CN108127690A - A kind of electrification mechanical arm of physical insulation - Google Patents
A kind of electrification mechanical arm of physical insulation Download PDFInfo
- Publication number
- CN108127690A CN108127690A CN201711124220.5A CN201711124220A CN108127690A CN 108127690 A CN108127690 A CN 108127690A CN 201711124220 A CN201711124220 A CN 201711124220A CN 108127690 A CN108127690 A CN 108127690A
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- Prior art keywords
- rotary shaft
- welded
- clamped
- mechanical arm
- air bag
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to mechanical arm field, and in particular to the electrification mechanical arm of physical insulation a kind of.A kind of electrification mechanical arm of physical insulation including power supply, tracheae and conventional mechanical arm, further includes：Gripper, with rotating wrist twist-on；Wrist is rotated, is clamped with insulation arm；Control module is electrically connected to a power source；Drive module is electrically connected with control module；Insulation arm, with conventional mechanical arm twist-on；Sensor assembly is electrically connected with control module；Gripper includes：Front end connects with rear axle；Rear end connects with rotary shaft axis；Rotary shaft is clamped with fixinig plate；Air bag is shunk, mounted on the junction of front-end and back-end, is connect with drive module by tracheae；Air bag is protected, mounted on front end, is connect with drive module by tracheae；Half box of pressure is welded with fixinig plate；Fixed lock, is welded with fixinig plate；Air bag is folded, installation is connect between half box of pressure and rear end with drive module by tracheae；Fixinig plate, with rotating wrist twist-on.
Description
Technical field
The invention belongs to mechanical arm field, and in particular to the electrification mechanical arm of physical insulation a kind of.
Background technology
The operations involving high pressure needs of many cable distributions are accomplished manually at present, and danger coefficient is very big, and makees in high-tension bus-bar
Industry, it is easy to Danger Electric shock risk occur, using mechanical arm work since the magnetic field of the generation of high-voltage electricity influences so that can not use weak
Point carries out good control to mechanical arm and gripper, while also has the conductive final danger for damaging equipment.
Invention content
Above-mentioned unsafe in order to solve the problems, such as, the invention proposes a kind of safety and stability, controlling
The band point mechanical arm of strong physical insulation.
To achieve these goals the technical scheme adopted is that a kind of electrification mechanical arm of physical insulation, including power supply,
Tracheae and conventional mechanical arm, further include：Gripper, with rotating wrist twist-on；Wrist is rotated, is clamped with insulation arm；Control module,
It is electrically connected to a power source；Drive module is electrically connected with control module；Insulation arm, with conventional mechanical arm twist-on；Sensor assembly, with
Control module is electrically connected；Gripper includes：Front end connects with rear axle；Rear end connects with rotary shaft axis；Rotary shaft, with fixinig plate card
It connects；Air bag is shunk, mounted on the junction of front-end and back-end, is connect with drive module by tracheae；Air bag is protected, before being mounted on
End is held, is connect with drive module by tracheae；Half box of pressure is welded with fixinig plate；Fixed lock, is welded with fixinig plate；It receives
Air bag is closed, installation is connect between half box of pressure and rear end with drive module by tracheae；Fixinig plate, with rotating wrist twist-on.Machine
Machinery claw is folded through air bag controlled, wherein protection air bag is when promptly electric wire, is slipped in order to prevent, and protection air bag fills
Gas can compress line；The retractility that air bag utilizes rubber material is shunk, upon inflation, air bag is shunk and is softened, in elastic force
Under effect, gripper front end is opened, and when the gas for shrinking air bag is extracted, contraction air bag retraction, elastic force can be gripper front end
It is closed；Air bag is folded for control machine machinery claw rear end, between half box of pressure and gripper rear end, waits, receives upon inflation
Closing air bag can think that surrounding is expanded, but due to the constraint of half box of pressure, so fold air bag extreme direction can only expand backward, receive
Rear end is shunk under the action of closing air bag；Finally under the action of folding air bag and shrinking air bag, gripper is completed to be closed and be opened.
Rotation wrist provides rotary freedom to gripper, and rotating wrist and insulation arm combination can cause gripper to complete random angle
Degree rotation.
Preferably, the rotation wrist includes：First rotary shaft, with fixinig plate twist-on；Second rotary shaft, with first
Rotary shaft is clamped；Third rotary shaft is clamped with the second rotary shaft；4th rotary shaft, with third rotary shaft be clamped, and with insulation
Arm is clamped；Several retractable sacks, be connected between the first rotary shaft and the second rotary shaft, the second rotary shaft and third rotary shaft it
Between, between third rotary shaft and the 4th rotary shaft.Coordinate between 4 rotary shafts, complete the minimum swing of gripper, 4 rotations
Shaft mutual cooperation can complete one 360 degree of basis rotation, be conducive in engineering construction, it is dynamic that gripper completes rotation
Make.
Preferably, the insulation arm includes：Support column is socketed with insulation arm；Support cell, in insulation arm,
With support column apical grafting；Lower tooth shaft is engaged with rotation wrist；Release link is clamped with lower tooth shaft；Drawing capsule is stretched, with lower tooth shaft
With rotation wrist apical grafting；Drawing capsule reversely is stretched, with release link apical grafting.The support column of insulation arm, support cell, stretches drawing capsule at lower tooth shaft
The swing resetting that capsule cooperation is drawn to complete rotary wrist is reversely stretched, gripper realization can be caused to surpass 360 rotations；Its Working mould
Formula is first to be inflated to support cell so that support column stretches out, and the fixation padlock for snapping fit onto gripper completes the position of Current mechanical pawl
It is fixed, it then stretches and draws capsule inflation, reversely stretch and capsule is drawn to deflate so that lower tooth shaft and wrist separation reset the rotation angle of wrist；
It after the completion of resetting, stretches and draws capsule deflation, reversely stretch and draw capsule inflation, lower tooth shaft and rotation wrist are engaged, simultaneously as rotating
After wrist swing resets, teeth portion has situation about can not be aligned when being engaged with lower tooth shaft, increases reset rod structure.
Preferably, the drive module includes：Several cylinders, are electrically connected with control module；Motor, with controlling mould
Block is electrically connected.
Preferably, the sensor assembly includes：Camera is electrically connected with control module；Button, with control module
Electrical connection；Infrared ray position indicator, is electrically connected with control module.Mounted on insulation arm rear and conventional mechanical arm junction, it is used for
Observe gripper working condition；Infrared ray position indicator improves gripper crawl precision.
Preferably, the 4th rotary shaft includes：First top is clamped piece, is welded with rotary shaft；Second top card
Contact pin is welded with rotary shaft；Rotary shaft is welded with gear；Gear is engaged with lower tooth shaft.
Preferably, the lower tooth shaft includes：Several pointed tooths are welded with bottom plate；Bottom plate is welded with gag lever post；Position
Slot is moved, is opened on bottom plate, is clamped with release link；Gag lever post is welded on bottom plate, is socketed with stretch cord；Stretch cord, with release link
Socket.After rotation wrist completes swing reset, if two teeth are not aligned with, are stretching drawing capsule and reversely stretching the effect of drawing capsule
Under, two teeth can be engaged, simultaneously as there is release link to be connected to lower tooth shaft, lower tooth shaft can be rotated to fixed-direction, be made simultaneously
Stretch cord is obtained to stretch；Tooth shaft is engaged or engaged by force after it can solve the problems, such as to reset so loosely, it is multiple in next time
During position, two teeth separate, and in the effect of release link, stretch cord retraction is finally completed the reset of lower tooth shaft.
Preferably, second rotary shaft includes：First top is clamped piece, is welded with rotary shaft；Second top card
Contact pin is welded with rotary shaft；First lower part is clamped piece, is welded with rotary shaft；Second lower part is clamped piece, is welded with rotary shaft.
Preferably, in addition to first and the 4th other than rotary shaft, the second third rotary shaft has 2 tops clamping pieces and lower part
It is clamped piece；Retractable sack is connected among the lower part clamping piece of first rotary shaft and the top clamping piece of the second rotary shaft, is being revolved
When turning, two retractable sacks are shunk, and corresponding two retractable sacks expansion pushes rotary shaft rotation, final to drive gripper rotation
Turn；When resetting rotation wrist swing resets, the retractable sack of inflation is shunk, and rotation is completed in the retractable sack inflation shunk
Degree resetting.
The advantageous effect of the invention：（1）Gripper is folded through air bag controlled, wherein protection air bag is when promptly
It when electric wire, slips in order to prevent, protection airbag aeration can compress line；Air bag is shunk using the flexible of rubber material
Property, upon inflation, shrinking air bag is softened, and under the action of elastic force, gripper front end is opened, when the gas for shrinking air bag is taken out
Go out, shrink air bag retraction, elastic force can be that gripper front end is closed；Air bag is folded for control machine machinery claw rear end, mounted on pressure
Between half box and gripper rear end, wait upon inflation, folding air bag can think that surrounding is expanded, but due to the constraint of half box of pressure,
So fold air bag extreme direction can only expand backward, rear end is shunk under the action of air bag is folded；Finally folding air bag and receipts
Under the action of contracting air bag, gripper is completed to be closed and be opened.Rotation wrist provides rotary freedom to gripper, rotates wrist
Gripper can be caused to complete Arbitrary Rotation with insulation arm combination.（2）Coordinate between 4 rotary shafts, complete gripper
Minimum swing, 4 rotary shaft mutual cooperations can complete one 360 degree of basis rotation, be conducive in engineering construction, machine
Machinery claw completes spinning movement.（3）The support column of insulation arm, support cell, is stretched to draw capsule and reversely stretch and capsule cooperation is drawn to complete at lower tooth shaft
The swing resetting of rotary wrist, can cause gripper realization to surpass 360 rotations；Its operating mode is first to be inflated to support cell,
So that support column stretches out, the position for snapping fit onto the fixation padlock completion Current mechanical pawl of gripper is fixed, and is then stretched and is drawn capsule inflation,
It reversely stretches and capsule is drawn to deflate so that lower tooth shaft and wrist separation reset the rotation angle of wrist；After the completion of resetting, stretch and capsule is drawn to put
Gas is reversely stretched and draws capsule inflation, by lower tooth shaft and rotation wrist engagement, simultaneously as after rotation wrist swing resets, with
Teeth portion has situation about can not be aligned when lower tooth shaft engages, and increases reset rod structure.（3）Swing is completed in rotation wrist
After reset, if two teeth are not aligned with, under the action of stretching drawing capsule and reversely stretching drawing capsule, two teeth can be engaged, simultaneously as having multiple
Position bar is connected to lower tooth shaft, and lower tooth shaft can be rotated to fixed-direction, while stretch cord is stretched；It can solve in this way
The problem of tooth shaft is engaged or engaged loosely by force after certainly resetting, when resetting next time, two teeth separate, in the work of release link
With stretch cord retraction is finally completed the reset of lower tooth shaft.（4）In addition to first and the 4th other than rotary shaft, the second third rotary shaft
There are 2 top clamping pieces and lower part clamping piece；The lower part clamping piece of first rotary shaft and the top clamping piece of the second rotary shaft
Centre is connected with retractable sack, and when being rotated, two retractable sacks are shunk, and corresponding two retractable sacks expansion pushes rotation
Shaft rotation is moved, final to drive gripper rotation；When resetting rotation wrist swing resets, the retractable sack of inflation is shunk, and has been received
The retractable sack inflation of contracting, completes swing resetting.
Description of the drawings
Fig. 1：A kind of electrification machinery arm configuration schematic diagram of physical insulation
Fig. 2：Rotate wrist part structure schematic diagram
Fig. 3：Lower tooth shaft chart at the bottom of
In figure：1st, protect air bag, 2, shrink air bag, 3, fold air bag, 4, rotation wrist, the 5, the 4th rotary shaft, 6, front end, 7, after
End, 8, half box of pressure, 9, rotary shaft, 10, fixinig plate, 11, fixed padlock, 12, support column, 13, lower tooth shaft, 14, stretch drawing capsule,
15th, release link, 16, reversely stretch drawing capsule, the 17, first lower part clamping piece, the 18, second lower part clamping piece, the clamping of the 19, first top
Piece, the 20, second top clamping piece, 21, gag lever post, 22, stretch cord.
Specific embodiment
Embodiment
To achieve these goals the technical scheme adopted is that a kind of electrification mechanical arm of physical insulation, including power supply, tracheae
With conventional mechanical arm, further include：Gripper, with rotating 4 twist-on of wrist；Wrist 4 is rotated, is clamped with insulation arm；Control module, with
Power electric connection；Drive module is electrically connected with control module；Insulation arm, with conventional mechanical arm twist-on；Sensor assembly, with control
Molding block is electrically connected；Gripper includes：Front end 6 connects with 7 axis of rear end；Rear end 7 connects with rotary shaft axis；Rotary shaft, with fixinig plate
10 clampings；Air bag 2 is shunk, mounted on front end 6 and the junction of rear end 7, is connect with drive module by tracheae；Air bag 1 is protected,
Mounted on 6 end of front end, it is connect with drive module by tracheae；Half box 8 of pressure, is welded with fixinig plate 10；Fixation lock, with consolidating
Stator 10 welds；Air bag 3 is folded, installation is connect between half box of pressure and rear end 7 with drive module by tracheae；Fixinig plate 10,
With rotating 4 twist-on of wrist.Gripper is folded through air bag controlled, wherein protection air bag 1 is when promptly electric wire, in order to
It prevents from slipping, the protection inflation of air bag 1 can compress line；Retractility of the air bag 2 using rubber material is shunk, upon inflation, is received
Contracting air bag 2 is softened, and under the action of elastic force, gripper front end 6 is opened, when shrink air bag 2 gas be extracted, shrink air bag
2 retractions, elastic force can be that gripper front end 6 is closed；Air bag 3 is folded for control machine machinery claw rear end 7, mounted on half box of pressure, 8 He
Between gripper rear end 7, wait upon inflation, folding air bag 3 can think that surrounding is expanded, but due to the constraint of half box 8 of pressure, so
Folding air bag 3 can only expand in 7 directions to the back-end, and rear end 7 is shunk under the action of air bag 3 is folded；Finally folding air bag 3 and receiving
Under the action of contracting air bag 2, gripper is completed to be closed and be opened.Rotation wrist 4 provides rotary freedom to gripper, rotates wrist
Portion 4 and insulation arm combination can cause gripper to complete Arbitrary Rotation.
The rotation wrist 4 includes：First rotary shaft, with 10 twist-on of fixinig plate；Second rotary shaft, with the first rotary shaft
Clamping；Third rotary shaft is clamped with the second rotary shaft；4th rotary shaft 5, with third rotary shaft be clamped, and with insulation arm card
It connects；Several retractable sacks, be connected between the first rotary shaft and the second rotary shaft, between the second rotary shaft and third rotary shaft,
Between third rotary shaft and the 4th rotary shaft 5.Coordinate between 4 rotary shafts, complete the minimum swing of gripper, 4 rotations
Axis mutual cooperation can complete one 360 degree of basis rotation, be conducive in engineering construction, gripper completes spinning movement.
The insulation arm includes：Support column 12 is socketed with insulation arm；Support cell, in insulation arm, with support column
12 apical graftings；Lower tooth shaft 13 is engaged with rotation wrist 4；Release link 15 is clamped with lower tooth shaft 13；It stretches and draws capsule 14, turn with lower tooth
Axis 13 and rotation 4 apical grafting of wrist；It reversely stretches and draws capsule 16, with 15 apical grafting of release link.The support column 12 of insulation arm, lower tooth shaft 13,
Support cell stretches to draw capsule 14 and reversely stretch and capsule 16 is drawn to coordinate the swing resetting for completing rotary wrist, can gripper be realized
Surpass 360 rotations；Its operating mode is first to be inflated to support cell so that support column 12 stretches out, and snaps fit onto the fixation padlock of gripper
The position of 11 completion Current mechanical pawls is fixed, and then stretches and capsule 14 is drawn to inflate, reversely stretch and capsule 16 is drawn to deflate so that 13 He of lower tooth shaft
Wrist detaches, and resets the rotation angle of wrist；It after the completion of resetting, stretches and capsule 14 is drawn to deflate, reversely stretch and capsule 16 is drawn to inflate, lower tooth is turned
Axis 13 and rotation wrist 4 engage, simultaneously as after rotation 4 swing of wrist resets, teeth portion when being engaged with lower tooth shaft 13
There is situation about can not be aligned, increase 15 structure of release link.The drive module includes：Several cylinders, with control module electricity
Connection；Motor is electrically connected with control module.
The sensor assembly includes：Camera is electrically connected with control module；Button is electrically connected with control module；It is red
Outside line position indicator, is electrically connected with control module.Mounted on insulation arm rear and conventional mechanical arm junction, for observing gripper
Working condition；Infrared ray position indicator improves gripper crawl precision.
4th rotary shaft 5 includes：First top is clamped piece 19, is welded with rotary shaft；Second top is clamped piece 20,
It is welded with rotary shaft；Rotary shaft is welded with gear；Gear is engaged with lower tooth shaft 13.
The lower tooth shaft 13 includes：Several pointed tooths are welded with bottom plate；Bottom plate is welded with gag lever post 21；Displacement slot,
It is opened on bottom plate, is clamped with release link 15；Gag lever post 21, is welded on bottom plate, is socketed with stretch cord 22；Stretch cord 22, with answering
Position bar 15 is socketed.After rotation wrist 4 completes swing reset, if two teeth are not aligned with, are stretching drawing capsule 14 and reversely stretching drawing
Under the action of capsule 16, two teeth can be engaged, simultaneously as there is release link 15 to be connected to lower tooth shaft 13, lower tooth shaft 13 can be to fixation
Direction rotates, while stretch cord 22 is stretched；Tooth shaft is engaged or engaged not by force after it can solve to reset in this way
The problem of firm, when resetting next time, two teeth separate, and in the effect of release link 15, stretch cord 22 bounces back, and are finally completed lower tooth and turn
The reset of axis 13.
Second rotary shaft includes：First top is clamped piece 19, is welded with rotary shaft；Second top is clamped piece 20,
It is welded with rotary shaft；First lower part is clamped piece 17, is welded with rotary shaft；Second lower part is clamped piece 18, is welded with rotary shaft.
In addition to first and the 4th other than rotary shaft 5, the second third rotary shaft has 2 tops clamping pieces and lower part clamping piece；
First rotary shaft lower part clamping piece and the second rotary shaft top clamping piece among be connected with retractable sack, rotated when
It waits, two retractable sacks are shunk, and corresponding two retractable sacks expansion pushes rotary shaft rotation, final to drive gripper rotation；In weight
When putting the 4 swing reset of rotation wrist, the retractable sack of inflation is shunk, and swing resetting is completed in the retractable sack inflation shunk.
Gripper is folded through air bag controlled, wherein protection air bag 1 is when promptly electric wire, is slided in order to prevent
De-, the protection inflation of air bag 1 can compress line；Retractility of the air bag 2 using rubber material is shunk, upon inflation, shrinks air bag 2
It is softened, under the action of elastic force, gripper front end 6 is opened, and when the gas for shrinking air bag 2 is extracted, contraction air bag 2 bounces back,
Elastic force can be that gripper front end 6 is closed；Air bag 3 is folded for control machine machinery claw rear end 7, mounted on half box 8 of pressure and gripper
Between rear end 7, wait upon inflation, folding air bag 3 can think that surrounding is expanded, but due to the constraint of half box 8 of pressure, so folding gas
Capsule 3 can only be expanded in 7 directions to the back-end, and rear end 7 is shunk under the action of air bag 3 is folded；Finally folding air bag 3 and shrinking air bag
Under the action of 2, gripper is completed to be closed and be opened.Rotation wrist 4 provides rotary freedom to gripper, rotates 4 He of wrist
Insulation arm combination can cause gripper to complete Arbitrary Rotation.Coordinate between 4 rotary shafts, complete the minimum rotation of gripper
Turn degree, 4 rotary shaft mutual cooperations can complete one 360 degree of basis rotation, be conducive in engineering construction, gripper is complete
Into spinning movement.The support column 12 of insulation arm, support cell, is stretched to draw capsule 14 and reversely stretch and the cooperation of capsule 16 is drawn to complete at lower tooth shaft 13
The swing resetting of rotary wrist, can cause gripper realization to surpass 360 rotations；Its operating mode is first to be inflated to support cell,
So that support column 12 stretches out, the position for snapping fit onto the completion Current mechanical pawl of fixation padlock 11 of gripper is fixed, and then stretches drawing capsule
14 inflations, reversely stretch and capsule 16 are drawn to deflate so that lower tooth shaft 13 and wrist separation reset the rotation angle of wrist；Resetting is completed
Afterwards, it stretches and capsule 14 is drawn to deflate, reversely stretch and capsule 16 is drawn to inflate, lower tooth shaft 13 and rotation wrist 4 are engaged, simultaneously as in rotation wrist
After 4 swing of portion resets, teeth portion has situation about can not be aligned when being engaged with lower tooth shaft 13, increases 15 structure of release link.
After rotation wrist 4 completes swing reset, if two teeth are not aligned with, are stretching drawing capsule 14 and reversely stretching the effect of drawing capsule 16
Under, two teeth can be engaged, simultaneously as there is release link 15 to be connected to lower tooth shaft 13, lower tooth shaft 13 can be rotated to fixed-direction,
Simultaneously so that stretch cord 22 stretches；Tooth shaft is engaged or engaged by force loosely after it can solve the problems, such as to reset in this way,
When resetting next time, two teeth separate, and in the effect of release link 15, stretch cord 22 bounces back, and is finally completed answering for lower tooth shaft 13
Position.In addition to first and the 4th other than rotary shaft 5, the second third rotary shaft has 2 tops clamping pieces and lower part clamping piece；First rotation
Retractable sack is connected among the lower part clamping piece of shaft and the top clamping piece of the second rotary shaft, when being rotated, two
Retractable sack is shunk, and corresponding two retractable sacks expansion pushes rotary shaft rotation, final to drive gripper rotation；It is rotated in resetting
When 4 swing of wrist resets, the retractable sack of inflation is shunk, and swing resetting is completed in the retractable sack inflation shunk.
Claims (8)
1. a kind of electrification mechanical arm of physical insulation, including power supply, tracheae and conventional mechanical arm, which is characterized in that further include：
Gripper, with rotating wrist twist-on；
Wrist is rotated, is clamped with insulation arm；
Control module is electrically connected to a power source；
Drive module is electrically connected with control module；
Insulation arm, with conventional mechanical arm twist-on；
Sensor assembly is electrically connected with control module；
Gripper includes：
Front end connects with rear axle；
Rear end connects with rotary shaft axis；
Rotary shaft is clamped with fixinig plate；
Air bag is shunk, mounted on the junction of front-end and back-end, is connect with drive module by tracheae；
Air bag is protected, mounted on front end, is connect with drive module by tracheae；
Half box of pressure is welded with fixinig plate；
Fixed lock, is welded with fixinig plate；
Air bag is folded, installs between half box of pressure and rear end, is connect with drive module by tracheae；
Fixinig plate, with rotating wrist twist-on.
A kind of 2. electrification mechanical arm of physical insulation according to claim 1, which is characterized in that the rotation wrist packet
It includes：
First rotary shaft, with fixinig plate twist-on；
Second rotary shaft is clamped with the first rotary shaft；
Third rotary shaft is clamped with the second rotary shaft；
4th rotary shaft is clamped with third rotary shaft, and is clamped with insulation arm；
Several retractable sacks, be connected between the first rotary shaft and the second rotary shaft, between the second rotary shaft and third rotary shaft,
Between third rotary shaft and the 4th rotary shaft.
A kind of 3. electrification mechanical arm of physical insulation according to claim 1, which is characterized in that the insulation arm packet
It includes：
Support column is socketed with insulation arm；
Support cell, in insulation arm, with support column apical grafting；
Lower tooth shaft is engaged with rotation wrist；
Release link is clamped with lower tooth shaft；
Drawing capsule is stretched, with lower tooth shaft and rotation wrist apical grafting；
Drawing capsule reversely is stretched, with release link apical grafting.
A kind of 4. electrification mechanical arm of physical insulation according to claim 1, which is characterized in that the drive module packet
It includes：
Several cylinders, are electrically connected with control module；
Motor is electrically connected with control module.
A kind of 5. electrification mechanical arm of physical insulation according to claim 1, which is characterized in that the sensor assembly
Including：
Camera is electrically connected with control module；
Button is electrically connected with control module；
Infrared ray position indicator, is electrically connected with control module.
A kind of 6. electrification mechanical arm of physical insulation according to claim 2, which is characterized in that the 4th rotary shaft
Including：
First top is clamped piece, is welded with rotary shaft；
Second top is clamped piece, is welded with rotary shaft；
Rotary shaft is welded with gear；
Gear is engaged with lower tooth shaft.
A kind of 7. electrification mechanical arm of physical insulation according to claim 3, which is characterized in that the lower tooth shaft packet
It includes：
Several pointed tooths are welded with bottom plate；
Bottom plate is welded with gag lever post；
Displacement slot is opened on bottom plate, is clamped with release link；
Gag lever post is welded on bottom plate, is socketed with stretch cord；
Stretch cord is socketed with release link.
A kind of 8. electrification mechanical arm of physical insulation according to claim 2, which is characterized in that second rotary shaft
Including：
First top is clamped piece, is welded with rotary shaft；
Second top is clamped piece, is welded with rotary shaft；
First lower part is clamped piece, is welded with rotary shaft；
Second lower part is clamped piece, is welded with rotary shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711124220.5A CN108127690B (en) | 2017-11-14 | 2017-11-14 | Physical insulation mechanical arm with motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711124220.5A CN108127690B (en) | 2017-11-14 | 2017-11-14 | Physical insulation mechanical arm with motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108127690A true CN108127690A (en) | 2018-06-08 |
| CN108127690B CN108127690B (en) | 2020-06-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711124220.5A Active CN108127690B (en) | 2017-11-14 | 2017-11-14 | Physical insulation mechanical arm with motor |
Country Status (1)
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| CN (1) | CN108127690B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113118110A (en) * | 2021-04-20 | 2021-07-16 | 深圳市利兴隆机电设备有限公司 | New forms of energy motor casing self-cleaning machine |
| CN113146629A (en) * | 2021-04-14 | 2021-07-23 | 杭州职业技术学院 | Manipulator accurate control system and control device thereof |
| CN116488047A (en) * | 2023-06-21 | 2023-07-25 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
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| CN113146629A (en) * | 2021-04-14 | 2021-07-23 | 杭州职业技术学院 | Manipulator accurate control system and control device thereof |
| CN113146629B (en) * | 2021-04-14 | 2023-07-07 | 杭州职业技术学院 | Accurate control system and control device of manipulator |
| CN113118110A (en) * | 2021-04-20 | 2021-07-16 | 深圳市利兴隆机电设备有限公司 | New forms of energy motor casing self-cleaning machine |
| CN113118110B (en) * | 2021-04-20 | 2022-03-29 | 深圳市利兴隆机电设备有限公司 | New forms of energy motor casing self-cleaning machine |
| CN116488047A (en) * | 2023-06-21 | 2023-07-25 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
| CN116488047B (en) * | 2023-06-21 | 2023-09-12 | 安徽博诺思信息科技有限公司 | Electrified mounting tool for insulating sheath |
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| CN108127690B (en) | 2020-06-05 |
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