CN108159656A - A kind of elastic adjustable automatic operating equipment - Google Patents
A kind of elastic adjustable automatic operating equipment Download PDFInfo
- Publication number
- CN108159656A CN108159656A CN201711251453.1A CN201711251453A CN108159656A CN 108159656 A CN108159656 A CN 108159656A CN 201711251453 A CN201711251453 A CN 201711251453A CN 108159656 A CN108159656 A CN 108159656A
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- China
- Prior art keywords
- gear
- face gear
- mechanical arm
- manipulator
- rotation axis
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B27/00—Apparatus for climbing poles, trees, or the like
- A63B27/04—Climbing devices for profile poles attachable to the feet
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of elastic adjustable automatic operating equipment, straight-line displacement ball bar ruler is provided in guide rail, reading head is provided in sliding sleeve, at least two manipulators, main motor, it is fixedly installed on running equipment bottom plate, main motor output shaft is linked by a reduction box and a screw with sliding sleeve, wherein, each manipulator is made of the mechanical arm that a pair can relatively rotate, each mechanical arm is made of several section turning joints, it is rotatablely connected between each turning joint by rotation axis, at least two grooves are axially and symmetrically offered in rotation axis, it stretches in groove and is provided with a guide rod, guide rod upper end is horizontally arranged with a first end face gear, it slides and is provided with one first driving mechanism in mechanical arm upper end, first driving mechanism telescopic upper end is provided with a second end face gear, second end face gear selectively links with first end face gear.The present invention solves existing grab and climbs the technical issues of mechanical arm form fixes and application range is caused to be limited on device.
Description
Technical field
The present invention relates to automatic control technology fields, and in particular to a kind of elastic adjustable automatic operating equipment.
Background technology
For a long time, it creeps technical field in automatic vertical, few relevant automations can be competent at this task, special
It is not in the work on the spot overhauled in supply line, staff generally requires to grab by strength of one's legs and climb on electric pole to mutually powered-down
Power equipment is overhauled, and grabs climb electric pole mainly using climbers at present, and the design of climbers easily causes such a case,
One foot surprisingly make a misstep cause crank make body occur sidesway so that make another climbers be detached from electric pole, safety compared with
It is low.In addition, electric pole is gradually reduced with the increase diameter of height, and in the case where staff pedals bar excessive velocities, climbers
It is relatively easy to come off.And due to having in some areas in city using novel steel structure electric pole, cause climbers cannot
The change of electric wire shank diameter is well adapted to, so as to bring working at height dangerous to staff, meanwhile, existing grab climbs auxiliary
Device specific aim is relatively simple, and the target that can be only applied to specific shape structure is grabbed and climbed on object, and auxiliary dress is climbed so as to limit to grab
The application field put.
Invention content
It is an object of the invention to solve at least the above, and provide the advantages of at least will be described later.
The object of the present invention is to provide a kind of elastic adjustable automations easy to use, safe, working efficiency is high
Running equipment may determine that whether manipulator has held based on pressure sensor, by the rotation of upper and lower manipulator and screw,
It realizes moving up and down for entirety, to realize the protection to staff, on the other hand, has multiple turning joint groups on mechanical arm
Into the target for being adapted to different structure grabs and climbs object, while ensure that mechanical arm will not voluntarily loosen, so as to solve existing grab
Climb the technical issues of mechanical arm form fixes and application range is caused to be limited on device.
In order to realize these purposes according to the present invention and other advantages, a kind of elastic adjustable automatic operating is provided
Equipment, including：
Guide rail is fixedly installed on the bottom plate of the running equipment, and the guide rail is vertical with the running equipment bottom plate,
The guide upper is cased with sliding sleeve, and the guide rail is hollow-core construction, and straight-line displacement ball bar ruler, the cunning are provided in the guide rail
Reading head is provided in set, the reading head envelope is in the straight-line displacement ball bar ruler periphery, the reading head and the operation
The controller connection of equipment；
At least two manipulators, are installed on the running equipment homonymy up and down, and the manipulator is grabbed to go to grab in target and be climbed
Object periphery, wherein, upper manipulator is fixed on the sliding sleeve, and lower manipulator is fixed on the bottom plate, and the manipulator exists
It is made of on shaft core position equipped with rotating mechanism, the rotating mechanism the decelerating motor to link with meshing gear, the engaging tooth
Wheel is connect with the manipulator；
Main motor is fixedly installed on the running equipment bottom plate, the main motor output shaft by a reduction box and
One screw links with the sliding sleeve, slides over described in driving and is relatively moved on the guide rail, the main motor and the controller
Connection；And
Several press devices, interval are rotatably arranged on the madial wall of the manipulator, are set on the press device
There is non-slip mat；
Wherein, each manipulator is made of the mechanical arm that a pair can relatively rotate, if each mechanical arm by
Dry section turning joint composition, is rotatablely connected between each turning joint by rotation axis, and each rotation axis and phase
Second turning joint of adjacent two turning joint is fixed, each rotation axis upper end and the mechanical arm upper surface flush,
At least two grooves are axially and symmetrically offered in the rotation axis, stretches in the groove and is provided with a guide rod, on the guide rod
A tension spring is arranged with, the tension spring upper end is connect with the guide rod, and the tension spring lower end is connect with the groove madial wall, described
Guide rod upper end is horizontally arranged with a first end face gear, and the teeth of the first end face gear are downward, the rotation axis periphery
It is provided with tooth socket above the mechanical arm, under normal condition, the first end face gear is engaged with the tooth socket, the mechanical arm
Upper slip is provided with one first driving mechanism, and the first driving mechanism telescopic upper end is provided with a second end face gear, described
The teeth of second end face gear are upward, and the first end face gear is laterally protruding in the mechanical arm certain distance, and described second
Face gear selectively links with the first end face gear, and the rotation axis is driven to rotate, first driving mechanism and institute
State controller connection.
Preferably, a connecting seat being mounted on the sliding sleeve is further included, the first rotating machine is installed on the connecting seat
Structure, first rotating mechanism include a pair of first meshing gear and the first reducing motors being fixed on the connecting seat, institute
It states first reducing motors and drive connection, the first meshing gear center shaft rotation is engaged with the first meshing gear one of them described
It is dynamic to be mounted on the connecting seat, a pair of first meshing gear engagement connection, the first mechanical arm one of the upper manipulator
End is connected to the central shaft of one of them first meshing gear, and second mechanical arm one end of the upper manipulator is connected to separately
The central shaft of one first meshing gear.
Preferably, a pedestal on the bottom plate is installed, the second rotating mechanism is installed on the pedestal, described second turn
Motivation structure includes a pair of second meshing gear and the second reducing motors being fixed on the pedestal, the second reducing motors with
One of them described second meshing gear engagement is drivingly connected, and the second meshing gear central axis is mounted on the pedestal
On, a pair of second meshing gear engagement connection, first mechanical arm one end of the lower manipulator is connected to one of institute
The central shaft of the second meshing gear is stated, second mechanical arm one end of the lower manipulator is connected to another second engaging tooth
The central shaft of wheel.
Preferably, the main motor output shaft connection one turns to reduction box, and the screw is vertically connected on the steering and subtracts
The output terminal of fast case is provided with a threaded hole on the connecting seat, and the wire rod thread is connected in the threaded hole.
Preferably, it is described by press fitting at least provided with a press device on each turning joint madial wall
Put grabbed with the target climb object contact angle it is adjustable, the manipulator is grabbed by the non-slip mat with target climbs object and connects
It touches, interface is provided on the press device madial wall, the interface bottom is provided with pressure sensor, the non-slip mat
It is plugged in the interface, the sensor is connect with the controller.
Preferably, LCD display module, the LCD display module and the controller are provided at the top of the running equipment
Connection, the running equipment top are provided with several buttons for being used to control the controller.
Preferably, a locking device is installed on the bottom plate, the locking device by the controller control with it is described
Target, which is grabbed, climbs object selective lock, and the bottom base plate is additionally provided with an infrared distance measurement module, the infrared distance measurement module
Detecting mouth, vertically ground, the output terminal of the infrared distance measurement module are connect with the controller.
Preferably, the diameter of the first end face gear is more than the diameter of the rotation axis, the first end face gear bottom
Portion, which is stretched by being arranged with the guide rod of the tension spring, to be arranged in the groove, and the first end face gear is in the tension spring
Under the action of engaged with the tooth socket, when the second end face gear upper surface contacts simultaneously with the first end face gear lower surface
After first end face gear is lifted, the first end face gear is detached from the tooth socket.
Preferably, first driving mechanism includes：
Driving motor, movement are arranged on the mechanical arm lateral wall, and the output shaft of the driving motor is vertically upward
Setting, the output terminal of the driving motor are provided with a shaft coupling；
Telescoping mechanism, is arranged on the output terminal of the shaft coupling, and being provided with one on the telescopic end of the telescoping mechanism stretches
Contracting connector；
Drive rod is disposed longitudinally on described be telescopically connected on the output terminal of device；And
Second end face gear is arranged on the end of the drive rod, the second end face gear and the first end face
Gear selectively engagement connection.
Preferably, a pair of of guider is arranged at intervals on the driving motor madial wall, the guider protrudes above
A guide block is provided with, the mechanical arm upper and lower ends are corresponding respectively to offer a guide groove, and the guide block is slidably arranged in described
In guide groove；
Wherein, one second driving mechanism is provided on the driving motor madial wall between a pair of guider,
A horizontal gear is horizontally arranged on the output shaft of second driving mechanism, a tooth is correspondingly arranged on the mechanical arm lateral wall
Wheel belt, the horizontal gear engagement are connected on the gear band, and the gear band two ends are provided with overtravel protection switch, institute
Overtravel protection switch is stated to connect with the controller.
Compared with prior art, the advantageous effect that the present invention includes is：
1st, it can greatly improve to grab compared with manually grabbing and climbing and climb speed, the safety grabbed and climbed is obviously improved, with electric power first-aid
Vehicle can effectively arrive at the region that vehicle is inconvenient to enter compared to its floor space is greatly reduced, hence it is evident that reduce labor intensive, show
It writes and improves operating efficiency；
2nd, running equipment safety higher realizes automatic grab and gets over journey, meanwhile, mechanical arm is by Multi-section active joint group
Into can be grabbed according to target and climb the shape of object to change the shape and structure of mechanical arm, so as to catch mesh of different shapes
Mark, which is grabbed, climbs object, improves the application range of running equipment.
Part is illustrated to embody by further advantage, target and the feature of the present invention by following, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention；
Fig. 2 is the first driving mechanism structure schematic diagram of the invention；
Fig. 3 is the second driving mechanism structure schematic diagram of the invention；
Fig. 4 is structure diagram when first end face gear is engaged with tooth socket；
Fig. 5 is structure diagram when first end face gear is detached with tooth socket；
Fig. 6 is the assembling structure schematic diagram of rotation axis and first end face gear.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings, to enable those skilled in the art with reference to comment
It can implement according to this.
As shown in figures 1 to 6, the present invention provides a kind of elastic adjustable automatic operating equipment, including display module, red
Outer range finder module, manipulator, rotation and flexible module and driving mechanism.
Specifically, LCD display module is arranged at the top of running equipment, to realize state and the operation to upper and lower manipulator
The real-time display of equipment current location, the LCD display module are connect with the controller of the running equipment, LCD display module
Side is equipped with several buttons, with button in the control controller, the final movement start and stop for pressing key control running equipment, machine
The promptly direction of motion with release, the rotation process in each joint and running equipment of tool hand.
The running equipment bottom is equipped with infrared distance measurement module, and the infrared distance measurement module is connect with the controller, has
Body, infrared distance measurement module is arranged on the lower surface of bottom plate 1, and the infrared distance measurement module by sending signal and connecing vertically downward
Transmitting-receiving penetrates signal to judge height and position that running equipment is presently in, and feed back in the display module.
A pair of guide rails 3 is installed on bottom plate 1, the guide rail 3 is vertical with the running equipment bottom plate 1, the guide rail 3
On be cased with sliding sleeve 31, sliding sleeve 31 is slided up and down along guide rail 3.It, will in order to be preferably monitored to range ability in the present invention
The guide rail 3 is set as hollow-core construction, and straight-line displacement ball bar ruler is provided in the guide rail 3, specifically, the inside of guide rail 3 is empty
Intracavitary is tightly packed to have steel ball with high precision, while reading head is provided in the sliding sleeve 31, and the reading head envelope is described
Straight-line displacement ball bar ruler periphery, that is, envelope, in steel ball periphery, when sliding sleeve 31 moves on guides 3, reading head is in steel ball
Outside is moved, and generates displacement signal, and the reading head is connect with the controller of the running equipment, and displacement signal is sent to control
In device processed, you can the situation of movement of running equipment is known, so as to preferably control the fortune control stroke of running equipment.
In the present embodiment, two manipulators are movably installed in running equipment homonymy, are climbed the targets such as electric pole to be caught to grab
Object, in the present embodiment, target, which is grabbed, climbs object by taking electric pole as an example to illustrate, and the manipulator is equipped on shaft core position
Rotating mechanism.
Specifically, being equipped with a connecting seat 4 on the sliding sleeve 31, the first rotating mechanism, institute are installed on the connecting seat 4
It states the first rotating mechanism and includes the first meshing gear of a pair 42 and the first reducing motors 41 being fixed on the connecting seat 4, institute
It states first reducing motors 41 and drive connection, a pair of first meshing gear is engaged with the first meshing gear 42 one of them described
42 engagement connections, 42 central axis of the first meshing gear are mounted on the connecting seat 4 so that the first meshing gear 42
Realization is freely rotated in connecting seat 4, so as to two the first meshing gears 42 be driven to rotate synchronously by first reducing motors 41, institute
The first mechanical arm one end for stating manipulator 43 is connected to the central shaft of one of them first meshing gear 42, the upper machine
Second mechanical arm one end of tool hand 43 is connected to the central shaft of another first meshing gear 42.
Two mechanical arms of upper manipulator are arranged on the periphery of electric pole, when first reducing motors 41 drive the first engaging tooth
When wheel 42 inwardly rotates, two mechanical arms being connect with the first meshing gear 42 move toward one another, so as to clamp on utility poles, directly
It is fixed to electric pole.When first reducing motors 41 drive the first meshing gear 42 to be turned out, with the first meshing gear 42
Two mechanical arm reverse motions of connection, so as to be unclamped from electric pole.
One pedestal 10 on the bottom plate 1 is installed, the second rotating mechanism, second rotation are installed on the pedestal 10
Mechanism includes the second meshing gear of a pair 11 and the second reducing motors 12 being fixed on the pedestal 10, the second deceleration electricity
Machine 12 engages drive connection, 11 central axis of the second meshing gear installation with the second meshing gear 11 one of them described
On the pedestal 10, a pair of engagement of second meshing gear 11 connection so that the second meshing gear 11 is realized in pedestal 10
On be freely rotated, so as to by second reducing motors 12 drive two the second meshing gears 11 rotate synchronously, the lower manipulator
13 first mechanical arm one end is connected to the central shaft of one of them second meshing gear 11, and the second of the lower manipulator
Mechanical arm one end is connected to the central shaft of another second meshing gear 11.
Two mechanical arms of lower manipulator 13 are arranged on the periphery of electric pole, when second engagement of the driving of second reducing motors 12
When gear 11 inwardly rotates, two mechanical arms being connect with the second meshing gear 11 move toward one another, so as to clamp on utility poles,
It is fixed until with electric pole.When second reducing motors 12 drive the second meshing gear 11 to be turned out, with the second meshing gear
Two mechanical arm reverse motions of 11 connections, so as to be unclamped from electric pole.
Wherein, first reducing motors and second reducing motors are all controlled by the controller.
Each mechanical arm is made of several section turning joints, as shown in the figure, the first mechanical arm of upper manipulator 43 from
It is interior to arrive outside successively by the first turning joint 431, the second turning joint 432,433 and the 4th turning joint of third turning joint
434 link into an integrated entity, 42 synchronized links of the first turning joint 431 and the first meshing gear, lead between two neighboring turning joint
It crosses a rotation axis 430 to be rotatablely connected, and each rotation axis 430 and second turning joint of two neighboring turning joint are consolidated
Determine, each 430 upper end of rotation axis and the mechanical arm upper surface flush, axially and symmetrically offered in the rotation axis 430
At least two grooves 53 stretch in the groove 53 and are provided with a guide rod 51, a tension spring 52 is arranged on the guide rod 51, described
52 upper end of tension spring is connect with the guide rod 51, and 52 lower end of tension spring is connect with 53 madial wall of groove, on the guide rod 51
End is horizontally arranged with a first end face gear 5, and under the action of tension spring, the holding of first end face gear 5 connects with mechanical arm upper surface
It touches, the teeth of the first end face gear 5 are downward.
Since first end face gear 5 is plugged in by guide rod 51 in groove 53, first end face gear 5 and rotation axis and its same
The turning joint of step connection is fixedly connected, when first end face gear 5 is driven to rotate, the turning joint of rotation axis and its connection
It rotates synchronously, that is to say, that by the way that each rotation axis is driven to rotate, you can each turning joint is driven to rotate, so as to change machine
The form of tool arm, and then effectively catch target object of different shapes.
On the other hand, tooth socket 54 is provided on the mechanical arm of each 430 periphery of rotation axis, tooth socket 54
Diameter is less than the diameter of first end face gear 5, under normal condition, under the action of tension spring 52, and the first end face gear 5 and institute
It states tooth socket 54 to engage, that is, first end face gear 5 is locked in mechanical arm upper surface, since first end face gear 5 is by leading
Bar 51 is plugged in groove 53, and first end face gear 5 and rotation axis 430 are linked, when first end face gear is locked, rotation
Axis and the joint being attached thereto also are locked, avoid turning joint voluntarily rotate grabbed with target climb object release.
It is slided on the mechanical arm and is provided with one first driving mechanism 6,6 telescopic upper end of the first driving mechanism is provided with
One second end face gear 64, the teeth of the second end face gear 64 are upward, and the first end face gear 5 is laterally protruding in described
Mechanical arm certain distance when second end face gear 64 moves up, realizes the second end face gear 64 and the first end
The selectivity linkage of face gear 5 after second end face gear 64 and the first end face gear 5 linkage, passes through the first driving machine
Structure 6 drives the rotation axis 430 to rotate, and so as to which each turning joint be driven to rotate, mechanical arm is adjusted to being grabbed with target and is climbed
The shape of object external outline is grabbed with preferably to hold target and climbs object, and first driving mechanism 6 is connect with the controller.
In above-mentioned technical proposal, first driving mechanism 6 includes：
Driving motor 61, movement are arranged on the mechanical arm lateral wall, so as to selectivity and each first end face tooth
5 contact of wheel, the output shaft of the driving motor 61 is set vertically upward, and the output terminal of the driving motor 61 is provided with one
Axis device 62；
Telescoping mechanism 68 is arranged on the output terminal of the shaft coupling 62 so that driving motor 61 drives telescoping mechanism 68
It rotates synchronously, telescoping mechanism is controlled by the controller, and being provided with one on the telescopic end of the telescoping mechanism 68 is telescopically connected device 67；
Drive rod 63, be disposed longitudinally on it is described be telescopically connected on the output terminal of device 67 so that drive rod 63 is driven
Dynamic motor 61 drives and rotates, meanwhile, drive rod 63 is driven by telescoping mechanism and is moved up and down, to adjust drive rod end height
Degree；And
Second end face gear 64 is arranged on the end of the drive rod 63, and the second end face gear 64 is with first
The whole end on the robotic arm of driving mechanism 6 moves back and forth, and chases and be moved to each first end face gear lower end and with first
Face gear 5 is aligned, by telescoping mechanism 68 by second end face gear 64 move up until with outside 5 bottom of first end face gear
Week engagement linkage, while first end face gear 5 is lifted up detaching until with tooth socket, first end face gear and rotation axis and its
The turning joint of connection is detached from locking.
Then second end face gear 64 and first end face gear 5 is driven to rotate synchronously by driving motor 61, you can to drive
Turning joint of the rotation axis of corresponding position and its connection rotation grabs according to target and climbs the shape of object and adjust the turning joint
Angle, until the angle of the turning joint is adjusted in place.
A pair of of guider 65 is arranged at intervals on 61 madial wall of driving motor, for the first driving mechanism 6 to be slided
On the robotic arm, the guider 65, which protrudes above, is provided with a guide block 66 for dynamic fixation, 66 direction of guide block and guider 65
Width direction is consistent, and corresponding respectively on the mechanical arm upper and lower ends surface to offer a guide groove, the slip of guide block 66 is set
It puts in the guide groove, so as to improve mobile guide for the first driving mechanism 6, the first driving mechanism 6 is along guide groove in machine
It is moved on tool arm lateral wall.
Specifically, it is provided with one second driving on 61 madial wall of the driving motor between a pair of guider 65
Mechanism 7, second driving mechanism 7 are made of rotary electric machine 71 and horizontal gear 72, are laterally set on the output shaft of rotary electric machine 71
The horizontal gear 72 is equipped with, a gear band is correspondingly arranged on the mechanical arm lateral wall, the engagement of horizontal gear 72 is connected to
On the gear band, when rotary electric machine 71 is driven to rotate, horizontal gear 72 is driven to be moved on gear band, so as to drive entire the
One driving mechanism 6 moves on mechanical arm lateral wall, with each first end face gear selective exposure, finally drives each activity
Articulation.
The gear band two ends are provided with overtravel protection switch, and the overtravel protection switch connects with the controller
It connects, the first driving mechanism 6 is prevented to be detached from gear band.
The diameter of the first end face gear 5 is more than the diameter of the rotation axis so that the first end face gear 5 is outside
Mechanical arm certain distance is protruded, finally so that first end face gear parts are located on the flexible path of second end face gear, is convenient for
The two contacts, 5 bottom of first end face gear by the guide rod 51 for being arranged with the tension spring 52 it is flexible be arranged on it is described
In groove 53, the first end face gear 5 engages under the action of the tension spring 52 with the tooth socket 54, when the second end face
After gear contacts with the first end face gear 5 and is lifted first end face gear 5, the first end face gear 5 and the tooth
Slot 54 is detached from.
Specifically, the second driving mechanism 7 moves the first driving mechanism 6 along mechanical arm lateral wall, until by second end
Face gear 64 is moved to the underface of a first end face gear 5, and the height of second end face gear 64 is controlled by telescoping mechanism 68
Degree so that second end face gear 64 rises to and linkage is engaged with first end face gear 5, while first end face gear 5 is lifted upwards
It rises and is detached until with tooth socket, first end face gear and the turning joint of rotation axis and its connection are detached from locking.At this point, control driving
Motor 61 rotates, you can drives the rotation axis of corresponding position and the turning joint rotation of its connection, is grabbed according to target and climb object
Shape adjust the angle of the turning joint, until the angle of the turning joint is adjusted in place, the turning joint and position
The target at place, which is grabbed, climbs the outer wall conflict of object and holds, and driving turning joint is reversely rotated to be may be such that mechanical arm is grabbed from target and climb object
Release on external wall.
Hereafter, the height of second end face gear 64 is controlled by telescoping mechanism 68 so that second end face gear 64 declines, directly
It is detached to first end face gear 5, under the action of tension spring, retraction engages first end face gear 5 until with tooth socket downwards, and first
The turning joint of face gear and rotation axis and its connection is relocked so that, will not after turning joint angle is adjusted in place
It voluntarily rotates, so that the turning joint is grabbed with target climbs object holding conflict state.Hereafter, the first driving mechanism is moved to
Next first end face gear lower end carries out corresponding operating.
After the angle of first turning joint is adjusted in place, control telescoping mechanism 68 bounces back, so that second end face tooth
Wheel 64 is detached from first end face gear 5, and hereafter, control driving rotary electric machine 71 rotates so that horizontal gear 72 is moved up in gear band
It is dynamic, so as to which entire first driving mechanism 6 be driven to be moved on mechanical arm lateral wall, until being moved to next first end face gear
5 positive lower end, control telescoping mechanism 68 rise so that first end face gear and the engagement of second end face gear, while by first end
Face gear 5 is detached with tooth socket, and hereafter, control driving motor 61 rotates, you can drives rotation axis and its connection of corresponding position
Turning joint rotation, grabbed according to target and climb the shape of object and adjust the angle of the turning joint, until the angle of the turning joint
Degree is adjusted in place, and later, control second end face gear decline is detached with first end face gear, first end face gear again with tooth socket
Locking, the first driving mechanism are continued to move to below next rotation axis and are operated, and so on, it is closed until by each activity
The angle of section is adjusted in place so that mechanical arm cooperation target grabs the shape for climbing object and firmly grabs to climb to grab in the target and climb object
Periphery, so that the mechanical arm of the present invention can grab the target object for climbing different shape structure, application range is wider.
In the inside of each turning joint equipped with non-slip mat, the non-slip mat is close to described to increase frictional force
Pressure sensor between non-slip mat and the manipulator is installed, and current state is returned on display module in real time, is used for
Judge whether manipulator clamps with electric pole.
Specifically, the press device of several adjustable angles, the pressing are provided on each turning joint madial wall
Device grabbed with the target climb object contact angle it is adjustable, non-slip mat is provided on the press device, press device is used for
The angle of non-slip mat is adjusted, clamping is bonded with the electric pole lateral wall with different-diameter.The non-slip mat medial surface be set as with
Target grabs the shape for climbing object form fit, further improves the contact area with electric pole side wall, improves frictional force.It is described
Manipulator is contacted by the non-slip mat with the column, so as to effectively increase the frictional force with column, avoids machinery
Hand on utility poles skid by stress, improves the safety of running equipment.
Pressure sensor is installed between the non-slip mat and press device, the sensor is connect with the controller,
It in force information back to chip, will judge whether manipulator clamps with electric pole, the normal operation if being clamped, if pressure
Force value does not reach clamped condition, then sends out alarm signal.Specifically, interface is provided on the press device madial wall, institute
Pressure sensor is stated mounted on the interface bottom, the non-slip mat is plugged in the interface.
Main motor 2 is fixedly installed on the running equipment bottom plate 1, and the main motor 2, which exports axis connection one and turns to, to slow down
Case 22, the screw 21 are vertically connected on the output terminal for turning to reduction box 22, a threaded hole are provided on the connecting seat,
The screw 21 is threaded in the threaded hole, and main motor 2 drives screw 21 to be moved in connecting seat 4, so as to the company of drive
Joint chair 4 moves up and down, that is, the upper manipulator of driving slides on the guide rail, and the main motor 2 is connect with the controller.
Specifically, when main motor 2 drives screw 21 to rotate forward, push connecting seat 4 and upper manipulator past along guide rail
Upper operation when main motor 2 drives screw 21 to rotate backward, pulls entire pedestal, guide rail and lower manipulator along guide rail direction
Up run.Running equipment operation downwards then operational process on the contrary, drive the rotation of screw 21 by main motor 2, cause sliding sleeve with
The fortune up and down of running equipment is realized in the relative motion of position between upper manipulator 43 and its integrated connection seat and running equipment lower part
Row.
One locking device is installed, the locking device is grabbed with the target by controller control and climbed on the bottom plate
Object selective lock, when running equipment is out of service, the locking of control locking device on utility poles, avoids running equipment from anticipating
Outer movement.
It is specific to grab that get over journey as follows：
It, can be within a period of motion since grabbing for the present invention climbs grabbing for actually a cycle cycle and get over journey
It is divided into five kinds of states according to motion conditions, the present embodiment illustrates for grabbing climb upwards；
1st kind of state, manipulator clamps under this running equipment, while first reducing motors drive the first engaging tooth rotation
Dynamic, upper manipulator 43 unclamps；
2nd kind of state, main motor 2 rotate, and upper manipulator 43 is firmly grasped, and second reducing motors drive the second meshing gear at this time
Rotation, lower manipulator start to unclamp, and guide rail starts to move up along sliding sleeve, walks idle stroke.
Three state, main motor 2 are rotated further, and the upper holding of manipulator 43 is firmly grasped, and lower manipulator unclamps, under robot
Part is thus lifted to limiting condition.
4th kind of state, main motor 2 are rotated further, and lower manipulator clamps, and first reducing motors drive the first engaging tooth at this time
Wheel rotation, upper manipulator 43 start to unclamp, and guide rail is fixed, and sliding sleeve starts follows track and moves up, and walks idle stroke.
5th kind of state, main motor 2 are rotated further, and lower manipulator keeps clamping, and upper manipulator 43 unclamps, robot it is upper
Part, which is promoted, arrives limiting condition, so as to control running equipment uplink, so as to complete the ascending motion of running equipment a cycle, according to
Secondary repetition, until running equipment rises to object height.
In conclusion the elastic adjustable automatic operating equipment of one kind of the above embodiment of the present invention, having can realize certainly
It is dynamic to grab the function of climbing, ensure its safety while providing convenient to staff；Use simple, easy to maintain, performance
Excellent, failure rate is low, safe so that the cost of entire control system substantially reduces, wide market.Meanwhile with people
Work, which grabs to climb to compare to greatly improve to grab, climbs speed, is obviously improved the safety grabbed and climbed, is greatly reduced compared with electric power rush-repair vehicle
Its floor space can effectively arrive at the region that vehicle is inconvenient to enter, hence it is evident that reduce labor intensive, significantly improve operation effect
Rate；Further, running equipment safety higher of the invention realizes automatic grab and gets over journey, meanwhile, mechanical arm is lived by more piece
Movable joint forms, and can be grabbed according to target and climb the shape of object to change the shape and structure of mechanical arm, so as to catch difference
The target of shape, which is grabbed, climbs object, improves the application range of running equipment.
Although the embodiments of the present invention have been disclosed as above, but its be not restricted in specification and embodiment it is listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easy
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, it is of the invention and unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of elastic adjustable automatic operating equipment, which is characterized in that including：
Guide rail is fixedly installed on the bottom plate of the running equipment, and the guide rail is vertical with the running equipment bottom plate, described
Guide upper is cased with sliding sleeve, and the guide rail is hollow-core construction, is provided with straight-line displacement ball bar ruler in the guide rail, in the sliding sleeve
Reading head is provided with, the reading head envelope is in the straight-line displacement ball bar ruler periphery, the reading head and the running equipment
Controller connection；
At least two manipulators are installed on the running equipment homonymy up and down, and the manipulator, which grabs to go to grab in target, climbs object
Periphery, wherein, upper manipulator is fixed on the sliding sleeve, and lower manipulator is fixed on the bottom plate, and the manipulator is in axle center
Equipped with rotating mechanism on position, the rotating mechanism is made of the decelerating motor to link with meshing gear, the meshing gear and
The manipulator connection；
Main motor is fixedly installed on the running equipment bottom plate, and the main motor output shaft passes through a reduction box and one
Bar links with the sliding sleeve, slides over described in driving and is relatively moved on the guide rail, the main motor is connect with the controller；
And
Several press devices, interval are rotatably arranged on the madial wall of the manipulator, are provided on the press device anti-
Skidding；
Wherein, each manipulator is made of the mechanical arm that a pair can relatively rotate, and each mechanical arm is by several sections
Turning joint forms, and is rotatablely connected between each turning joint by rotation axis, and each rotation axis and adjacent two
Second turning joint of a turning joint is fixed, each rotation axis upper end and the mechanical arm upper surface flush, described
At least two grooves are axially and symmetrically offered in rotation axis, stretches in the groove and is provided with a guide rod, be arranged on the guide rod
There is a tension spring, the tension spring upper end is connect with the guide rod, and the tension spring lower end is connect with the groove madial wall, the guide rod
Upper end is horizontally arranged with a first end face gear, and the teeth of the first end face gear are downward, the rotation axis periphery it is described
It is provided with tooth socket above mechanical arm, under normal condition, the first end face gear is engaged with the tooth socket, sliding on the mechanical arm
Dynamic to be provided with one first driving mechanism, the first driving mechanism telescopic upper end is provided with a second end face gear, and described second
The teeth of face gear are upward, and the first end face gear is laterally protruding in the mechanical arm certain distance, the second end face
Gear selectively links with the first end face gear, and the rotation axis is driven to rotate, first driving mechanism and the control
Device connection processed.
2. elastic adjustable automatic operating equipment as described in claim 1, which is characterized in that further include one mounted on described
Connecting seat on sliding sleeve, the first rotating mechanism is equipped on the connecting seat, and first rotating mechanism includes a pair first and nibbles
Gear and the first reducing motors being fixed on the connecting seat are closed, the first reducing motors are nibbled with one of them described first
It closes gear engagement to be drivingly connected, the first meshing gear central axis is mounted on the connecting seat, a pair described first
Meshing gear engagement connection, first mechanical arm one end of the upper manipulator is connected to one of them first meshing gear
Central shaft, second mechanical arm one end of the upper manipulator are connected to the central shaft of another first meshing gear.
3. elastic adjustable automatic operating equipment as claimed in claim 2, which is characterized in that be equipped with one on the bottom plate
Pedestal, the second rotating mechanism is equipped on the pedestal, and second rotating mechanism includes a pair of second meshing gear and fixation
Second reducing motors on the pedestal, the second reducing motors engage driving with the second meshing gear one of them described
Connection, the second meshing gear central axis are mounted on the pedestal, a pair of second meshing gear engagement connection,
First mechanical arm one end of the lower manipulator is connected to the central shaft of one of them second meshing gear, the lower machinery
Second mechanical arm one end of hand is connected to the central shaft of another second meshing gear.
4. elastic adjustable automatic operating equipment as claimed in claim 3, which is characterized in that the main motor output shaft connects
A steering reduction box is connect, the screw is vertically connected on the output terminal for turning to reduction box, one is provided on the connecting seat
Threaded hole, the wire rod thread are connected in the threaded hole.
5. elastic adjustable automatic operating equipment as claimed in claim 4, which is characterized in that in each turning joint
At least provided with a press device on side wall, the press device grabbed with the target climb the contact angle of object can
It adjusts, the manipulator is grabbed by the non-slip mat with target climbs object and contact, and grafting is provided on the press device madial wall
Mouthful, the interface bottom is provided with pressure sensor, and the non-slip mat is plugged in the interface, the sensor and institute
State controller connection.
6. elastic adjustable automatic operating equipment as claimed in claim 5, which is characterized in that set at the top of the running equipment
LCD display module is equipped with, the LCD display module is connect with the controller, and several use are provided at the top of the running equipment
In the button for controlling the controller.
7. elastic adjustable automatic operating equipment as claimed in claim 6, which is characterized in that be equipped with one on the bottom plate
Locking device, the locking device are grabbed with the target by controller control and climb object selective lock, the bottom plate bottom
Portion is additionally provided with an infrared distance measurement module, the detection mouth of the infrared distance measurement module vertically ground, the infrared distance measurement mould
The output terminal of block is connect with the controller.
8. elastic adjustable automatic operating equipment as claimed in claim 7, which is characterized in that the first end face gear
Diameter is more than the diameter of the rotation axis, and the first end face gear bottom is stretched by being arranged with the guide rod of the tension spring
It is arranged in the groove, the first end face gear engages under the action of the tension spring with the tooth socket, when described second
After face gear upper surface contacts with the first end face gear lower surface and is lifted first end face gear, the first end face
Gear is detached from the tooth socket.
9. elastic adjustable automatic operating equipment as claimed in claim 8, which is characterized in that the first driving mechanism packet
It includes：
Driving motor, movement are arranged on the mechanical arm lateral wall, and the output shaft of the driving motor is set vertically upward,
The output terminal of the driving motor is provided with a shaft coupling；
Telescoping mechanism is arranged on the output terminal of the shaft coupling, and a flexible company is provided on the telescopic end of the telescoping mechanism
Connect device；
Drive rod is disposed longitudinally on described be telescopically connected on the output terminal of device；And
Second end face gear is arranged on the end of the drive rod, the second end face gear and the first end face gear
Selectivity engagement connection.
10. elastic adjustable automatic operating equipment as claimed in claim 9, which is characterized in that on the inside of the driving motor
A pair of of guider is arranged at intervals on wall, the guider, which protrudes above, is provided with a guide block, the mechanical arm upper and lower ends
Correspondence offers a guide groove respectively, and the guide block is slidably arranged in the guide groove；
Wherein, one second driving mechanism is provided on the driving motor madial wall between a pair of guider, it is described
A horizontal gear is horizontally arranged on the output shaft of second driving mechanism, a gear is correspondingly arranged on the mechanical arm lateral wall
Band, the horizontal gear engagement are connected on the gear band, and the gear band two ends are provided with overtravel protection switch, described
Overtravel protection switch is connect with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711251453.1A CN108159656B (en) | 2017-12-01 | 2017-12-01 | Automatic operation equipment with adjustable tightness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711251453.1A CN108159656B (en) | 2017-12-01 | 2017-12-01 | Automatic operation equipment with adjustable tightness |
Publications (2)
| Publication Number | Publication Date |
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| CN108159656A true CN108159656A (en) | 2018-06-15 |
| CN108159656B CN108159656B (en) | 2020-10-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711251453.1A Active CN108159656B (en) | 2017-12-01 | 2017-12-01 | Automatic operation equipment with adjustable tightness |
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| Country | Link |
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| CN (1) | CN108159656B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109331431A (en) * | 2018-09-21 | 2019-02-15 | 合肥尚伍信息科技有限公司 | A kind of automatic climbing device for stablizing transport of climbing for vertical bar |
| CN109364439A (en) * | 2018-10-29 | 2019-02-22 | 国网安徽省电力有限公司淮南供电公司 | The pole mechanism of the manned pole climbing device of rod-rising tower operation |
| CN109966716A (en) * | 2019-04-22 | 2019-07-05 | 国家电网有限公司 | Electric pole climbing device |
| CN112827141A (en) * | 2020-12-31 | 2021-05-25 | 李永东 | 5G signal tower climbing maintenance system |
| CN113492409A (en) * | 2021-09-07 | 2021-10-12 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
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| CN113492409A (en) * | 2021-09-07 | 2021-10-12 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
| CN113492409B (en) * | 2021-09-07 | 2021-11-23 | 国网瑞嘉(天津)智能机器人有限公司 | Line grabbing method and device for distribution network live working robot, electronic equipment and medium |
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| CN108159656B (en) | 2020-10-02 |
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