CN106625564B - A kind of both arms electric power overhaul robot of liftable rotation - Google Patents
A kind of both arms electric power overhaul robot of liftable rotation Download PDFInfo
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- CN106625564B CN106625564B CN201611221063.5A CN201611221063A CN106625564B CN 106625564 B CN106625564 B CN 106625564B CN 201611221063 A CN201611221063 A CN 201611221063A CN 106625564 B CN106625564 B CN 106625564B
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- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 210000000245 forearm Anatomy 0.000 claims description 61
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 36
- 239000012530 fluid Substances 0.000 claims description 13
- 239000000758 substrate Substances 0.000 claims description 9
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 4
- 230000005043 peripheral vision Effects 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 230000004438 eyesight Effects 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 16
- 230000002262 irrigation Effects 0.000 description 5
- 238000003973 irrigation Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 229910000746 Structural steel Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Classifications
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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
-
- 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 kind of both arms electric power overhaul robots of liftable rotation, including vehicle body bearing base (6), vehicle body lifting assembly (7), robot assemblies (8), rotatable body component (9) and visual information acquisition device (10)；The wheel undercarriage (1) is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part；The visual information acquisition device (10) shares four groups, is separately mounted to the orientation of front, rear, left and right four of rotatable body component (9)；The present invention is a kind of both arms electric power overhaul robot of liftable rotation, pass through the coordinated movement of various economic factors of vehicle body moving assembly, vehicle body lifting assembly, rotatable body component and double six degree-of-freedom mechanical arm, complex task is executed instead of staff, operating space is big, and ability to work is strong, high-efficient.
Description
Technical field
The present invention relates to a kind of robot, the both arms electric power overhaul robot of specifically a kind of liftable rotation belongs to electricity
Power equipment technical field.
Background technique
In many electric power danger zones, be often unsuitable for personnel's handwork, at this moment it is generally necessary to locomotivity it is good and
Ability to work strong robot replaces manually performing task.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of both arms electric power overhaul machines of liftable rotation
People passes through the coordinated movement of various economic factors of vehicle body moving assembly, vehicle body lifting assembly, rotatable body component and double six degree-of-freedom mechanical arm,
Complex task is executed instead of staff, operating space is big, and ability to work is strong, high-efficient.
To achieve the goals above, the technical solution adopted by the present invention is that: 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 are adopted
Acquisition means；；Two sets of wheel undercarriages provide movement 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 is endangered with the telecontrol equipment of strong two advantages of obstacle climbing ability, quick reach fastly to be combined into and have both movement speed
Danger zone domain；Under the guidance for the visual information that four groups of visual information acquisition devices are got, by vehicle body moving assembly and it can revolve
Plan-position and the posture for turning body component adjustment robot automobile body, adjust bodywork height by vehicle body lifting assembly, in conjunction with
The coordinated movement of various economic factors of double six degree-of-freedom robot assemblies executes complicated operation in great working space instead of staff and appoints
Business；
The wheel undercarriage is identical as typical wheel undercarriage structure on the market, is only adjusted in the fitted position of part
It is whole；
The visual information acquisition device shares four groups, is separately mounted to the front, rear, left and right of rotatable body component
Four orientation；The peripheral vision information of robot present position is provided for operator, in order to the remote control of robot；
The rotatable body component includes vehicle body rotating basis, vehicle body swivel bearing, vehicle body, vehicle body rotation deceleration
Device, vehicle body rotating electric machine and car body top cover；Vehicle body swivel bearing Internal and external cycle connects with vehicle body and vehicle body rotating basis bolt respectively
It connects, vehicle body rotary decelerator is bolted on vehicle body, and output shaft and vehicle body rotating basis are keyed and through baffle axis
To positioning；After the output torque of vehicle body rotating electric machine is amplified through vehicle body rotary decelerator, vehicle body is driven to rotate relative to vehicle body
Pedestal is rotated around the axis direction of vehicle body swivel bearing, so that being adjusted flexibly for robot automobile body posture is realized, by mechanical arm
Planar operating space is extended to 360 degree；Car body top cover is bolted at the top of vehicle body, to protect the electrical equipment in vehicle body
It is not damaged；
The vehicle body lifting assembly includes crane pedestal, vehicle body lifting hydraulic cylinder, crane standard rod and lifting
Frame rotary shaft；Crane pedestal is fixed on vehicle body bearing base by bolt group；A series of crane standard rods and crane
The organic assembling and nut of rotary shaft position, and constitute fork-shaped crane, and the upper and lower ends of crane side are rotated with vehicle body respectively
Pedestal is connected with crane foundation bolt, and the upper and lower ends of the other side pass through crane rotary shaft insertion vehicle body rotating basis respectively
In the limiting slot of crane pedestal；The cylinder barrel of vehicle body lifting hydraulic cylinder and the connecting pin of piston rod are connected to crane base
It is positioned on seat and crane rotary shaft and by bolt and nut；Linear motion of the hydraulic cylinder piston rod relative to cylinder barrel, through fork-shaped
Crane is converted to the linear motion up and down of vehicle body rotating basis, and the limiting slot of vehicle body rotating basis and crane pedestal limits it
Motion range expands longitudinal operating space of mechanical arm to realize the adaptive lifting of rotatable body component, to meet not
Same height requirement；
The robot assemblies have two groups, are separately mounted to vehicle body two sides, including one component of axis, two component of axis, axis three
Component, four component of axis, five component of axis, six component of axis and mechanical arm are electrically held；One component of axis, two component of axis, three component of axis, axis
Four components, five component of axis and six component of axis are sequentially connected, and are combined into the mechanical part of sixdegree-of-freedom simulation, mechanical arm is electrical
External power supply and signal receiving/transmission device are held, to constitute the six degree of freedom that can execute complex task by staff's remote control
Mechanical both arms；
One component of axis includes pawl head, pawl head swivel bearing, pawl head rotating electric machine and pawl headstock；Pawl head electric rotating
Machine is embedded in 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 headstock is connected with pawl hook bolt；The output shaft and pawl head of pawl head rotating electric machine are keyed, and pawl head end can be according to mission requirements
Connect clamping manipulator or exploring equipment；The rotation band pawl head of pawl head rotating electric machine output shaft is around pawl head rotating electric machine axis side
It is rotated to i.e. axis one, to realize clamping manipulator or exploring equipment around the rotation of axis one；
Two component of axis includes pawl headstock electric motor end cap, pawl headstock rotating electric machine, pawl headstock swivel bearing and small
Arm；The Internal and external cycle of pawl headstock swivel bearing is bolted with pawl headstock and forearm respectively, the output shaft of pawl headstock rotating electric machine with
Pawl headstock key connection；Pawl headstock electric motor end cap is fixed through periphery holes and small arm bolt, then through inner ring hole fixed jaw headstock electric rotating
Machine；The rotation band pawl headstock of pawl headstock rotating electric machine output shaft is rotated around pawl headstock rotating electric machine axis direction, that is, axis two, from
And realize one component of axis around the rotation of axis two；
Three component of axis includes forearm rotary connector, forearm swivel bearing, forearm rotating electric machine and small arm seat；
The Internal and external cycle of forearm swivel bearing is bolted with forearm rotary connector and small arm seat respectively, forearm rotary connector it is another
End is bolted with forearm；Forearm rotating electric machine is embedded in the rectangular opening of small arm seat and axially fixed through the inner ring of forearm swivel bearing
Position, the output shaft and forearm rotary connector of forearm rotating electric machine are keyed；The rotation of forearm rotating electric machine output shaft drives small
Arm rotary connector is rotated around forearm rotating electric machine axis direction, that is, axis three, to realize two component of axis around the rotation of axis three；
Four component of axis include small arm seat electric motor end cap, forearm seat rotating axis hold, small arm seat rotating electric machine and big
Arm；The Internal and external cycle that forearm seat rotating axis is held is bolted with small arm seat and large arm respectively, the output shaft of small arm seat rotating electric machine with
Small arm seat key connection；Small arm seat electric motor end cap is fixed through periphery holes and big arm bolt, then through the fixed small arm seat electric rotating of inner ring hole
Machine；The rotation of small arm seat rotating electric machine output shaft drives small arm seat to rotate around small arm seat spin motor shaft line direction, that is, axis four, from
And realize three component of axis around the rotation of axis four；
Five component of axis includes large arm electric motor end cap, large arm rotating electric machine, large arm swivel bearing and big arm seat；Greatly
The Internal and external cycle of arm swivel bearing is bolted with large arm and big arm seat respectively, and the output shaft and large arm key of large arm rotating electric machine connect
It connects；Large arm electric motor end cap is fixed through periphery holes and big arm seat bolt, then through the fixed large arm rotating electric machine of inner ring hole；Large arm electric rotating
The rotation of machine output shaft drives large arm to rotate around large arm rotating electric machine axis direction, that is, axis five, to realize four component of axis around axis five
Rotation；
Six component of axis include big arm seat rotary connector, large arm seat rotating axis hold, mechanical arm pedestal and large arm
Seat rotation decelerating motor；Mechanical arm pedestal is bolted on vehicle body, the Internal and external cycle that large arm seat rotating axis is held respectively with machine
Tool arm pedestal and big arm seat rotary connector are bolted, and the other end and the big arm seat of big arm seat rotary connector are bolted；
Big arm seat rotation decelerating motor is fixed on mechanical arm pedestal through bolt, and output shaft and big arm seat rotary connector are keyed；
The rotation of big arm seat rotation geared motor output shaft drives big arm seat to rotate the electricity that slows down around big arm seat through big arm seat rotary connector
Machine axis direction, that is, axis six rotates, to realize five component of axis around the rotation of axis six.
The present invention is a kind of both arms electric power overhaul robot of liftable rotation, and mobile device passes through the mobile group of 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, executes instead of staff
Complex task, operating space is big, and ability to work is strong, high-efficient.
Detailed description of the invention
Fig. 1 is the both arms electric power overhaul robot schematic illustration of liftable provided in an embodiment of the present invention rotation；
In figure: 1, wheel undercarriage, 2, scaffold, 3, vehicle body moving assembly, 4, electric drive swivel component, 5, fluid pressure type
Lift leg assembly, 6, vehicle body bearing base, 7, vehicle body lifting assembly, 8, robot assemblies, 9, rotatable body component, 10, vision
Information collecting device.
Fig. 2 is the both arms electric power overhaul robot with running gear；
Fig. 3 is Fig. 2 top view；
Fig. 4 is Fig. 2 side view；
Fig. 5 is rotatable body component schematic illustration provided in an embodiment of the present invention；
In figure: 9.1, vehicle body rotating basis, 9.2, vehicle body swivel bearing, 9.3, vehicle body, 9.4, vehicle body rotary decelerator,
9.5, vehicle body rotating electric machine, 9.6 car body top covers.
Fig. 6 is rotatable body component schematic illustration provided in an embodiment of the present invention；
In figure: 7.1, crane pedestal, 7.2, vehicle body lifting hydraulic cylinder, 7.3, crane standard rod, 7.4, crane rotation
Shaft.
Fig. 7 is robot assemblies schematic illustration provided in an embodiment of the present invention；
In figure: 8.1, one component of axis, 8.2, two component of axis, 8.3, three component of axis, 8.4, four component of axis, 8.5, five groups of axis
Part, 8.6, six component of axis, 8.7 mechanical arms are electrically held.
Fig. 8 is one assembly principle schematic diagram of axis 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 rotating electric machine, 8.1.4, pawl headstock.
Fig. 9 is two assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.2.1, pawl headstock electric motor end cap, 8.2.2, pawl headstock rotating electric machine, 8.2.3, pawl headstock swivel bearing,
8.2.4, forearm.
Figure 10 is three assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.3.1, forearm rotary connector, 8.3.2, forearm swivel bearing, 8.3.3, forearm rotating electric machine,
8.3.4, small arm seat.
Figure 11 is four assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.4.1, small arm seat electric motor end cap, 8.4.2, forearm seat rotating axis are held, 8.4.3, small arm seat rotating electric machine,
8.4.4, large arm.
Figure 12 is five assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.5.1, large arm electric motor end cap, 8.5.2, large arm rotating electric machine, 8.5.3, large arm swivel bearing, 8.5.4,
Big arm seat.
Figure 13 is six assembly principle schematic diagram of axis provided in an embodiment of the present invention；
In figure: 8.6.1, big arm seat rotary connector, 8.6.2, large arm seat rotating axis are held, 8.6.3, mechanical arm pedestal,
8.6.4 big arm seat rotates decelerating motor.
Figure 14 is vehicle body moving assembly schematic illustration provided in an embodiment of the present invention；
In figure: 3.1, vehicle body mobile motor, 3.2, vehicle body mobile motor seat, 3.3, the mobile shaft coupling of vehicle body, 3.4, vehicle body
Mobile drive block, 3.5, vehicle body mobile connection part, 3.6, the mobile linear slider of vehicle body, 3.7, the mobile ball-screw of vehicle body, 3.8,
Vehicle body moves line slide rail, 3.9, vehicle body moving substrate, 3.10, the mobile lead screw shaft bearings of vehicle body, 3.11, the mobile lead screw shaft of vehicle body
It holds.
Figure 15 is that fluid pressure type provided in an embodiment of the present invention lifts leg assembly schematic illustration；
Circle A enlarged drawing in Figure 16 fluid pressure type lift leg assembly schematic illustration provided in an embodiment of the present invention；
In figure: 5.1, rotatable base, 5.2, vehicle body support frame, 5.3, Barrel of Hydraulic Cylinders, 5.4, hydraulic cylinder piston rod,
5.5, support frame rotates small bearing, 5.6, support frame rotary shaft, 5.7, the big bearing of support frame rotation, 5.8, support frame rotation shaft end
Lid, 5.9, hydraulic cylinder rotary shaft locating plate, 5.10, hydraulic cylinder rotary shaft.
Figure 17 electric drive swivel component schematic illustration provided in an embodiment of the present invention；
In figure: 4.1, turning driving motor, 4.2, swivel retarder, 4.3, turntable bearing, 4.4, swivel set axis, 4.5, set
Axis locating plate.
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
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, being 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 view
Feel information collecting device 10；
Robot of the present invention is mounted in running gear, and running gear includes wheel undercarriage 1, scaffold 2, vehicle body movement
Component 3, electric drive swivel component 4, fluid pressure type lift leg assembly 5, and it is fast that two sets of wheel undercarriages 1 for tow-armed robot provide movement speed
Wheel type mobile mode, vehicle body moving assembly 3 adjusts the position of centre of gravity of robot, and electric drive swivel component 4 and fluid pressure type lift leg
Component 5 provides obstacle climbing ability strong leg formula move mode for tow-armed robot, has both that movement speed is fast and obstacle detouring to be combined into
The telecontrol equipment of strong two advantages of ability, quickly reaches danger zone；In the view that four groups of visual information acquisition devices 10 are got
Under the guidance for feeling information, plan-position and the appearance of robot automobile body are adjusted by vehicle body moving assembly 3 and rotatable body component 9
State adjusts bodywork height by vehicle body lifting assembly 7, in conjunction with the coordinated movement of various economic factors of double six degree-of-freedom robot assemblies 8, instead of work
Make personnel and executes complicated operation task in great working space；
The wheel undercarriage 1 is identical as typical wheel undercarriage structure on the market, only in the fitted position of part
Adjustment；
The scaffold 2 is welded using structural steel；
The visual information acquisition device 10 shares four groups, be separately mounted to rotatable body component 9 it is forward and backward, left,
Right four orientation；The peripheral vision information of robot present position is provided for operator, in order to the remote control of robot.
Referring to Fig. 5, be a kind of both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention can
Rotation body assembly principle schematic diagram, it includes vehicle body rotating basis 9.1, vehicle body swivel bearing 9.2, vehicle body 9.3, vehicle body rotation
Retarder 9.4, vehicle body rotating electric machine 9.5 and car body top cover 9.6；9.2 Internal and external cycle of vehicle body swivel bearing respectively with vehicle body 9.3 and
Vehicle body rotating basis 9.1 is bolted, and vehicle body rotary decelerator 9.4 is bolted on vehicle body 9.3, output shaft and vehicle
Body rotating basis 9.1 is keyed and through baffle axially position；The output torque of vehicle body rotating electric machine 9.5 is through vehicle body rotary decelerator
After 9.4 amplifications, 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,
To realize being adjusted flexibly for robot automobile body posture, the planar operating space of mechanical arm is extended to 360 degree；Car body top cover
9.6 are bolted on 9.3 top of vehicle body, to protect the electrical equipment in vehicle body 9.3 not damaged；
Referring to Fig. 6, being a kind of vehicle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Body lifting assembly schematic illustration, it include crane pedestal 7.1, vehicle body lifting hydraulic cylinder 7.2, crane standard rod 7.3 with
And crane rotary shaft 7.4；Crane pedestal 7.1 is fixed on vehicle body bearing base 6 by bolt group；A series of crane marks
The organic assembling of quasi- bar 7.3 and crane rotary shaft 7.4 and nut position, composition fork-shaped crane, above and below crane side
Both ends are bolted with vehicle body rotating basis 9.1 and crane pedestal 7.1 respectively, and the upper and lower ends of the other side pass through lifting respectively
Frame rotary shaft 7.4 is inserted into the limiting slot of vehicle body rotating basis 9.1 and crane pedestal 7.1；The cylinder of vehicle body lifting hydraulic cylinder 7.2
The connecting pin of cylinder and piston rod is connected in crane pedestal 7.1 and crane rotary shaft 7.4 and is determined by bolt and nut
Position；Linear motion of the hydraulic cylinder piston rod relative to cylinder barrel is converted to the straight up and down of vehicle body rotating basis 9.1 through fork-shaped crane
The limiting slot of line movement, vehicle body rotating basis 9.1 and crane pedestal 7.1 limits its motion range, to realize rotatable vehicle
The adaptive lifting of body component 9 expands longitudinal operating space of mechanical arm, to meet different height requirements；
The crane pedestal 7.1 and crane standard rod 7.3 are welded using structural steel, are guaranteeing bearing capacity
On the basis of do light-weight technologg.
Referring to Fig. 7, being 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 schematic illustration, it includes one component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, four component 8.4 of axis, axis five
Component 8.5, six component 8.6 of axis and mechanical arm electrically hold 8.7；One component 8.1 of axis, two component 8.2 of axis, three component 8.3 of axis, axis
Four components 8.4, five component 8.5 of axis and six component 8.6 of axis 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, so that complexity can be executed by staff's remote control by constituting
The six degree of freedom machinery both arms of task.
Referring to Fig. 8, being a kind of axis of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
One schematic illustration, it includes pawl head 8.1.1, pawl head swivel bearing 8.1.2, pawl head rotating electric machine 8.1.3 and pawl headstock
8.1.4；Pawl head rotating electric machine 8.1.3 is embedded in the rectangular opening of pawl headstock 8.1.4 and by the inner ring of pawl head swivel bearing 8.1.2 axial direction
Positioning；The Internal and external cycle of pawl head swivel bearing 8.1.2 is bolted with pawl headstock 8.1.4 and pawl head 8.1.1 respectively；Pawl head electric rotating
The output shaft of machine 8.1.3 and pawl head 8.1.1 are keyed, the end pawl head 8.1.1 can be connected according to mission requirements clamping manipulator or
Exploring equipment；The rotation band pawl head 8.1.1 of pawl head rotating electric machine 8.1.3 output shaft is around the axis side pawl head rotating electric machine 8.1.3
It is rotated to i.e. axis one, to realize clamping manipulator or exploring equipment around the rotation of axis one；
The pawl headstock 8.1.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Referring to Fig. 9, being a kind of axis 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 rotating electric machine 8.2.2, pawl headstock swivel bearing
8.2.3 and forearm 8.2.4；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 shell
It tethers and connects, the output shaft and pawl headstock 8.1.4 of pawl headstock rotating electric machine 8.2.2 is keyed；Pawl headstock electric motor end cap 8.2.1 is through outer
It encloses hole to fix with forearm 8.2.4 bolt, then through inner ring hole fixed jaw headstock rotating electric machine 8.2.2；Pawl headstock rotating electric machine 8.2.2
The rotation band pawl headstock 8.1.4 of output shaft is rotated around pawl headstock rotating electric machine 8.2.2 axis direction, that is, axis two, to realize axis
Rotation of one component 8.1 around axis two；
The forearm 8.2.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Referring to Fig. 10, being a kind of axis 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 rotating electric machine
And small 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 is bolted, and the other end and the forearm 8.2.4 of forearm rotary connector 8.3.1 is bolted；Forearm rotating electric machine
8.3.3 it is embedded in the rectangular opening of small arm seat 8.3.4 and the inner ring axially position through forearm swivel bearing 8.3.2, forearm electric rotating
The output shaft and forearm rotary connector 8.3.1 of machine 8.3.3 is keyed；The rotation of forearm rotating electric machine 8.3.3 output shaft drives
Forearm rotary connector 8.3.1 is rotated around forearm rotating electric machine 8.3.3 axis direction, that is, axis three, to realize two component 8.1 of axis
Around the rotation of axis three；
The small arm seat 8.3.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Figure 11 is please referred to, is a kind of axis 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 small arm seat electric motor end cap 8.4.1, forearm seat rotating axis hold 8.4.2, small arm seat rotating electric machine
8.4.3 and large arm 8.4.4；Forearm seat rotating axis hold the Internal and external cycle of 8.4.2 respectively with small arm seat 8.3.4 and large arm 8.4.4 spiral shell
It tethers the output shaft for meeting small arm seat rotating electric machine 8.4.3 and small arm seat 8.3.4 is keyed；Small arm seat electric motor end cap 8.4.1 is through outer
It encloses hole to fix with large arm 8.4.4 bolt, then through the fixed small arm seat rotating electric machine 8.4.3 of inner ring hole；Small arm seat rotating electric machine 8.4.3
The rotation of output shaft drives small arm seat 8.3.4 to rotate around small arm seat rotating electric machine 8.4.3 axis direction, that is, axis four, to realize axis
Rotation of three components 8.3 around axis four；
The large arm 8.4.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Figure 12 is please referred to, is a kind of axis 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 rotating electric 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 with large arm 8.4.4 and big arm seat 8.5.4 bolt respectively
It connects, the output shaft and large arm 8.4.4 of large arm rotating electric machine 8.5.2 is keyed；Large arm electric motor end cap 8.5.1 is through periphery holes and large arm
Seat 8.5.4 bolt is fixed, then through the fixed large arm rotating electric machine 8.5.2 of inner ring hole；The rotation of large arm rotating electric machine 8.5.2 output shaft
Large arm 8.4.4 is driven to rotate around large arm rotating electric machine 8.5.2 axis direction, that is, axis five, to realize four component 8.4 of axis around axis five
Rotation；
The big arm seat 8.5.4 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Figure 13 is please referred to, is a kind of axis 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
8.6.3 and greatly arm seat rotates decelerating motor 8.6.4；Mechanical arm pedestal 8.6.3 is bolted on vehicle body 9.3, large arm
The Internal and external cycle that seat rotating axis holds 8.6.2 is bolted with mechanical arm pedestal 8.6.3 and big arm seat rotary connector 8.6.1 respectively,
The other end of big arm seat rotary connector 8.6.1 is bolted with big arm seat 8.5.4；Big arm seat rotation decelerating motor 8.6.4 warp
Bolt is fixed on mechanical arm pedestal 8.6.3, and output shaft and big arm seat rotary connector 8.6.1 are keyed；Big arm seat rotation
The rotation of decelerating motor 8.6.4 output shaft drives big arm seat 8.5.4 to subtract around the rotation of big arm seat through big arm seat rotary connector 8.6.1
Speed motor 8.6.4 axis direction, that is, axis six rotates, to realize five component 8.5 of axis around the rotation of axis six；
The mechanical arm pedestal 8.6.3 is cast, and does light-weight technologg on the basis of guaranteeing bearing capacity.
Figure 14 is please referred to, is a kind of vehicle of the both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Body moving assembly schematic illustration, it includes vehicle body mobile motor 3.1, vehicle body mobile motor seat 3.2, the mobile shaft coupling of vehicle body
3.3, the mobile drive block 3.4 of vehicle body, vehicle body mobile connection part 3.5, the mobile linear slider 3.6 of vehicle body, the mobile ball-screw of vehicle body
3.7, the mobile line slide rail 3.8 of vehicle body, vehicle body moving substrate 3.9, the mobile lead screw shaft bearings 3.10 of vehicle body and vehicle body movable wire
Thick stick bearing 3.11；The mobile line slide rail 3.8 of vehicle body mobile motor seat 3.2, vehicle body and the mobile lead screw shaft bearings 3.10 of vehicle body are
It is bolted on vehicle body moving substrate 3.9, vehicle body mobile motor 3.1 and the mobile lead screw bearing 3.11 of vehicle body pass through respectively
Bolt is fixed on vehicle body mobile motor seat 3.2 and the mobile lead screw shaft bearings 3.10 of vehicle body；Mobile 3.3 both ends of shaft coupling point of vehicle body
Not Lian Jie vehicle body mobile ball-screw 3.7 and vehicle body mobile motor 3.1 output shaft, the mobile ball-screw 3.7 of vehicle body it is another
The inner ring tight fit at end and the mobile lead screw bearing 3.11 of vehicle body；6 two sides of vehicle body bearing base are mobile by bolt and four vehicle bodies
Linear slider is connected, and centre is fixed by bolt and vehicle body mobile connection part 3.5, and vehicle body mobile connection part 3.5 is moved with vehicle body again
Dynamic 3.4 bolt of drive block is fixed；The inner ring of the mobile drive block 3.4 of vehicle body is threadedly engaged with the mobile ball-screw 3.7 of vehicle body, vehicle body
The rotation of 3.1 output shaft of mobile motor is converted to the mobile drive block 3.4 of vehicle body along vehicle body and moves rolling by ball-screw-transmission
The movement of 3.7 axis direction of ballscrew, to realize lateral straight line fortune of the vehicle body bearing base 6 on vehicle body moving substrate 3.9
It is dynamic；The position of centre of gravity of robot is adjusted flexibly in 3 one side of vehicle body moving assembly in robot kinematics, lifts leg for fluid pressure type
The work of component 5 provides precondition；On the other hand after robot reaches designated position, mechanical arm is increased by transverse movement
Planar operating space；
Figure 15 and 16 are please referred to, is a kind of both arms electric power overhaul robot of liftable rotation provided in an embodiment of the present invention
Fluid pressure type lift leg assembly schematic illustration and wherein justify A schematic diagram, it includes rotatable base 5.1, vehicle body support frame
5.2, Barrel of Hydraulic Cylinders 5.3, hydraulic cylinder piston rod 5.4, support frame rotate small bearing 5.5, support frame rotary shaft 5.6, support frame
Rotate big bearing 5.7, support frame rotation hubcap 5.8, hydraulic cylinder rotary shaft locating plate 5.9 and hydraulic cylinder rotary shaft 5.10；
Vehicle body support frame 5.2 is bolted with vehicle body moving substrate 3.9, and two side holes connect with support frame rotary shaft 5.6 through spline logical
Cross the shaft shoulder and sleeve axially position；Small bearing 5.5 is rotated with support frame respectively for 5.6 both ends of support frame rotary shaft and support frame rotates
The inner ring tight fit of big bearing 5.7, support frame rotates small bearing 5.5 and support frame rotate the outer ring of big bearing 5.7 respectively with can
The outer end face of two counterbore tight fits of rotating basis 5.1, support frame rotation hubcap 5.8 and support frame rotary shaft 5.6 is adjacent to simultaneously
It is bolted on rotatable base 5.1, to realize the axially position of support frame rotary shaft 5.6；Hydraulic cylinder rotary shaft
The connecting pin internal surface gaps of 5.10 interlude outer surface and Barrel of Hydraulic Cylinders 5.3 or hydraulic cylinder piston rod 5.4 cooperate, two sides
Section outer surface is rotated with merging through hydraulic cylinder with the corresponding hole location internal surface gaps of rotatable base 5.1 or vehicle body support frame 5.2
Axis locating plate 5.9 positions, to the connecting pin of Barrel of Hydraulic Cylinders 5.3 and hydraulic cylinder piston rod 5.4 is connected to rotatable
The designated position of pedestal 5.1 or vehicle body support frame 5.2；Unilateral hydraulic cylinder piston rod 5.4 is logical along the linear motion of its axis direction
It crosses linkage rod slide block mechanism and is converted to vehicle body support frame 5.2 around the rotation of support frame rotary shaft 5.6, thus by the rotatable of the other side
Pedestal 5.1 lifts, and the work for electric drive swivel component 4 provides precondition；
The rotatable base 5.1 and vehicle body support frame 5.2 is cast by stainless steel, in the base for guaranteeing bearing capacity
Light-weight technologg is done on plinth.
Figure 17 is please 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 schematic illustration is driven, it includes swivel driving motor 4.1, swivel retarder 4.2, turntable bearing 4.3, swivel set
Axis 4.4 and set axis locating plate 4.5；The both ends of turntable bearing 4.3 connect with rotatable base 5.1 and 2 bolt of scaffold respectively
It connects, swivel retarder 4.2 is bolted on rotatable base 5.1, and power source is from swivel driving motor 4.1；
Swivel set 4.4 one end of axis and the output shaft for turning retarder 4.2 are keyed, and the other end connect and leads to through spline with scaffold 2
Cross 4.5 axially position of set axis locating plate；The output torque for turning driving motor 4.1 is amplified through swivel retarder 4.2, then through turning
Set axis 4.4 is transmitted on scaffold 2, under the premise of scaffold 2 is fixed, is converted to the anti-of swivel retarder 4.2
To rotation, so that rotatable base 5.1 be driven to rotate, in conjunction with the movement of fluid pressure type lift leg assembly 5, realize that the leg formula of robot is moved
Dynamic and obstacle detouring, more ditch principle personnel Figure 18-21, by tilting, are completed to get over ditch, such as Figure 22 when ditch both sides height is inconsistent.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (1)
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 acquisition device (10),
Described vehicle body bearing base (6) bottom, is sequentially installed with vehicle body lifting assembly (7), rotatable body component above
(9), rotatable body component (9) is equipped with robot assemblies (8) and and visual information acquisition device (10)；The vision letter
Breath acquisition device (10) shares four groups, is separately mounted to the orientation of front, rear, left and right four of rotatable body component (9)；For behaviour
Make personnel and the peripheral vision information of robot present position is provided, in order to the remote control of robot；
The robot further include include wheel undercarriage (1), scaffold (2), vehicle body moving assembly (3), electric drive swivel
Component (4), fluid pressure type lift leg assembly (5)；
Fluid pressure type lift leg assembly (5) includes rotatable base (5.1), vehicle body support frame (5.2), Barrel of Hydraulic Cylinders
(5.3), hydraulic cylinder piston rod (5.4), support frame rotate small bearing (5.5), support frame rotary shaft (5.6), support frame rotation greatly
Bearing (5.7), support frame rotation hubcap (5.8), hydraulic cylinder rotary shaft locating plate (5.9) and hydraulic cylinder rotary shaft
(5.10)；Vehicle body support frame (5.2) is bolted with vehicle body moving substrate (3.9), two side holes and support frame rotary shaft (5.6)
It is connected through spline and passes through the shaft shoulder and sleeve axially position；Support frame rotary shaft (5.6) both ends rotate small axis with support frame respectively
It holds (5.5) and support frame rotates the inner ring tight fit of big bearing (5.7), support frame rotates small bearing (5.5) and support frame rotation
The outer ring of big bearing (5.7) respectively with two counterbore tight fits of rotatable base (5.1), support frame rotate hubcap (5.8) with
The outer end face of support frame rotary shaft (5.6) is adjacent to and is bolted on rotatable base (5.1), to realize support frame
The axially position of rotary shaft (5.6)；The interlude outer surface of hydraulic cylinder rotary shaft (5.10) and Barrel of Hydraulic Cylinders (5.3) or hydraulic
The connecting pin internal surface gaps of cylinder piston rod (5.4) cooperate, two sides section outer surface and rotatable base (5.1) or vehicle body support frame
(5.2) correspondence hole location internal surface gaps are positioned with merging through hydraulic cylinder rotary shaft locating plate (5.9), thus by Barrel of Hydraulic Cylinders
(5.3) and the connecting pin of hydraulic cylinder piston rod (5.4) is connected to rotatable base (5.1) or vehicle body support frame (5.2)
Designated position；Unilateral hydraulic cylinder piston rod (5.4) is converted to vehicle by linkage rod slide block mechanism along the linear motion of its axis direction
Rotation of the body support frame (5.2) around support frame rotary shaft (5.6) be so that the rotatable base (5.1) of the other side be lifted
The work of electric drive swivel component (4) provides precondition；The electric drive swivel component (4) includes swivel driving motor
(4.1), retarder (4.2), turntable bearing (4.3), swivel set axis (4.4) and set axis locating plate (4.5) are turned；Turntable bearing
(4.3) both ends are bolted with rotatable base (5.1) and scaffold (2) respectively, and swivel retarder (4.2) passes through bolt
It is fixed on rotatable base (5.1), power source is from swivel driving motor (4.1)；Swivel covers axis (4.4) one end and turns
The output shaft of body retarder (4.2) is keyed, and the other end connect through spline with scaffold (2) and passes through set axis locating plate
(4.5) axially position；The output torque for turning driving motor (4.1) covers axis through swivel retarder (4.2) amplification, then through swivel
(4.4) it is transmitted on scaffold (2), under the premise of scaffold (2) is fixed, is converted to swivel retarder (4.2)
Rotate backward, thus drive rotatable base (5.1) rotate, in conjunction with fluid pressure type lift leg assembly (5) movement, realize robot
Leg formula it is mobile and obstacle detouring, the vehicle body moving assembly (3) they include vehicle body mobile motor (3.1), vehicle body mobile motor seat
(3.2), vehicle body mobile shaft coupling (3.3), vehicle body mobile drive block (3.4), vehicle body mobile connection part (3.5), vehicle body are mobile straight
Line sliding block (3.6), vehicle body mobile ball-screw (3.7), vehicle body mobile line slide rail (3.8), vehicle body moving substrate (3.9), vehicle
Body mobile lead screw shaft bearings (3.10) and vehicle body are mobile lead screw bearing (3.11)；Vehicle body mobile motor seat (3.2), vehicle body are mobile
Line slide rail (3.8) and vehicle body mobile lead screw shaft bearings (3.10) are bolted on vehicle body moving substrate (3.9),
Vehicle body mobile motor (3.1) and vehicle body mobile lead screw bearing (3.11) are bolted on vehicle body mobile motor seat respectively
(3.2) and on vehicle body mobile lead screw shaft bearings (3.10)；Mobile shaft coupling (3.3) both ends of vehicle body are separately connected the mobile ball of vehicle body
The output shaft of lead screw (3.7) and vehicle body mobile motor (3.1), the other end and vehicle body of vehicle body mobile ball-screw (3.7) are mobile
The inner ring tight fit of lead screw bearing (3.11), vehicle body bearing base (6) two sides pass through bolt and the mobile linear slider of four vehicle bodies
(3.6) it is connected, centre is fixed by bolt and vehicle body mobile connection part (3.5), and vehicle body mobile connection part (3.5) is moved with vehicle body again
Dynamic drive block (3.4) bolt is fixed；The inner ring of vehicle body mobile drive block (3.4) is matched with mobile ball-screw (3.7) screw thread of vehicle body
It closes, the rotation of vehicle body mobile motor (3.1) output shaft, by ball-screw-transmission, is converted to mobile drive block (3.4) edge of vehicle body
The movement of mobile ball-screw (3.7) axis direction of vehicle body, to realize vehicle body bearing base (6) in vehicle body moving substrate
(3.9) the lateral linear motion on；Robot is on the one hand adjusted flexibly in vehicle body moving assembly (3) in robot kinematics
Position of centre of gravity, the work for lifting leg assembly (5) for fluid pressure type provide precondition；On the other hand designated position is reached in robot
Afterwards, increase the planar operating space of mechanical arm by transverse movement, the rotatable body component (9) includes vehicle body rotation base
Seat (9.1), vehicle body swivel bearing (9.2), vehicle body (9.3), vehicle body rotary decelerator (9.4), vehicle body rotating electric machine (9.5) and
Car body top cover (9.6)；Vehicle body swivel bearing (9.2) Internal and external cycle connects with vehicle body (9.3) and vehicle body rotating basis (9.1) bolt respectively
It connects, vehicle body rotary decelerator (9.4) is bolted on vehicle body (9.3), output shaft and vehicle body rotating basis (9.1) key
It connects and through baffle axially position；The output torque of vehicle body rotating electric machine (9.5) amplifies it through vehicle body rotary decelerator (9.4)
Afterwards, the axis direction of vehicle body (9.3) relative to vehicle body rotating basis (9.1) around vehicle body swivel bearing (9.2) is driven to rotate, thus
It realizes being adjusted flexibly for robot automobile body posture, the planar operating space of mechanical arm is extended to 360 degree；Car body top cover (9.6)
It is bolted at the top of vehicle body (9.3), to protect the electrical equipment in vehicle body (9.3) not damaged；
The visual information acquisition device (10) shares four groups, be separately mounted to rotatable body component (9) it is forward and backward, left,
Right four orientation, provide the peripheral vision information of robot present position for operator, in order to the remote control of robot；
The vehicle body lifting assembly (7) includes crane pedestal (7.1), vehicle body lifting hydraulic cylinder (7.2), crane standard rod
(7.3) and crane rotary shaft (7.4)；Crane pedestal (7.1) is fixed on vehicle body bearing base (6) by bolt group；
A series of organic assembling of crane standard rods (7.3) and crane rotary shaft (7.4) and nut position, and constitute fork-shaped lifting
Frame, the upper and lower ends of crane side are bolted with vehicle body rotating basis (9.1) and crane pedestal (7.1) respectively, another
The upper and lower ends of side pass through crane rotary shaft (7.4) insertion vehicle body rotating basis (9.1) and crane pedestal (7.1) respectively
In limiting slot；The cylinder barrel of vehicle body lifting hydraulic cylinder (7.2) and the connecting pin of piston rod be connected to crane pedestal (7.1) and
It is positioned in crane rotary shaft (7.4) and by bolt and nut；Linear motion of the hydraulic cylinder piston rod relative to cylinder barrel, through fork-shaped
Crane is converted to the linear motion up and down of vehicle body rotating basis (9.1), vehicle body rotating basis (9.1) and crane pedestal
(7.1) limiting slot limits its motion range, to realize the adaptive lifting of rotatable body component (9), expands mechanical arm
Longitudinal operating space, to meet different height requirements；
The robot assemblies (8) have two groups, are separately mounted to vehicle body (9.3) two sides, including one component of axis (8.1), axis two
Component (8.2), three component of axis (8.3), four component of axis (8.4), five component of axis (8.5), six component of axis (8.6) and mechanical arm electricity
Gas end (8.7)；One component of axis (8.1), two component of axis (8.2), three component of axis (8.3), four component of axis (8.4), five component of axis
(8.5) and six component of axis (8.6) is sequentially connected, and 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, thus constitute can by staff's remote control execute complex task six from
By spending mechanical both arms；
One component of axis (8.1) includes pawl head (8.1.1), pawl head swivel bearing (8.1.2), pawl head rotating electric machine
(8.1.3) and pawl headstock (8.1.4)；Pawl head rotating electric machine (8.1.3) is embedded in the rectangular opening of pawl headstock (8.1.4) and by pawl head
The inner ring axially position of swivel bearing (8.1.2)；The Internal and external cycle of pawl head swivel bearing (8.1.2) respectively with pawl headstock (8.1.4)
It is bolted with pawl head (8.1.1)；The output shaft and pawl head (8.1.1) of pawl head rotating electric machine (8.1.3) are keyed, pawl head
The end (8.1.1) can connect clamping manipulator or exploring equipment according to mission requirements；Pawl head rotating electric machine (8.1.3) output shaft
Rotation band pawl head (8.1.1) is rotated around pawl head rotating electric machine (8.1.3) axis direction, that is, axis one, to realize clamping manipulator
Or exploring equipment is around the rotation of axis one；
Two component of axis (8.2) includes pawl headstock electric motor end cap (8.2.1), pawl headstock rotating electric machine (8.2.2), pawl headstock
Swivel bearing (8.2.3) and forearm (8.2.4)；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) are bolted, and the output shaft and pawl headstock (8.1.4) key of pawl headstock rotating electric machine (8.2.2) connect
It connects；Pawl headstock electric motor end cap (8.2.1) is fixed through periphery holes and forearm (8.2.4) bolt, then is revolved through inner ring hole fixed jaw headstock
Rotating motor (8.2.2)；Rotation band pawl headstock (8.1.4) of pawl headstock rotating electric machine (8.2.2) output shaft is rotated around pawl headstock
Motor (8.2.2) axis direction, that is, axis two rotates, to realize one component of axis (8.1) around the rotation of axis two；
Three component of axis (8.3) includes forearm rotary connector (8.3.1), forearm swivel bearing (8.3.2), forearm rotation
Motor (8.3.3) and small arm seat (8.3.4)；The Internal and external cycle of forearm swivel bearing (8.3.2) respectively with forearm rotary connector
(8.3.1) and small arm seat (8.3.4) are bolted, the other end and forearm (8.2.4) bolt of forearm rotary connector (8.3.1)
Connection；Forearm rotating electric machine (8.3.3) is embedded in the rectangular opening of small arm seat (8.3.4) and through forearm swivel bearing (8.3.2)
Inner ring axially position, the output shaft and forearm rotary connector (8.3.1) of forearm rotating electric machine (8.3.3) are keyed；Forearm rotation
The rotation of rotating motor (8.3.3) output shaft drives forearm rotary connector (8.3.1) around the axis side forearm rotating electric machine (8.3.3)
It is rotated to i.e. axis three, to realize two component of axis (8.1) around the rotation of axis three；
Four component of axis (8.4) includes that small arm seat electric motor end cap (8.4.1), forearm seat rotating axis hold (8.4.2), small arm seat
Rotating electric machine (8.4.3) and large arm (8.4.4)；Forearm seat rotating axis hold the Internal and external cycle of (8.4.2) respectively with small arm seat
(8.3.4) and large arm (8.4.4) are bolted, and the output shaft and small arm seat (8.3.4) key of small arm seat rotating electric machine (8.4.3) connect
It connects；Small arm seat electric motor end cap (8.4.1) is fixed through periphery holes and large arm (8.4.4) bolt, then is revolved through the fixed small arm seat of inner ring hole
Rotating motor (8.4.3)；The rotation of small arm seat rotating electric machine (8.4.3) output shaft drives small arm seat (8.3.4) to rotate around small arm seat
Motor (8.4.3) axis direction, that is, axis four rotates, to realize three component of axis (8.3) around the rotation of axis four；
Five component of axis (8.5) includes large arm electric motor end cap (8.5.1), large arm rotating electric machine (8.5.2), large arm rotary shaft
Hold (8.5.3) and big arm seat (8.5.4)；The Internal and external cycle of large arm swivel bearing (8.5.3) respectively with large arm (8.4.4) and large arm
Seat (8.5.4) is bolted, and the output shaft and large arm (8.4.4) of large arm rotating electric machine (8.5.2) are keyed；Large arm electric motor end cap
(8.5.1) is fixed through periphery holes and big arm seat (8.5.4) bolt, then fixed large arm rotating electric machine (8.5.2) through inner ring hole；Large arm
The rotation of rotating electric machine (8.5.2) output shaft drives large arm (8.4.4) around large arm rotating electric machine (8.5.2) axis direction, that is, axis five
Rotation, to realize four component of axis (8.4) around the rotation of axis five；
Six component of axis (8.6) includes that big arm seat rotary connector (8.6.1), large arm seat rotating axis hold (8.6.2), mechanical
Arm pedestal (8.6.3) and big arm seat rotation decelerating motor (8.6.4)；Mechanical arm pedestal (8.6.3) is bolted on vehicle
On body (9.3), the Internal and external cycle that large arm seat rotating axis holds (8.6.2) connects with mechanical arm pedestal (8.6.3) and the rotation of big arm seat respectively
Fitting (8.6.1) is bolted, and the other end and the big arm seat (8.5.4) of big arm seat rotary connector (8.6.1) are bolted；Greatly
Arm seat rotation decelerating motor (8.6.4) is fixed on mechanical arm pedestal (8.6.3) through bolt, and output shaft and the rotation of big arm seat connect
Fitting (8.6.1) key connection；The rotation of big arm seat rotation decelerating motor (8.6.4) output shaft is through big arm seat rotary connector
(8.6.1) drives big arm seat (8.5.4) to rotate around big arm seat rotation decelerating motor (8.6.4) axis direction, that is, axis six, thus real
Rotation of existing five component of axis (8.5) around axis six.
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| CN107297744A (en) * | 2017-06-16 | 2017-10-27 | 江苏科技大学 | A kind of multifunctional household mobile device and its paths planning method |
| CN108115329B (en) * | 2017-12-11 | 2020-11-27 | 阜阳市鼎铭汽车配件制造有限公司 | Welding gun clamping device for high-position welding |
| CN111136634A (en) * | 2019-12-23 | 2020-05-12 | 国网浙江省电力有限公司绍兴供电公司 | Electric power operation and inspection robot moving platform |
| CN116374191B (en) * | 2023-06-02 | 2023-12-29 | 成都国营锦江机器厂 | Automatic helicopter tail beam installation method and system |
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