
(1) sequentially placing required tools on the tool position positioning pins 1 of each tool position according to the using sequence, and inserting locking rotating pins on the tools into the U-shaped grooves 7-1 to be connected with the shifting claws 7;
(2) the driving motor 12 rotates to drive the pusher dog 7 to rotate to an unlocking position, the robot insulating rod is inserted into a butt joint port of the tool, and the encoder counts a value B; the pusher dog 7 is turned back to the locking position again, and the butt joint mouth locking of robot insulator spindle and instrument, and numerical value C is counted into to the encoder, and when rotatory again to initial position, the insulator spindle of robot can take off the instrument and use.
(3) After the tool is used, the insulating rod of the robot puts the tool back to the tool table again, and reversely rotates to a corresponding unlocking position according to the numerical value recorded by the encoder, so that the insulating rod of the robot can be separated from the butt joint port of the tool;
(4) repeating the steps (2) to (3), and sequentially taking and placing other tools along the tool positions of the automatic tool library.
Because this scene is operated to the high-voltage line, so the instrument platform need put 1 wire stripper, 1 holds up line ware, 3 novel fastener, also can just to other work scenes, changes into other instruments.
Finally, it should be noted that: although the present invention has been described in detail with reference to the embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. An automated tool library, comprising
The tool table is provided with a plurality of tool positions for placing tools;
the pusher dog system is arranged on each tool position and comprises pusher dogs for fixing tools;
the calibration device comprises a calibration handle for providing positioning for the pusher dog system, and the pusher dog and the calibration handle move synchronously;
the driving system comprises a driving motor and an encoder for recording the displacement of the driving motor;
the transmission system is communicated with the driving system, the calibration device and the pusher dog system on each tool position;
the calibration device further comprises a limiting device and a calibration mounting seat, the calibration mounting seat is fixedly connected with the tool table, and the limiting device is arranged on the calibration mounting seat; the limiting device comprises a calibration mounting seat positioning hole, a calibration handle proximity switch and a limiting screw which are arranged on the calibration mounting seat; the calibration handle is provided with a calibration handle positioning hole, and when the calibration handle positioning hole rotates to the calibration handle proximity switch, the calibration handle rotates; if the calibration handle rotates past the calibration handle proximity switch, the limiting screw is used for limiting the calibration handle finally;
the transmission system comprises a transmission shaft, a driving transmission device, a driven transmission device and a transmission shaft retainer; the transmission shaft retainer is arranged on the tool table, the transmission shaft is arranged on the transmission shaft retainer, the driving transmission device is arranged on the transmission shaft, and the driven transmission device is arranged on the tool table and corresponds to the driving transmission device;
the pusher dog system also comprises a pusher dog mounting seat, the pusher dog mounting seat is fixedly connected with the tool table, and when the pusher dog is locked with the driven transmission device, the pusher dog is mounted on the pusher dog mounting seat through a bearing.
2. The automatic tool magazine as claimed in claim 1, wherein the driving system is connected to a transmission system, the transmission system is connected to the pusher dog system and the calibration device, the encoder records the relative displacement of the driving motor for driving the pusher dog system to rotate, and the driving motor realizes the picking and placing of the tool through the forward rotation or the reverse rotation relative displacement.
3. The automated tool magazine of claim 1 or 2, wherein the index knob is provided with an index knob locating hole, and the finger determines an initial horizontal position when the index knob locating hole and the index mount locating hole coincide.
4. The automated tool magazine of claim 1, wherein the drive and driven transmissions are drive and driven conical teeth, or a pair of 45 degree staggered gear sets, or a worm and worm gear.
5. The automated tool magazine of claim 1, wherein the fingers define U-shaped slots for receiving tools.
6. The automated tool library of claim 1, wherein a tool proximity switch is disposed inside the tool bay.
7. The automated tool magazine of claim 1, wherein tool position locating pins are provided on both sides of the tool position.
8. The automated tool library of claim 1, wherein the drive system further comprises a drive motor mount and a drive gear set; the driving motor mounting seat is fixed on the tool table, and the driving motor and the driving gear group are arranged on the driving motor mounting seat; the driving motor drives the driving gear set, and the driving gear set drives the transmission system to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850553.9A CN110640704B (en) | 2019-09-09 | 2019-09-09 | Automatic tool library |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910850553.9A CN110640704B (en) | 2019-09-09 | 2019-09-09 | Automatic tool library |
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| Publication Number | Publication Date |
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| CN110640704A CN110640704A (en) | 2020-01-03 |
| CN110640704B true CN110640704B (en) | 2021-03-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN219445093U (en) * | 2022-03-17 | 2023-08-01 | 上海岭先机器人科技股份有限公司 | Tool library |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10235593A (en) * | 1997-02-27 | 1998-09-08 | Toshiba Corp | Pivot stopper |
| DE102007050712A1 (en) * | 2007-10-22 | 2009-04-23 | Zyrus Beteiligungsgesellschaft Mbh & Co. Patente I Kg | Tool receiving system with pull-out and return device, in particular with a coil |
| CN103406915B (en) * | 2013-07-18 | 2016-02-24 | 北京航空航天大学 | A kind of chuck type autonomous more changing device fast of space manipulator end-effector |
| US10525603B2 (en) * | 2013-08-22 | 2020-01-07 | The Boeing Company | Method and apparatus for exchanging nozzles and tips for a fluid dispensing system |
| CN204333701U (en) * | 2015-01-21 | 2015-05-13 | 广东电网有限责任公司韶关供电局 | A kind of distribution overhead line automation on-off controller fast operating instrument |
| CN105128022B (en) * | 2015-09-10 | 2017-01-18 | 西安交通大学 | Intelligent and automatic end replacing device of robot |
| CN108994765B (en) * | 2017-04-21 | 2020-01-17 | 浙江企银印务科技有限公司 | Mounting method of double-head multifunctional tool |
| CN208051539U (en) * | 2018-03-26 | 2018-11-06 | 深圳一向众盈科技有限公司 | A kind of cutter chuck rack |
| CN209140926U (en) * | 2018-10-17 | 2019-07-23 | 莱森姆智能科技(常州)有限公司 | A kind of robot supporting tool library |
| CN109551506B (en) * | 2018-11-13 | 2021-04-09 | 北京新立机械有限责任公司 | Welding head assembling and disassembling device |
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