CN106625564A - Dual-arm electric power maintenance robot capable of rising and falling, and rotating - Google Patents
Dual-arm electric power maintenance robot capable of rising and falling, and rotating Download PDFInfo
- Publication number
- CN106625564A CN106625564A CN201611221063.5A CN201611221063A CN106625564A CN 106625564 A CN106625564 A CN 106625564A CN 201611221063 A CN201611221063 A CN 201611221063A CN 106625564 A CN106625564 A CN 106625564A
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- vehicle body
- axle
- component
- rotation
- forearm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a dual-arm electric power maintenance robot capable of rising and falling, and rotating. The dual-arm electric power maintenance robot capable of rising and falling, and rotating comprises a vehicle body bearing base (6), a vehicle body lifting assembly (7), a mechanical arm assembly (8), a rotatable vehicle body assembly (9) and visual information acquisition devices (10); the structure of a wheel type chassis (1) is the same as that of a typical wheel type chassis on the market, and only part of the assembly size is adjusted; and the four visual information acquisition devices (10) are arranged and are installed at the four positions of the front, the back, the left and the right of the rotatable vehicle body assembly (9) correspondingly. According to the dual-arm electric power maintenance robot capable of rising and falling, and rotating, by means of the coordinated movement of a vehicle body moving assembly, the vehicle body lifting assembly, the rotatable vehicle body assembly and dual six-freedom-degree mechanical arms, a worker is replaced to execute the complicated task, the operation space is large, the work capacity is high, and efficiency is high.
Description
Technical field
The present invention relates to a kind of robot, specifically a kind of both arms electric power overhaul robot of liftable rotation, belong to electricity
Power equipment technical field.
Background technology
In many electric power danger zones, be often unsuitable for personnel's handwork, at this moment generally need locomotivity good and
The strong robot of ability to work is replacing manually performing task.
The content of the invention
For the problem that above-mentioned prior art is present, the present invention provides a kind of both arms electric power overhaul machine of liftable rotation
The coordinated movement of various economic factors that people passes through vehicle body moving assembly, vehicle body lifting assembly, rotatable body component and double six degree-of-freedom mechanical arm,
Staff is replaced to perform complex task, operating space is big, ability to work is strong, efficiency high.
To achieve these goals, the technical solution used in the present invention is：A kind of both arms electric power overhaul of liftable rotation
Robot, including vehicle body bearing base, vehicle body lifting assembly, robot assemblies, rotatable body component and visual information adopts
Acquisition means；；Two sets of wheel undercarriages provide translational speed fast wheel type mobile mode for tow-armed robot, and vehicle body moving assembly is adjusted
The position of centre of gravity of robot, electric drive swivel component and fluid pressure type lift leg assembly provide obstacle climbing ability strong leg for tow-armed robot
Formula move mode, so as to be combined into fast and strong two advantages of obstacle climbing ability the telecontrol equipment of translational speed is had concurrently, quick to reach danger
Danger zone domain；Under the guidance of the visual information that four groups of visual information harvesters get, by vehicle body moving assembly and revolving
Turn plan-position and the attitude of body component adjustment robot automobile body, bodywork height is adjusted by vehicle body lifting assembly, in conjunction with
The coordinated movement of various economic factors of double six degree-of-freedom robot assemblies, replaces the operation that staff performs complexity in great working space to appoint
Business；
Described wheel undercarriage is identical with typical wheel undercarriage structure on the market, has only adjusted in the fitted position of part；
Described visual information harvester has four groups, is separately mounted to the front, rear, left and right four of rotatable body component
Orientation；For the peripheral vision information that operating personnel provide robot present position, in order to the remote control of robot；
Described rotatable body component includes vehicle body rotating basis, vehicle body swivel bearing, vehicle body, vehicle body rotary decelerator, car
Body electric rotating machine and car body top cover；Vehicle body swivel bearing Internal and external cycle respectively with vehicle body and vehicle body rotating basis bolt connection, car
Body rotary decelerator is bolted on vehicle body, and its output shaft is bonded with vehicle body rotating basis and Jing catch is axially fixed
Position；After the output torque Jing vehicle body rotary decelerator of vehicle body electric rotating machine amplifies, vehicle body is driven relative to vehicle body rotating basis
Axis direction around vehicle body swivel bearing rotates, so as to realize being adjusted flexibly for robot automobile body attitude, by the plane of mechanical arm
Operating space is extended to 360 degree；Car body top cover is bolted on vehicle body top, to protect the electrical equipment in vehicle body not receive
Damage；
Described vehicle body lifting assembly includes the rotation of crane pedestal, vehicle body lifting hydraulic cylinder, crane par and crane
Rotating shaft；Crane pedestal is fixed on vehicle body bearing base by bolt group；A series of crane pars and crane rotate
The organic assembling of axle is positioned with nut, constitutes fork-shaped crane, the upper and lower ends of crane side respectively with vehicle body rotating basis
With the connection of crane foundation bolt, the upper and lower ends of opposite side are respectively by crane rotary shaft insertion vehicle body rotating basis and liter
In the stopper slot of drop frame pedestal；The cylinder barrel of vehicle body lifting hydraulic cylinder and the connection end of piston rod be connected to crane pedestal and
Position in crane rotary shaft and by bolt and nut；Hydraulic cylinder piston rod relative to cylinder barrel linear motion, Jing fork-shapeds lifting
Frame is converted to the stopper slot of the linear motion up and down of vehicle body rotating basis, vehicle body rotating basis and crane pedestal and limits its motion
Scope, so as to the self adaptation for realizing rotatable body component is lifted, expands longitudinal operating space of mechanical arm, different to meet
Height requirement；
Described robot assemblies have two groups, are separately mounted to vehicle body both sides, including the component of axle one, the component of axle two, the component of axle three,
The component of axle four, the component of axle five, the component of axle six and mechanical arm are electrically held；The component of axle one, the component of axle two, the component of axle three, four groups of axle
Part, the component of axle five and the component of axle six are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation, and electrically end is outer for mechanical arm
Power supply and signal receiving/transmission device are connect, so as to constitute the six degree of freedom machinery that complex task can be performed by staff's remote control
Both arms；
The described component of axle one includes pawl head, pawl head swivel bearing, pawl head electric rotating machine and pawl headstock；Pawl head electric rotating machine is embedding
Enter the rectangular opening of pawl headstock and by the inner ring axially position of pawl head swivel bearing；The Internal and external cycle of pawl head swivel bearing respectively with pawl head
Seat and the connection of pawl hook bolt；The output shaft of pawl head electric rotating machine is bonded with pawl head, and pawl head end can connect according to mission requirements
Clamping manipulator or exploring equipment；The rotational band pawl head of pawl head electric rotating machine output shaft is around pawl head electric rotating machine axis direction
Axle one is rotated, so as to realize the rotation of clamping manipulator or exploring equipment around axle one；
The described component of axle two includes pawl headstock electric motor end cap, pawl headstock electric rotating machine, pawl headstock swivel bearing and forearm；Pawl
The Internal and external cycle of headstock swivel bearing respectively with pawl headstock and forearm bolt connection, the output shaft of pawl headstock electric rotating machine and pawl headstock
It is bonded；Pawl headstock electric motor end cap Jing periphery holes are fixed with little arm bolt, then Jing inner ring hole fixed claw headstock electric rotating machines；Pawl head
The rotational band pawl headstock of seat electric rotating machine output shaft is the rotation of axle two around pawl headstock electric rotating machine axis direction, so as to realize axle
Rotation of one component around axle two；
The described component of axle three includes forearm rotary connector, forearm swivel bearing, forearm electric rotating machine and little arm seat；Forearm
The Internal and external cycle of swivel bearing respectively with forearm rotary connector and little arm seat bolt connection, the other end of forearm rotary connector with
Forearm bolt connection；Forearm electric rotating machine is embedded in the rectangular opening of little arm seat the simultaneously inner ring axially position of Jing forearm swivel bearings,
The output shaft of forearm electric rotating machine is bonded with forearm rotary connector；The rotation of forearm electric rotating machine output shaft drives forearm rotation
Turn connector around the i.e. rotation of axle three in forearm electric rotating machine axis direction, so as to realize rotation of the component of axle two around axle three；
The described component of axle four include little arm seat electric motor end cap, forearm seat rotating axis hold, little arm seat electric rotating machine and large arm；It is little
The Internal and external cycle of arm seat swivel bearing respectively with little arm seat and large arm bolt connection, output shaft and the little arm seat of little arm seat electric rotating machine
It is bonded；Little arm seat electric motor end cap Jing periphery holes are fixed with big arm bolt, then Jing inner ring holes fix little arm seat electric rotating machine；Forearm
It is the rotation of axle four around little arm seat spin motor shaft line direction that the rotation of seat electric rotating machine output shaft drives forearm seat, so as to realize axle
Rotation of three components around axle four；
The described component of axle five includes large arm electric motor end cap, large arm electric rotating machine, large arm swivel bearing and big arm seat；Large arm is revolved
The Internal and external cycle that rotating shaft is held respectively with large arm and big arm seat bolt connection, the output shaft of large arm electric rotating machine is bonded with large arm；Greatly
Arm electric motor end cap Jing periphery holes are fixed with big arm seat bolt, then Jing inner ring holes fix large arm electric rotating machine；Large arm electric rotating machine is defeated
It is the rotation of axle five around large arm electric rotating machine axis direction that the rotation of shaft drives large arm, so as to realize rotation of the component of axle four around axle five
Turn；
The described component of axle six includes that big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and big arm seat revolve
Turn reducing motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis hold respectively with mechanical arm
Pedestal and big arm seat rotary connector bolt connection, the other end of big arm seat rotary connector and big arm seat bolt connection；Large arm
Seat rotational deceleration motor Jing is bolted on mechanical arm pedestal, and its output shaft is bonded with big arm seat rotary connector；Large arm
The big arm seat rotary connectors of rotation Jing of seat rotational deceleration motor output shaft drive big arm seat around big arm seat rotational deceleration motor shaft
Line direction is the rotation of axle six, so as to realize rotation of the component of axle five around axle six.
The present invention is a kind of both arms electric power overhaul robot of liftable rotation, and its mobile device moves group by vehicle body
The coordinated movement of various economic factors of part, vehicle body lifting assembly, rotatable body component and double six degree-of-freedom mechanical arm, replaces staff to perform
Complex task, operating space is big, and ability to work is strong, efficiency high.
Description of the drawings
Fig. 1 is the both arms electric power overhaul robot principle schematic of liftable rotation provided in an embodiment of the present invention；
In figure：1st, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type lift leg
Component, 6, vehicle body bearing base, 7, vehicle body lifting assembly, 8, robot assemblies, 9, rotatable body component, 10, visual information
Harvester.
Fig. 2 is the both arms electric power overhaul robot with running gear；
Fig. 3 is Fig. 2 top views；
Fig. 4 is Fig. 2 side views；
Fig. 5 is rotatable body component principle schematic provided in an embodiment of the present invention；
In figure：9.1st, vehicle body rotating basis, 9.2, vehicle body swivel bearing, 9.3, vehicle body, 9.4, vehicle body rotary decelerator, 9.5, car
Body electric rotating machine, 9.6 car body top covers.
Fig. 6 is rotatable body component principle schematic provided in an embodiment of the present invention；
In figure：7.1st, crane pedestal, 7.2, vehicle body lifting hydraulic cylinder, 7.3, crane par, 7.4, crane rotary shaft.
Fig. 7 is robot assemblies principle schematic provided in an embodiment of the present invention；
In figure：8.1st, the component of axle one, 8.2, the component of axle two, 8.3, the component of axle three, 8.4, the component of axle four, 8.5, the component of axle five,
8.6th, the component of axle six, 8.7 mechanical arms are electrically held.
Fig. 8 is the assembly principle schematic diagram of axle provided in an embodiment of the present invention；
In figure：8.1.1, pawl head, 8.1.2, pawl head swivel bearing, 8.1.3, pawl head electric rotating machine, 8.1.4, pawl headstock.
Fig. 9 is the assembly principle schematic diagram of axle provided in an embodiment of the present invention two；
In figure：8.2.1, pawl headstock electric motor end cap, 8.2.2, pawl headstock electric rotating machine, 8.2.3, pawl headstock swivel bearing,
8.2.4, forearm.
Figure 10 is the assembly principle schematic diagram of axle provided in an embodiment of the present invention three；
In figure：8.3.1, forearm rotary connector, 8.3.2, forearm swivel bearing, 8.3.3, forearm electric rotating machine are 8.3.4, little
Arm seat.
Figure 11 is the assembly principle schematic diagram of axle provided in an embodiment of the present invention four；
In figure：8.4.1, little arm seat electric motor end cap, 8.4.2, forearm seat rotating axis hold, 8.4.3, little arm seat electric rotating machine,
8.4.4, large arm.
Figure 12 is the assembly principle schematic diagram of axle provided in an embodiment of the present invention five；
In figure：8.5.1, large arm electric motor end cap, 8.5.2, large arm electric rotating machine, 8.5.3, large arm swivel bearing, 8.5.4, large arm
Seat.
Figure 13 is the assembly principle schematic diagram of axle provided in an embodiment of the present invention six；
In figure：8.6.1, big arm seat rotary connector, 8.6.2, large arm seat rotating axis hold, and 8.6.3, mechanical arm pedestal, 8.6.4 is big
Arm seat rotational deceleration motor.
Figure 14 is vehicle body moving assembly principle schematic provided in an embodiment of the present invention；
In figure：3.1st, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, vehicle body movement shaft coupling, 3.4, vehicle body movement
Drive block, 3.5, vehicle body mobile link part, 3.6, vehicle body movement linear slider, 3.7, vehicle body movement ball-screw, 3.8, vehicle body
Mobile line slide rail, 3.9, vehicle body moving substrate, 3.10, vehicle body movement lead screw shaft bearings, 3.11, vehicle body movement leading screw bearing.
Figure 15 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly principle schematic；
Circle A enlarged drawings in Figure 16 fluid pressure type lift leg assembly principle schematics provided in an embodiment of the present invention；
In figure：5.1st, rotatable base, 5.2, vehicle body bracing frame, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod, 5.5,
Support rotates little bearing, 5.6, bracing frame rotary shaft, 5.7, bracing frame rotate big bearing, 5.8, bracing frame rotation hubcap,
5.9th, hydraulic cylinder rotary shaft spacer, 5.10, hydraulic cylinder rotary shaft.
Figure 17 electric drive swivel component principle schematics provided in an embodiment of the present invention；
In figure：4.1st, motor is turned, 4.2, swivel decelerator, 4.3, turntable bearing, 4.4, swivel set axle, 4.5, set axle determines
Bit slice.
Figure 18 is that irrigation canals and ditches state one is crossed over by the both arms electric power overhaul robot with running gear.
Figure 19 is that irrigation canals and ditches state two is crossed over by the both arms electric power overhaul robot with running gear.
Figure 20 is that irrigation canals and ditches state three is crossed over by the both arms electric power overhaul robot with running gear.
Figure 21 is that irrigation canals and ditches state four is crossed over by the both arms electric power overhaul robot with running gear.
Figure 22 is that the both arms electric power overhaul robot with running gear is tilted across irrigation canals and ditches state diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to, is a kind of both arms electric power overhaul robot principle of liftable rotation provided in an embodiment of the present invention
Schematic diagram and three-view diagram, vehicle body bearing base 6, vehicle body lifting assembly 7, robot assemblies 8, rotatable body component 9 and regard
Feel information collecting device 10；
Robot of the present invention is arranged in running gear, and running gear includes wheel undercarriage 1, scaffold 2, vehicle body moving assembly
3rd, electric drive swivel component 4, fluid pressure type lift leg assembly 5, two sets of wheel undercarriages 1 provide translational speed fast wheel for tow-armed robot
Formula move mode, vehicle body moving assembly 3 adjusts the position of centre of gravity of robot, electric drive swivel component 4 and fluid pressure type lift leg assembly 5
There is provided obstacle climbing ability strong leg formula move mode for tow-armed robot, have that translational speed is fast and obstacle climbing ability is strong concurrently so as to be combined into
The telecontrol equipment of two advantages, quickly reaches danger zone；In the visual information that four groups of visual information harvesters 10 get
Guidance under, plan-position and the attitude of robot automobile body are adjusted by vehicle body moving assembly 3 and rotatable body component 9, lead to
The adjustment bodywork height of vehicle body lifting assembly 7 is crossed, in conjunction with the coordinated movement of various economic factors of double six degree-of-freedom robot assemblies 8, replaces work people
Member performs the operation task of complexity in great working space；
Described wheel undercarriage 1 is identical with typical wheel undercarriage structure on the market, has only adjusted in the fitted position of part；
Described scaffold 2 is welded using structural steel；
Described visual information harvester 10 has four groups, is separately mounted to the front, rear, left and right four of rotatable body component 9
Individual orientation；For the peripheral vision information that operating personnel provide robot present position, in order to the remote control of robot.
Refer to Fig. 5, be a kind of liftable rotation provided in an embodiment of the present invention both arms electric power overhaul robot can
Rotation body assembly principle schematic diagram, it includes vehicle body rotating basis 9.1, vehicle body swivel bearing 9.2, the rotation of vehicle body 9.3, vehicle body
Decelerator 9.4, vehicle body electric rotating machine 9.5 and car body top cover 9.6；The Internal and external cycle of vehicle body swivel bearing 9.2 respectively with vehicle body 9.3 and
The bolt connection of vehicle body rotating basis 9.1, vehicle body rotary decelerator 9.4 is bolted on vehicle body 9.3, its output shaft and car
Body rotating basis 9.1 is bonded and Jing catch axially positions；The output torque Jing vehicle body rotary decelerator of vehicle body electric rotating machine 9.5
After 9.4 amplify, axis direction of the vehicle body 9.3 relative to vehicle body rotating basis 9.1 around vehicle body swivel bearing 9.2 is driven to rotate,
So as to realize being adjusted flexibly for robot automobile body attitude, the planar operating space of mechanical arm is extended into 360 degree；Car body top cover
9.6 are bolted on the top of vehicle body 9.3, to protect the electrical equipment in vehicle body 9.3 without damage；
Fig. 6 is referred to, is a kind of vehicle body liter of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Come down to a lower group part principle schematic, it includes crane pedestal 7.1, vehicle body lifting hydraulic cylinder 7.2, crane par 7.3 and rises
Drop frame rotary shaft 7.4；Crane pedestal 7.1 is fixed on vehicle body bearing base 6 by bolt group；A series of crane pars
7.3 and organic assembling and the nut of crane rotary shaft 7.4 position, constitute fork-shaped crane, the upper and lower ends of crane side
Respectively with vehicle body rotating basis 9.1 and the bolt connection of crane pedestal 7.1, the upper and lower ends of opposite side are revolved respectively by crane
In the stopper slot of the insertion vehicle body of rotating shaft 7.4 rotating basis 9.1 and crane pedestal 7.1；The cylinder barrel of vehicle body lifting hydraulic cylinder 7.2 and
The connection end of piston rod is connected in crane pedestal 7.1 and crane rotary shaft 7.4 and is positioned by bolt and nut；Liquid
Pressure cylinder piston bar relative to cylinder barrel linear motion, Jing fork-shaped cranes be converted to vehicle body rotating basis 9.1 straight line up and down fortune
Dynamic, the stopper slot of vehicle body rotating basis 9.1 and crane pedestal 7.1 limits its range of movement, so as to realize rotatable vehicle body group
The self adaptation lifting of part 9, expands longitudinal operating space of mechanical arm, to meet different height requirements；
The crane pedestal 7.1 and crane par 7.3 are welded using structural steel, on the basis for ensureing bearing capacity
On do light-weight technologg.
Fig. 7 is referred to, is a kind of machine of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Tool arm component principle schematic, it includes the component 8.1 of axle one, the component 8.2 of axle two, the component 8.3 of axle three, the component 8.4 of axle four, axle five
Component 8.5, the component 8.6 of axle six and mechanical arm electrically hold 8.7；The component 8.1 of axle one, the component 8.2 of axle two, the component 8.3, axle of axle three
Four components 8.4, the component 8.5 of axle five and the component 8.6 of axle six are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation,
Mechanical arm electrically holds 8.7 external power supplys and signal receiving/transmission device, and complexity can be performed by staff's remote control so as to constitute
The six degree of freedom machinery both arms of task.
Fig. 8 is referred to, is a kind of axle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
One principle schematic, it includes pawl head 8.1.1, pawl head swivel bearing 8.1.2, pawl head electric rotating machine 8.1.3 and pawl headstock
8.1.4；Pawl head electric rotating machine 8.1.3 is embedded in the rectangular opening of pawl headstock 8.1.4 and by the inner ring axial direction of pawl head swivel bearing 8.1.2
Positioning；The Internal and external cycle of pawl head swivel bearing 8.1.2 respectively with pawl headstock 8.1.4 and pawl head 8.1.1 bolt connections；Pawl head electric rotating
The output shaft of machine 8.1.3 is bonded with pawl head 8.1.1, pawl head 8.1.1 ends can according to mission requirements connect clamping manipulator or
Exploring equipment；The rotational band pawl head 8.1.1 of pawl head electric rotating machine 8.1.3 output shafts is around pawl head electric rotating machine 8.1.3 axis sides
Rotate to i.e. axle one, so as to realize the rotation of clamping manipulator or exploring equipment around axle one；
Described pawl headstock 8.1.4 castings are formed, and on the basis of bearing capacity is ensured light-weight technologg is done.
Fig. 9 is referred to, is a kind of axle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Two assembly principle schematic diagrames, it includes pawl headstock electric motor end cap 8.2.1, pawl headstock electric rotating machine 8.2.2, pawl headstock swivel bearing
And forearm 8.2.4 8.2.3；The Internal and external cycle of pawl headstock swivel bearing 8.2.3 respectively with pawl headstock 8.1.4 and forearm 8.2.4 spiral shells
Tether and connect, the output shaft of pawl headstock electric rotating machine 8.2.2 is bonded with pawl headstock 8.1.4；Outside pawl headstock electric motor end cap 8.2.1 Jing
Enclose hole to fix with forearm 8.2.4 bolts, then Jing inner ring hole fixed claw headstock electric rotating machine 8.2.2；Pawl headstock electric rotating machine 8.2.2
The rotational band pawl headstock 8.1.4 of output shaft is the rotation of axle two around pawl headstock electric rotating machine 8.2.2 axis directions, so as to realize axle
Rotation of one component 8.1 around axle two；
Described forearm 8.2.4 castings are formed, and on the basis of bearing capacity is ensured light-weight technologg is done.
Figure 10 is referred to, is a kind of axle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Three assembly principle schematic diagrames, it includes forearm rotary connector 8.3.1, forearm swivel bearing 8.3.2, forearm electric rotating machine
And little arm seat 8.3.4 8.3.3；The Internal and external cycle of forearm swivel bearing 8.3.2 respectively with forearm rotary connector 8.3.1 and forearm
Seat 8.3.4 bolt connections, the other end and the forearm 8.2.4 bolt connections of forearm rotary connector 8.3.1；Forearm electric rotating machine
8.3.3 the simultaneously inner ring axially position of Jing forearm swivel bearing 8.3.2, forearm electric rotating are embedded in the rectangular opening of little arm seat 8.3.4
The output shaft of machine 8.3.3 is bonded with forearm rotary connector 8.3.1；The rotation of forearm electric rotating machine 8.3.3 output shafts drives
Forearm rotary connector 8.3.1 is the rotation of axle three around forearm electric rotating machine 8.3.3 axis directions, so as to realize the component 8.1 of axle two
Around the rotation of axle three；
Described little arm seat 8.3.4 castings are formed, and on the basis of bearing capacity is ensured light-weight technologg is done.
Figure 11 is referred to, is a kind of axle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Four assembly principle schematic diagrames, it includes that little arm seat electric motor end cap 8.4.1, forearm seat rotating axis hold 8.4.2, little arm seat electric rotating machine
And large arm 8.4.4 8.4.3；Forearm seat rotating axis hold the Internal and external cycle of 8.4.2 respectively with little arm seat 8.3.4 and large arm 8.4.4 spiral shell
Tether connect little arm seat electric rotating machine 8.4.3 output shaft it is bonded with little arm seat 8.3.4；Outside little arm seat electric motor end cap 8.4.1 Jing
Enclose hole to fix with large arm 8.4.4 bolt, then Jing inner ring holes fix little arm seat electric rotating machine 8.4.3；Little arm seat electric rotating machine 8.4.3
It is the rotation of axle four around little arm seat electric rotating machine 8.4.3 axis directions that the rotation of output shaft drives forearm seat 8.3.4, so as to realize axle
Rotation of three components 8.3 around axle four；
Described large arm 8.4.4 casting is formed, and on the basis of bearing capacity is ensured light-weight technologg is done.
Figure 12 is referred to, is a kind of axle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Five assembly principle schematic diagrames, it includes large arm electric motor end cap 8.5.1, large arm electric rotating machine 8.5.2, large arm swivel bearing 8.5.3
And big arm seat 8.5.4；The Internal and external cycle of large arm swivel bearing 8.5.3 connects respectively with large arm 8.4.4 and big arm seat 8.5.4 bolts
Connect, the output shaft of large arm electric rotating machine 8.5.2 is bonded with large arm 8.4.4；Large arm electric motor end cap 8.5.1 Jing periphery holes and large arm
Seat 8.5.4 bolts are fixed, then Jing inner ring holes fix large arm electric rotating machine 8.5.2；The rotation of large arm electric rotating machine 8.5.2 output shafts
Large arm 8.4.4 is driven to be the rotation of axle five around large arm electric rotating machine 8.5.2 axis directions, so as to realize the component 8.4 of axle four around axle five
Rotation；
Described big arm seat 8.5.4 castings are formed, and on the basis of bearing capacity is ensured light-weight technologg is done.
Figure 13 is referred to, is a kind of axle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Six assembly principle schematic diagrames, it includes that big arm seat rotary connector 8.6.1, large arm seat rotating axis hold 8.6.2, mechanical arm pedestal
And big arm seat rotational deceleration motor 8.6.4 8.6.3；Mechanical arm pedestal 8.6.3 is bolted on vehicle body 9.3, large arm
Seat rotating axis hold the Internal and external cycle of 8.6.2 respectively with mechanical arm pedestal 8.6.3 and big arm seat rotary connector 8.6.1 bolt connections,
The other end and big arm seat 8.5.4 bolt connections of big arm seat rotary connector 8.6.1；Big arm seat rotational deceleration motor 8.6.4 Jing
It is bolted on mechanical arm pedestal 8.6.3, its output shaft is bonded with big arm seat rotary connector 8.6.1；Big arm seat rotation
The big arm seat rotary connector 8.6.1 of rotation Jing of reducing motor 8.6.4 output shafts drive big arm seat 8.5.4 to subtract around the rotation of big arm seat
Speed motor 8.6.4 axis directions are the rotation of axle six, so as to realize rotation of the component 8.5 of axle five around axle six；
The mechanical arm pedestal 8.6.3 castings are formed, and on the basis of bearing capacity is ensured light-weight technologg is done.
Figure 14 is referred to, is a kind of car of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Body moving assembly principle schematic, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, vehicle body movement shaft coupling
3.3rd, vehicle body movement drive block 3.4, vehicle body mobile link part 3.5, vehicle body movement linear slider 3.6, vehicle body movement ball-screw
3.7th, vehicle body movement line slide rail 3.8, vehicle body moving substrate 3.9, vehicle body movement lead screw shaft bearings 3.10 and vehicle body movable wire
Thick stick bearing 3.11；Vehicle body mobile motor seat 3.2, vehicle body moves line slide rail 3.8 and vehicle body movement lead screw shaft bearings 3.10 are equal
It is bolted on vehicle body moving substrate 3.9, vehicle body mobile motor 3.1 and vehicle body movement leading screw bearing 3.11 pass through respectively
It is bolted on vehicle body mobile motor seat 3.2 and vehicle body movement lead screw shaft bearings 3.10；Vehicle body movement shaft coupling 3.3 two ends point
Not Lian Jie vehicle body movement ball-screw 3.7 and vehicle body mobile motor 3.1 output shaft, vehicle body movement ball-screw 3.7 it is another
The inner ring tight fit of leading screw bearing 3.11 is moved with vehicle body in end；The both sides of vehicle body bearing base 6 are by bolt and four vehicle body movements
Linear slider is connected, and centre is fixed by bolt with vehicle body mobile link part 3.5, and vehicle body mobile link part 3.5 is moved with vehicle body again
The bolt of dynamic drive block 3.4 is fixed；The inner ring of vehicle body movement drive block 3.4 coordinates with vehicle body movement ball-screw 3.7 screw thread, vehicle body
The rotation of the output shaft of mobile motor 3.1, by ball-screw-transmission, is converted to vehicle body movement drive block 3.4 and rolls along vehicle body movement
The movement of the axis direction of ballscrew 3.7, so as to realize horizontal straight line fortune of the vehicle body bearing base 6 on vehicle body moving substrate 3.9
It is dynamic；The one side of vehicle body moving assembly 3 is adjusted flexibly the position of centre of gravity of robot in robot kinematics, is fluid pressure type lift leg
The work of component 5 provides precondition；On the other hand after robot reaches specified location, mechanical arm is increased by transverse movement
Planar operating space；
Figure 15 and 16 is referred to, is a kind of liquid of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Pressure type lifts leg assembly principle schematic and wherein justifies the schematic diagram of A, and it includes rotatable base 5.1, vehicle body bracing frame 5.2, liquid
Cylinder pressure cylinder barrel 5.3, hydraulic cylinder piston rod 5.4, bracing frame rotate little bearing 5.5, the rotation of bracing frame rotary shaft 5.6, bracing frame greatly
Bearing 5.7, bracing frame rotation hubcap 5.8, hydraulic cylinder rotary shaft spacer 5.9 and hydraulic cylinder rotary shaft 5.10；Vehicle body
Support 5.2 and the bolt connection of vehicle body moving substrate 3.9, its two side holes pass through the shaft shoulder with the Jing spline connections of bracing frame rotary shaft 5.6
With sleeve axially position；The two ends of bracing frame rotary shaft 5.6 rotate little bearing 5.5 with bracing frame respectively and bracing frame rotates big bearing
5.7 inner ring tight fit, bracing frame rotates little bearing 5.5 and bracing frame rotate the outer ring of big bearing 5.7 respectively with rotatable base
Two counterbore tight fits of seat 5.1, bracing frame rotation hubcap 5.8 is adjacent to and by spiral shell with the outer face of bracing frame rotary shaft 5.6
Bolt is fixed on rotatable base 5.1, so as to realize the axially position of bracing frame rotary shaft 5.6；Hydraulic cylinder rotary shaft 5.10
Interlude outer surface coordinates with the connection end internal surface gaps of Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4, both sides section appearance
Face positions with the corresponding hole position internal surface gaps of rotatable base 5.1 or vehicle body bracing frame 5.2 with Jing hydraulic cylinders rotary shaft is merged
Piece 5.9 is positioned, so as to the connection end of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected into rotatable base 5.1
Or the specified location of vehicle body bracing frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is slided along the linear motion of its axis direction by connecting rod
Block mechanism is converted to rotation of the vehicle body bracing frame 5.2 around bracing frame rotary shaft 5.6, so as to by the rotatable base 5.1 of opposite side
Lift, the work for electric drive swivel component 4 provides precondition；
Described rotatable base 5.1 and vehicle body bracing frame 5.2 is formed by stainless steel casting, on the basis of bearing capacity is ensured
Do light-weight technologg.
Figure 17 is referred to, is a kind of electricity of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Swivel component principle schematic is driven, it includes swivel motor 4.1, swivel decelerator 4.2, turntable bearing 4.3, swivel set
Axle 4.4 and set axle spacer 4.5；The two ends of turntable bearing 4.3 connect respectively with rotatable base 5.1 and the bolt of scaffold 2
Connect, swivel decelerator 4.2 is bolted on rotatable base 5.1, its power source comes from swivel motor 4.1；
Swivel set one end of axle 4.4 is bonded with the output shaft of swivel decelerator 4.2, and the other end is with the Jing spline connections of scaffold 2 and leads to
Cross the axially position of set axle spacer 4.5；The output torque Jing swivel decelerator 4.2 of swivel motor 4.1 amplifies, then Jing swivels
Set axle 4.4 is delivered on scaffold 2, on the premise of scaffold 2 is maintained static, is converted to the anti-of swivel decelerator 4.2
To rotation, so as to drive rotatable base 5.1 to rotate, the motion of leg assembly 5 is lifted with reference to fluid pressure type, the leg formula for realizing robot is moved
Dynamic and obstacle detouring, more ditch principle personnel Figure 18-21, when ditch both sides are highly inconsistent, by tilting, complete more ditch, such as Figure 22.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of spirit or essential attributes without departing substantially from the present invention, the present invention can be in other specific forms realized.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as and limit involved claim.
Claims (6)
1. a kind of both arms electric power overhaul robot of liftable rotation, including vehicle body bearing base（6）, vehicle body lifting assembly（7）、
Robot assemblies（8）, rotatable body component（9）And visual information harvester（10）,
Described vehicle body bearing base（6）Bottom, is sequentially installed with above vehicle body lifting assembly（7）, rotatable body component
（9）, rotatable body component（9）Robot assemblies are installed（8）With and visual information harvester（10）.
2. the both arms electric power overhaul robot that a kind of liftable according to claim 1 rotates, it is characterised in that described
Visual information harvester（10）Four groups are had, rotatable body component is separately mounted to（9）The side of front, rear, left and right four
Position；For the peripheral vision information that operating personnel provide robot present position, in order to the remote control of robot.
3. the both arms electric power overhaul robot that a kind of liftable according to claim 1 rotates, it is characterised in that described
Rotatable body component（9）Including vehicle body rotating basis（9.1）, vehicle body swivel bearing（9.2）, vehicle body（9.3）, vehicle body rotation subtract
Fast device（9.4）, vehicle body electric rotating machine（9.5）And car body top cover（9.6）；Vehicle body swivel bearing（9.2）Internal and external cycle respectively with car
Body（9.3）With vehicle body rotating basis（9.1）Bolt connection, vehicle body rotary decelerator（9.4）It is bolted on vehicle body（9.3）
On, its output shaft and vehicle body rotating basis（9.1）Bonded and Jing catch axially positions；Vehicle body electric rotating machine（9.5）Output
Torque Jing vehicle body rotary decelerators（9.4）After amplification, vehicle body is driven（9.3）Relative to vehicle body rotating basis（9.1）Around vehicle body
Swivel bearing（9.2）Axis direction rotation, so as to realize being adjusted flexibly for robot automobile body attitude, the plane of mechanical arm is grasped
Make space enlargement to 360 degree；Car body top cover（9.6）It is bolted on vehicle body（9.3）Top, to protect vehicle body（9.3）It is interior
Electrical equipment it is without damage.
4. the both arms electric power overhaul robot that a kind of liftable according to claim 1 rotates, it is characterised in that described
Vehicle body lifting assembly（7）Including crane pedestal（7.1）, vehicle body lifting hydraulic cylinder（7.2）, crane par（7.3）And
Crane rotary shaft（7.4）；Crane pedestal（7.1）Vehicle body bearing base is fixed on by bolt group（6）On；A series of liftings
Frame par（7.3）With crane rotary shaft（7.4）Organic assembling and nut position, constitute fork-shaped crane, crane one
The upper and lower ends of side respectively with vehicle body rotating basis（9.1）With crane pedestal（7.1）Bolt connection, the upper and lower ends of opposite side
Pass through crane rotary shaft respectively（7.4）Insertion vehicle body rotating basis（9.1）With crane pedestal（7.1）Stopper slot in；Car
Body lifting hydraulic cylinder（7.2）Cylinder barrel and the connection end of piston rod be connected to crane pedestal（7.1）With crane rotation
Axle（7.4）Above and by bolt and nut position；Hydraulic cylinder piston rod relative to cylinder barrel linear motion, Jing fork-shapeds crane conversion
For vehicle body rotating basis（9.1）Linear motion up and down, vehicle body rotating basis（9.1）With crane pedestal（7.1）Stopper slot
Its range of movement is limited, so as to realize rotatable body component（9）Self adaptation lifting, the longitudinal direction operation for expanding mechanical arm is empty
Between, to meet different height requirements.
5. the both arms electric power overhaul robot that a kind of liftable according to claim 1 rotates, it is characterised in that described
Robot assemblies（8）There are two groups, be separately mounted to vehicle body（9.3）Both sides, including the component of axle one（8.1）, the component of axle two（8.2）、
The component of axle three（8.3）, the component of axle four（8.4）, the component of axle five（8.5）, the component of axle six（8.6）And mechanical arm is electrically held（8.7）；
The component of axle one（8.1）, the component of axle two（8.2）, the component of axle three（8.3）, the component of axle four（8.4）, the component of axle five（8.5）And axle six
Component（8.6）It is sequentially connected, is combined into the mechanical part of sixdegree-of-freedom simulation, mechanical arm is electrically held（8.7）External power supply and
Signal receiving/transmission device, so as to constitute the six degree of freedom machinery both arms that complex task can be performed by staff's remote control；
The described component of axle one（8.1）Including pawl head（8.1.1）, pawl head swivel bearing（8.1.2）, pawl head electric rotating machine
（8.1.3）And pawl headstock（8.1.4）；Pawl head electric rotating machine（8.1.3）Embedded pawl headstock（8.1.4）Rectangular opening and by pawl head
Swivel bearing（8.1.2）Inner ring axially position；Pawl head swivel bearing（8.1.2）Internal and external cycle respectively with pawl headstock（8.1.4）
With pawl head（8.1.1）Bolt connection；Pawl head electric rotating machine（8.1.3）Output shaft and pawl head（8.1.1）It is bonded, pawl head
（8.1.1）End can connect clamping manipulator or exploring equipment according to mission requirements；Pawl head electric rotating machine（8.1.3）Output shaft
Rotational band pawl head（8.1.1）Around pawl head electric rotating machine（8.1.3）Axis direction is the rotation of axle one, so as to realize clamping manipulator
Or exploring equipment is around the rotation of axle one；
The described component of axle two（8.2）Including pawl headstock electric motor end cap（8.2.1）, pawl headstock electric rotating machine（8.2.2）, pawl headstock
Swivel bearing（8.2.3）And forearm（8.2.4）；Pawl headstock swivel bearing（8.2.3）Internal and external cycle respectively with pawl headstock
（8.1.4）And forearm（8.2.4）Bolt connection, pawl headstock electric rotating machine（8.2.2）Output shaft and pawl headstock（8.1.4）It is bonded
Connect；Pawl headstock electric motor end cap（8.2.1）Jing periphery holes and forearm（8.2.4）Bolt is fixed, then the rotation of Jing inner ring hole fixed claws headstock
Rotating motor（8.2.2）；Pawl headstock electric rotating machine（8.2.2）The rotational band pawl headstock of output shaft（8.1.4）Around the rotation of pawl headstock
Motor（8.2.2）Axis direction is the rotation of axle two, so as to realize the component of axle one（8.1）Around the rotation of axle two；
The described component of axle three（8.3）Including forearm rotary connector（8.3.1）, forearm swivel bearing（8.3.2）, forearm rotation
Motor（8.3.3）And little arm seat（8.3.4）；Forearm swivel bearing（8.3.2）Internal and external cycle respectively with forearm rotary connector
（8.3.1）With little arm seat（8.3.4）Bolt connection, forearm rotary connector（8.3.1）The other end and forearm（8.2.4）Bolt
Connection；Forearm electric rotating machine（8.3.3）It is embedded in little arm seat（8.3.4）Rectangular opening in and Jing forearm swivel bearings（8.3.2）'s
Inner ring axially position, forearm electric rotating machine（8.3.3）Output shaft and forearm rotary connector（8.3.1）It is bonded；Forearm revolves
Rotating motor（8.3.3）The rotation of output shaft drives forearm rotary connector（8.3.1）Around forearm electric rotating machine（8.3.3）Axis side
Rotate to i.e. axle three, so as to realize the component of axle two（8.1）Around the rotation of axle three；
The described component of axle four（8.4）Including little arm seat electric motor end cap（8.4.1）, forearm seat rotating axis hold（8.4.2）, little arm seat
Electric rotating machine（8.4.3）And large arm（8.4.4）；Forearm seat rotating axis hold（8.4.2）Internal and external cycle respectively with little arm seat
（8.3.4）And large arm（8.4.4）Bolt connection, little arm seat electric rotating machine（8.4.3）Output shaft and little arm seat（8.3.4）It is bonded
Connect；Little arm seat electric motor end cap（8.4.1）Jing periphery holes and large arm（8.4.4）Bolt is fixed, then Jing inner ring holes fix little arm seat rotation
Rotating motor（8.4.3）；Little arm seat electric rotating machine（8.4.3）The rotation of output shaft drives forearm seat（8.3.4）Around the rotation of little arm seat
Motor（8.4.3）Axis direction is the rotation of axle four, so as to realize the component of axle three（8.3）Around the rotation of axle four；
The described component of axle five（8.5）Including large arm electric motor end cap（8.5.1）, large arm electric rotating machine（8.5.2）, large arm rotary shaft
Hold（8.5.3）And big arm seat（8.5.4）；Large arm swivel bearing（8.5.3）Internal and external cycle respectively with large arm（8.4.4）And large arm
Seat（8.5.4）Bolt connection, large arm electric rotating machine（8.5.2）Output shaft and large arm（8.4.4）It is bonded；Large arm electric motor end cap
（8.5.1）Jing periphery holes and big arm seat（8.5.4）Bolt is fixed, then Jing inner ring holes fix large arm electric rotating machine（8.5.2）；Large arm
Electric rotating machine（8.5.2）The rotation of output shaft drives large arm（8.4.4）Around large arm electric rotating machine（8.5.2）Axis direction is axle five
Rotation, so as to realize the component of axle four（8.4）Around the rotation of axle five；
The described component of axle six（8.6）Including big arm seat rotary connector（8.6.1）, large arm seat rotating axis hold（8.6.2）, machinery
Arm pedestal（8.6.3）And big arm seat rotational deceleration motor（8.6.4）；Mechanical arm pedestal（8.6.3）It is bolted on car
Body（9.3）On, large arm seat rotating axis hold（8.6.2）Internal and external cycle respectively with mechanical arm pedestal（8.6.3）Connect with the rotation of big arm seat
Fitting（8.6.1）Bolt connection, big arm seat rotary connector（8.6.1）The other end and big arm seat（8.5.4）Bolt connection；Greatly
Arm seat rotational deceleration motor（8.6.4）Jing is bolted to mechanical arm pedestal（8.6.3）On, its output shaft connects with the rotation of big arm seat
Fitting（8.6.1）It is bonded；Big arm seat rotational deceleration motor（8.6.4）The big arm seat rotary connectors of rotation Jing of output shaft
（8.6.1）Drive big arm seat（8.5.4）Around big arm seat rotational deceleration motor（8.6.4）Axis direction is the rotation of axle six, so as to reality
The existing component of axle five（8.5）Around the rotation of axle six.
6. the both arms electric power overhaul robot that a kind of liftable according to claim 1 rotates, it is characterised in that described
Pawl headstock（8.1.4）, forearm（8.2.4）, little arm seat（8.3.4）, large arm（8.4.4）, big arm seat（8.5.4）And mechanical arm base
Seat（8.6.3）Casting is formed.
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| CN116374191A (en) * | 2023-06-02 | 2023-07-04 | 成都国营锦江机器厂 | Automatic helicopter tail beam installation method and system |
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