CN108159656B - Automatic operation equipment with adjustable tightness - Google Patents
Automatic operation equipment with adjustable tightness Download PDFInfo
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- CN108159656B CN108159656B CN201711251453.1A CN201711251453A CN108159656B CN 108159656 B CN108159656 B CN 108159656B CN 201711251453 A CN201711251453 A CN 201711251453A CN 108159656 B CN108159656 B CN 108159656B
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- gear
- mechanical arm
- face gear
- guide
- manipulator
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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
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- 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
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- 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
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- 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 invention discloses an automatic operation device with adjustable tightness, wherein a linear displacement ball grid ruler is arranged in a guide rail, a reading head, at least two mechanical arms and a main motor are arranged in a sliding sleeve, the main motor is fixedly arranged on a bottom plate of the operation device, an output shaft of the main motor is linked with the sliding sleeve through a reduction box and a screw rod, wherein each mechanical arm consists of a pair of mechanical arms which can rotate relatively, each mechanical arm consists of a plurality of sections of movable joints, the movable joints are rotationally connected through a rotating shaft, at least two grooves are axially symmetrically formed in the rotating shaft, a guide rod is arranged in each groove in a telescopic mode, a first end face gear is transversely arranged at the upper end of the guide rod, a first driving mechanism is arranged at the upper end of each mechanical arm in a sliding mode, a second end face gear is telescopically arranged at the upper end of the. The invention solves the technical problem of limited application range caused by fixed form of the mechanical arm on the existing grabbing and climbing device.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to automatic operation equipment with adjustable tightness.
Background
For a long time, in the automatic vertical crawling technical field, rarely have relevant automatic machine can be competent this task, especially in the field work that the power supply line overhauld, the staff often need grab with the help of the foot power and climb on the wire pole and overhaul relevant power equipment, and grab the main climbers that use of wire pole of climbing at present, the design of climbers causes such a condition very easily, one foot is unexpected to step on the sky and leads to the focus shakiness to make the health take place the sidesway and then make another climbers break away from the wire pole, the security is lower. In addition, the diameter of the telegraph pole is gradually reduced along with the increase of the height, and the climbers are easy to fall off under the condition that the pole pedaling speed of workers is too high. And because there is the wire pole of using neotype steel structure in some areas in the city, lead to the adaptation wire pole diameter's that the climbers can not be fine change to bring high altitude construction danger for the staff, simultaneously, current grab climb auxiliary device pertinence more singlely, can only use on the object of specific shape structure grabs and climbs the thing, thereby restricted and grabbed the application that climbs auxiliary device.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
The invention aims to provide tightness-adjustable automatic operation equipment which is convenient to use, high in safety and high in working efficiency.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided an automatic running device with adjustable tightness, comprising:
the guide rail is fixedly arranged on a bottom plate of the operation equipment, the guide rail is perpendicular to the bottom plate of the operation equipment, a sliding sleeve is sleeved on the upper part of the guide rail, the guide rail is of a hollow structure, a linear displacement ball grid ruler is arranged in the guide rail, a reading head is arranged in the sliding sleeve, the reading head is enveloped on the periphery of the linear displacement ball grid ruler, and the reading head is connected with a controller of the operation equipment;
the manipulator is vertically arranged on the same side of the operation equipment, and grabs on the periphery of a target crawling object, wherein the upper manipulator is fixed on the sliding sleeve, the lower manipulator is fixed on the bottom plate, a rotating mechanism is arranged on the axis of the manipulator and consists of a reduction motor and a meshing gear which are linked, and the meshing gear is connected with the manipulator;
the main motor is fixedly arranged on the operating equipment bottom plate, an output shaft of the main motor is linked with the sliding sleeve through a reduction gearbox and a screw rod to drive the sliding sleeve to move relatively on the guide rail, and the main motor is connected with the controller; and
the pressing devices are arranged on the inner side wall of the manipulator in a rotating mode at intervals, and anti-slip pads are arranged on the pressing devices;
wherein each manipulator comprises a pair of mechanical arms which can rotate relatively, each mechanical arm comprises a plurality of sections of movable joints, each movable joint is rotatably connected with each other through a rotating shaft, each rotating shaft is fixed with the second movable joint of two adjacent movable joints, the upper end of each rotating shaft is flush with the upper surface of the mechanical arm, at least two grooves are symmetrically arranged on the rotating shaft in the axial direction, a guide rod is arranged in each groove in a telescopic mode, a tension spring is sleeved on each guide rod, the upper end of each tension spring is connected with the corresponding guide rod, the lower end of each tension spring is connected with the inner side wall of each groove, a first face gear is transversely arranged at the upper end of each guide rod, the teeth of the first face gear face are downward, a tooth socket is arranged on the mechanical arm at the periphery of the rotating shaft, and the first face gear is jointed with the, the sliding is provided with a drive mechanism on the arm, the flexible second terminal surface gear that is provided with in first drive mechanism upper end, the tooth of second terminal surface gear makes progress, first terminal surface gear transversely protrusion in the arm certain distance, the second terminal surface gear with the selective linkage of first terminal surface gear, the drive the axis of rotation rotates, a drive mechanism with the controller is connected.
Preferably, the manipulator further comprises a connecting seat mounted on the sliding sleeve, a first rotating mechanism is mounted on the connecting seat, the first rotating mechanism comprises a pair of first meshing gears and a first speed reducing motor fixed on the connecting seat, the first speed reducing motor is in meshing driving connection with one of the first meshing gears, a central shaft of the first meshing gear is rotatably mounted on the connecting seat, the pair of first meshing gears is in meshing connection, one end of a first mechanical arm of the upper manipulator is connected to the central shaft of one of the first meshing gears, and one end of a second mechanical arm of the upper manipulator is connected to the central shaft of the other first meshing gear.
Preferably, install a base on the bottom plate, install second slewing mechanism on the base, second slewing mechanism includes a pair of second meshing gear and fixes second gear motor on the base, second gear motor and one of them second meshing gear meshing drive is connected, second meshing gear center pin rotates to be installed on the base, and is a pair of second meshing gear meshing is connected, first arm one end of manipulator is connected at one of them second meshing gear's center pin down, second arm one end of manipulator is connected at another the center pin of second meshing gear down.
Preferably, the output shaft of the main motor is connected with a steering reduction box, the screw rod is vertically connected to the output end of the steering reduction box, a threaded hole is formed in the connecting seat, and the screw rod is in threaded connection with the threaded hole.
Preferably, at least one pressing device is arranged on the inner side wall of each movable joint, the contact angle between each pressing device and the object to be grabbed and climbed is adjustable, the manipulator is in contact with the object to be grabbed and climbed through the anti-skid pad, an insertion port is arranged on the inner side wall of each pressing device, a pressure sensor is arranged at the bottom of the insertion port, the anti-skid pad is inserted into the insertion port, and the sensor is connected with the controller.
Preferably, an LCD display module is arranged at the top of the operation equipment and connected with the controller, and a plurality of keys used for controlling the controller are arranged at the top of the operation equipment.
Preferably, install a locking device on the bottom plate, locking device receives controller control with object selective locking is grabbed and climbed to the target, the bottom plate bottom still is provided with an infrared ranging module, infrared ranging module's detection mouth is perpendicular towards ground, infrared ranging module's output with the controller is connected.
Preferably, first face gear's diameter is greater than the diameter of axis of rotation, first face gear bottom is equipped with through the cover the extension spring the guide arm is flexible to be set up in the recess, first face gear is in under the effect of extension spring with the tooth's socket joint works as second face gear upper surface with first face gear lower surface contact and with first face gear lifting back, first face gear with the tooth's socket breaks away from.
Preferably, the first drive mechanism includes:
the driving motor is movably arranged on the outer side wall of the mechanical arm, an output shaft of the driving motor is vertically arranged upwards, and a coupler is arranged at the output end of the driving motor;
the telescopic mechanism is arranged at the output end of the coupler, and a telescopic connector is arranged at the telescopic end of the telescopic mechanism;
a drive rod longitudinally arranged on the output end of the telescopic connector; and
the second end face gear is arranged at the end head of the driving rod and is in selective meshed connection with the first end face gear.
Preferably, a pair of guide devices are arranged on the inner side wall of the driving motor at intervals, a guide block is arranged on each guide device in a protruding mode, a guide groove is correspondingly formed in each of the upper end and the lower end of the mechanical arm, and the guide blocks are arranged in the guide grooves in a sliding mode;
the automatic over-travel protection device is characterized in that a second driving mechanism is arranged on the inner side wall of the driving motor between the guide devices, a flat gear is transversely arranged on an output shaft of the second driving mechanism, a gear belt is correspondingly arranged on the outer side wall of the mechanical arm, the flat gear is meshed and connected with the gear belt, two ends of the gear belt are provided with over-travel protection switches, and the over-travel protection switches are connected with the controller.
Compared with the prior art, the invention has the following beneficial effects:
1. compared with manual grabbing and climbing, the grabbing and climbing speed can be greatly improved, the grabbing and climbing safety is obviously improved, the occupied area is greatly reduced compared with that of an electric power breakdown van, the electric power breakdown van can effectively reach an area where vehicles cannot conveniently enter, the labor intensity is obviously reduced, and the operation efficiency is obviously improved;
2. the safety of the operation equipment is higher, the automatic grabbing and climbing process is realized, meanwhile, the mechanical arm is composed of a plurality of sections of movable joints, and the shape structure of the mechanical arm can be changed according to the shape of the object to be grabbed and climbed by the target, so that the objects to be grabbed and climbed by the targets in different shapes can be grabbed, and the application range of the operation equipment is widened.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic diagram of the general structure of the present invention;
FIG. 2 is a schematic view of a first drive mechanism of the present invention;
FIG. 3 is a schematic view of a second drive mechanism of the present invention;
FIG. 4 is a schematic view of the first face gear engaging the tooth slot;
FIG. 5 is a schematic view of the first face gear disengaged from the tooth slot;
fig. 6 is a schematic view of an assembly structure of the rotating shaft and the first face gear.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description.
As shown in fig. 1-6, the invention provides an automatic operation device with adjustable tightness, which comprises a display module, an infrared distance measuring module, a manipulator, a rotating and stretching module and a driving mechanism.
Specifically, the LCD display module is arranged at the top of the operation equipment to realize real-time display of the states of the upper manipulator and the lower manipulator and the current position of the operation equipment, the LCD display module is connected with the controller of the operation equipment, a plurality of keys are arranged beside the LCD display module and used for controlling the controller, and finally the keys control the motion start and stop of the operation equipment, the grasping and releasing of the manipulators, the rotation processes of all joints and the motion direction of the operation equipment.
The bottom of the operation equipment is provided with an infrared ranging module, the infrared ranging module is connected with the controller, specifically, the infrared ranging module is arranged on the lower surface of the bottom plate 1, and the infrared ranging module judges the current height position of the operation equipment by vertically sending signals downwards and receiving the sent signals and feeds the height position back to the display module.
A pair of guide rails 3 is fixedly installed on the bottom plate 1, the guide rails 3 are perpendicular to the bottom plate 1 of the operation equipment, a sliding sleeve 31 is sleeved on the guide rails 3, and the sliding sleeve 31 slides up and down along the guide rails 3. In the invention, in order to better monitor the running distance, the guide rail 3 is set to be a hollow structure, a linear displacement ball grid ruler is arranged in the guide rail 3, specifically, a high-precision steel ball is tightly filled in the inner cavity of the guide rail 3, meanwhile, a reading head is arranged in the sliding sleeve 31 and is enveloped at the periphery of the linear displacement ball grid ruler, namely, the periphery of the steel ball, when the sliding sleeve 31 moves on the guide rail 3, the reading head moves at the outer side of the steel ball to generate a displacement signal, the reading head is connected with a controller of the running equipment, and the displacement signal is transmitted to the controller, so that the moving condition of the running equipment can be known, and the operation and control stroke of the running equipment can be better controlled.
In this embodiment, the two manipulators are movably mounted on the same side of the operating device and are used for grasping target grasping objects such as a telegraph pole.
Specifically, a connecting seat 4 is installed on the sliding sleeve 31, a first rotating mechanism is installed on the connecting seat 4, the first rotating mechanism comprises a pair of first engaging gears 42 and a first speed reducing motor 41 fixed on the connecting socket 4, the first reduction motor 41 is in meshing driving connection with one of the first meshing gears 42, a pair of the first meshing gears 42 are in meshing connection, the first meshing gear 42 is arranged on the connecting base 4 in a way of central shaft rotation, so that the first meshing gear 42 can freely rotate on the connecting base 4, so that the two first meshing gears 42 are driven to synchronously rotate by the first speed reducing motor 41, one end of the first mechanical arm of the upper mechanical arm 43 is connected with the central shaft of one of the first meshing gears 42, one end of the second arm of the upper robot 43 is connected to the center shaft of the other first meshing gear 42.
The two mechanical arms of the upper manipulator are arranged on the periphery of the telegraph pole, and when the first gear motor 41 drives the first meshing gear 42 to rotate inwards, the two mechanical arms connected with the first meshing gear 42 move oppositely, so that the two mechanical arms are clamped on the telegraph pole until the two mechanical arms are fixed on the telegraph pole. When the first reduction motor 41 drives the first meshing gear 42 to rotate outward, the two robot arms connected to the first meshing gear 42 move in opposite directions, thereby being released from the utility pole.
A base 10 is arranged on the bottom plate 1, a second rotating mechanism is arranged on the base 10, the second rotating mechanism comprises a pair of second meshing gears 11 and a second speed reducing motor 12 fixed on the base 10, the second reduction motor 12 is in meshing driving connection with one of the second meshing gears 11, the second meshing gear 11 is installed on the base 10 in a way that the central shaft rotates, and a pair of the second meshing gears 11 are meshed and connected, so that the second meshing gear 11 can freely rotate on the base 10, so that the two second meshing gears 11 are driven to synchronously rotate by the second speed reducing motor 12, one end of the first mechanical arm of the lower mechanical arm 13 is connected with the central shaft of one of the second meshing gears 11, one end of the second mechanical arm of the lower manipulator is connected to the central shaft of the other second meshing gear 11.
The two arms of the lower robot 13 are arranged on the periphery of the utility pole, and when the second reduction motor 12 drives the second meshing gear 11 to rotate inward, the two arms connected to the second meshing gear 11 move toward each other to clamp on the utility pole until they are fixed to the utility pole. When the second reduction motor 12 drives the second meshing gear 11 to rotate outward, the two mechanical arms connected to the second meshing gear 11 move in opposite directions, thereby being released from the utility pole.
Wherein, the first gear motor and the second gear motor are both controlled by the controller.
Each mechanical arm is composed of a plurality of sections of movable joints, as shown in the figure, a first mechanical arm of the upper mechanical arm 43 is sequentially connected into a whole by a first movable joint 431, a second movable joint 432, a third movable joint 433 and a fourth movable joint 434 from inside to outside, the first movable joint 431 is synchronously connected with a first meshing gear 42, two adjacent movable joints are rotationally connected through a rotating shaft 430, each rotating shaft 430 is fixed with a second movable joint of the two adjacent movable joints, the upper end of each rotating shaft 430 is flush with the upper surface of the mechanical arm, at least two grooves 53 are axially symmetrically arranged on the rotating shaft 430, a guide rod 51 is arranged in each groove 53 in a telescopic manner, a tension spring 52 is sleeved on each guide rod 51, the upper end of each tension spring 52 is connected with the guide rod 51, and the lower end of each tension spring 52 is connected with the inner side wall of each groove 53, the upper end of the guide rod 51 is transversely provided with a first end face gear 5, under the action of the tension spring, the first end face gear 5 keeps in contact with the upper surface of the mechanical arm, and teeth of the first end face gear 5 face downwards.
Because the first face gear 5 is inserted into the groove 53 through the guide rod 51, the first face gear 5 is fixedly connected with the rotating shaft and the movable joints synchronously connected with the rotating shaft, when the first face gear 5 is driven to rotate, the rotating shaft and the movable joints connected with the rotating shaft synchronously rotate, namely, the rotating shafts are driven to rotate, so that the movable joints can be driven to rotate, the form of the mechanical arm is changed, and target objects in different shapes can be effectively grasped.
On the other hand, a toothed groove 54 is formed in the mechanical arm on the periphery of each rotating shaft 430, the diameter of the toothed groove 54 is smaller than that of the first end face gear 5, under the action of the tension spring 52 in a normal state, the first end face gear 5 is engaged with the toothed groove 54, namely, the first end face gear 5 is locked on the upper surface of the mechanical arm, and as the first end face gear 5 is inserted into the groove 53 through the guide rod 51, the first end face gear 5 is linked with the rotating shaft 430, when the first end face gear is locked, the rotating shaft and a joint connected with the rotating shaft are also locked, so that the movable joint is prevented from rotating automatically and loosening with a target climbing object.
Slide on the arm and be provided with a drive mechanism 6, the flexible second terminal surface gear 64 that is provided with in 6 upper ends of drive mechanism, the tooth of second terminal surface gear 64 is upwards, first terminal surface gear 5 transversely protrusion in the arm certain distance, when second terminal surface gear 64 rebound, realize second terminal surface gear 64 with the selectivity linkage of first terminal surface gear 5, work as second terminal surface gear 64 with first terminal surface gear 5 links the back, through the drive of first drive mechanism 6 axis of rotation 430 rotates to drive each freely movable joint and rotate, adjust the shape of grabbing the object outline to grabbing with the target with the arm to better grab fast target and grab and climb the object, first drive mechanism 6 with the controller is connected.
In the above technical solution, the first driving mechanism 6 includes:
a driving motor 61 movably disposed on the outer sidewall of the robot arm so as to selectively contact each first face gear 5, wherein an output shaft of the driving motor 61 is disposed vertically upward, and an output end of the driving motor 61 is provided with a coupling 62;
the telescopic mechanism 68 is arranged at the output end of the coupler 62, so that the driving motor 61 drives the telescopic mechanism 68 to synchronously rotate, the telescopic mechanism is controlled by a controller, and a telescopic connector 67 is arranged at the telescopic end of the telescopic mechanism 68;
a driving rod 63 longitudinally arranged on the output end of the telescopic connector 67, so that the driving rod 63 is driven by the driving motor 61 to rotate, and meanwhile, the driving rod 63 is driven by the telescopic mechanism to move up and down to adjust the height of the end head of the driving rod; and
and the second end face gear 64 is arranged at the end of the driving rod 63, the second end face gear 64 moves back and forth at the upper end of the mechanical arm along with the whole first driving mechanism 6, moves to the lower end of each first end face gear one by one and is aligned with the first end face gear 5, the second end face gear 64 moves upwards through the telescopic mechanism 68 until being jointed and linked with the periphery of the bottom of the first end face gear 5, meanwhile, the first end face gear 5 is lifted upwards until being separated from the tooth socket, and the first end face gear, the rotating shaft and the movable joint connected with the rotating shaft are unlocked.
Then, the driving motor 61 drives the second face gear 64 and the first face gear 5 to synchronously rotate, so that the rotating shaft at the corresponding position and the movable joint connected with the rotating shaft can be driven to rotate, and the angle of the movable joint is adjusted according to the appearance of the target crawling object until the angle of the movable joint is adjusted in place.
A pair of guide devices 65 is arranged on the inner side wall of the driving motor 61 at intervals and used for fixing the first driving mechanism 6 on the mechanical arm in a sliding mode, a guide block 66 is arranged on the guide devices 65 in a protruding mode, the direction of the guide block 66 is consistent with the width direction of the guide devices 65, a guide groove is correspondingly formed in the surface of each of the upper end and the lower end of the mechanical arm, the guide block 66 is arranged in the guide groove in a sliding mode, moving guide is improved for the first driving mechanism 6, and the first driving mechanism 6 moves on the outer side wall of the mechanical arm along the guide groove.
Specifically, a second driving mechanism 7 is arranged on the inner side wall of the driving motor 61 between the pair of guide devices 65, the second driving mechanism 7 is composed of a rotating motor 71 and a flat gear 72, the flat gear 72 is transversely arranged on an output shaft of the rotating motor 71, a gear belt is correspondingly arranged on the outer side wall of the mechanical arm, the flat gear 72 is meshed with the gear belt, and when the rotating motor 71 is driven to rotate, the flat gear 72 is driven to move on the gear belt, so that the whole first driving mechanism 6 is driven to move on the outer side wall of the mechanical arm and selectively contact with each first end gear, and finally each movable joint is driven to rotate.
And two ends of the gear belt are provided with overtravel protection switches, and the overtravel protection switches are connected with the controller to prevent the first driving mechanism 6 from being separated from the gear belt.
Specifically, the second driving mechanism 7 moves the first driving mechanism 6 along the outer side wall of the mechanical arm until the second face gear 64 is moved to a position right below one first face gear 5, the height of the second face gear 64 is controlled through the telescopic mechanism 68, so that the second face gear 64 is lifted to be in joint linkage with the first face gear 5, meanwhile, the first face gear 5 is lifted upwards until being separated from the tooth socket, and the first face gear, the rotating shaft and the movable joint connected with the rotating shaft are unlocked. At this moment, the driving motor 61 is controlled to rotate, so that the rotating shaft at the corresponding position and the movable joint connected with the rotating shaft can be driven to rotate, the angle of the movable joint is adjusted according to the appearance of the target crawling object until the angle of the movable joint is adjusted in place, the movable joint is abutted against the outer wall of the target crawling object at the position to be grabbed firmly, and the movable joint is driven to reversely rotate, so that the mechanical arm can be loosened from the outer wall of the target crawling object.
Thereafter, the height of the second face gear 64 is controlled by the telescopic mechanism 68, so that the second face gear 64 descends until being separated from the first face gear 5, the first face gear 5 retracts downwards until being engaged with the tooth socket under the action of the tension spring, the first face gear, the rotating shaft and the movable joint connected with the rotating shaft are locked again, the movable joint cannot rotate automatically after the angle of the movable joint is adjusted in place, and the movable joint and the target crawling object are kept in a contact state. Thereafter, the first drive mechanism is moved to the next lower end of the first face gear for a corresponding operation.
After the angle of the first movable joint is adjusted in place, the telescoping mechanism 68 is controlled to retract, so that the second end face gear 64 is separated from the first end face gear 5, then the driving rotating motor 71 is controlled to rotate, so that the flat gear 72 moves on the gear belt, so that the whole first driving mechanism 6 is driven to move on the outer side wall of the mechanical arm until the outer side wall moves to the right lower end of the next first end face gear 5, the telescoping mechanism 68 is controlled to ascend, so that the first end face gear is connected with the second end face gear, the first end face gear 5 is separated from the tooth socket, then the driving motor 61 is controlled to rotate, so that the rotating shaft at the corresponding position and the movable joint connected with the rotating shaft can be driven to rotate, the angle of the movable joint is adjusted according to the appearance of a target crawling object until the angle of the movable joint is adjusted in place, then the second end face gear is controlled to descend to be separated from the first end, the first face gear is locked with the tooth grooves again, the first driving mechanism continues to move to the position below the next rotating shaft for operation, and the like is performed until the angle of each movable joint is adjusted to the right position, so that the mechanical arm is matched with the appearance of a target grabbing object to firmly grab and climb the periphery of the target grabbing object, the mechanical arm can grab and climb the target objects with different shapes and structures, and the application range is wider.
And the inner side of each movable joint is provided with an anti-skid pad for increasing friction force, a pressure sensor is arranged between the anti-skid pad and the manipulator and is clung to the anti-skid pad, and the current state is returned to the display module in real time for judging whether the manipulator is clamped with the telegraph pole.
Specifically, every be provided with a plurality of angularly adjustable press device on the freely movable joint inside wall, press device with the contact angle that object was grabbed and climbed to the target is adjustable, be provided with the slipmat on the press device, press device is used for adjusting the angle of slipmat to it is tight with the laminating of the wire pole lateral wall of different diameters clamp. The inner side surface of the non-slip mat is set to be in a shape matched with the shape of a target grabbing object, so that the contact area of the non-slip mat and the side wall of the telegraph pole is further increased, and the friction force is increased. The manipulator contacts with the column through the anti-slip pad, so that the friction force between the manipulator and the column is effectively increased, the manipulator is prevented from slipping on the telegraph pole under stress, and the safety of running equipment is improved.
The pressure sensor is arranged between the anti-skid pad and the pressing device and connected with the controller, pressure information is fed back to the chip, whether the manipulator is clamped with the telegraph pole or not is judged, if the manipulator is clamped, the manipulator normally runs, and if the pressure value does not reach a clamping state, an alarm signal is sent. Specifically, be provided with the interface on the press device inside wall, pressure sensor installs the interface bottom, the slipmat is pegged graft in the interface.
The main motor 2 is fixedly installed on the operating equipment bottom plate 1, an output shaft of the main motor 2 is connected with a steering reduction box 22, the screw rod 21 is vertically connected to the output end of the steering reduction box 22, a threaded hole is formed in the connecting seat, the screw rod 21 is in threaded connection with the threaded hole, the main motor 2 drives the screw rod 21 to move in the connecting seat 4, so that the connecting seat 4 is driven to move up and down, namely an upper mechanical arm is driven to slide on the guide rail, and the main motor 2 is connected with the controller.
Specifically, when main motor 2 drives lead screw 21 forward rotation, promote connecting seat 4 and last manipulator and up move along the guide rail, when main motor 2 drives lead screw 21 counter-rotation, the whole base of pulling, guide rail and lower manipulator up move along the guide rail direction. When the operation equipment runs downwards, the operation process is opposite, the main motor 2 drives the screw rod 21 to rotate, so that the sliding sleeve and the upper manipulator 43 as well as the integral connecting seat and the lower part of the operation equipment move relatively, and the up-and-down operation of the operation equipment is realized.
And the locking device is controlled by the controller to be selectively locked with the target crawling object, and when the running equipment stops running, the locking device is controlled to be locked on the telegraph pole, so that the running equipment is prevented from moving accidentally.
The specific grabbing and climbing process is as follows:
because the grabbing and climbing of the invention are actually a periodical and cyclic grabbing and climbing process, in a movement period, the invention can be divided into five states according to movement conditions, and the embodiment takes upward grabbing as an example for explanation;
in the state 1, the lower manipulator of the operation equipment is clamped, meanwhile, the first gear motor drives the first meshing gear to rotate, and the upper manipulator 43 is loosened;
in the 2 nd state, the main motor 2 rotates, the upper manipulator 43 is tightly clamped, the second speed reducing motor drives the second meshing gear to rotate at the moment, the lower manipulator starts to loosen, the guide rail starts to move upwards along the sliding sleeve, and the idle stroke is removed.
In state 3, the main motor 2 continues to rotate, the upper robot arm 43 remains gripped, the lower robot arm is released, and the lower part of the robot is lifted to the limit.
In the 4 th state, the main motor 2 continues to rotate, the lower mechanical arm is clamped, the first speed reducing motor drives the first meshing gear to rotate at the moment, the upper mechanical arm 43 starts to loosen, the guide rail is fixed, and the sliding sleeve starts to move upwards along the guide rail to move in an idle stroke.
In the 5 th state, the main motor 2 continues to rotate, the lower manipulator keeps clamped, the upper manipulator 43 is loosened, the upper part of the robot is lifted to the limit state, and therefore the running equipment is controlled to ascend, one cycle of ascending movement of the running equipment is completed, and the operation is repeated in sequence until the running equipment ascends to the target height.
In conclusion, the automatic operation equipment with adjustable tightness has the function of realizing automatic grabbing and climbing, provides convenience for workers and guarantees the safety of the workers; the system is simple to use, easy to maintain, excellent in performance, low in failure rate and high in safety, the cost of the whole control system is greatly reduced, and the market prospect is wide. Meanwhile, compared with manual grabbing and climbing, the grabbing and climbing speed can be greatly improved, the grabbing and climbing safety is obviously improved, the occupied area is greatly reduced compared with that of an electric power breakdown van, the electric power breakdown van can effectively reach an area where vehicles cannot conveniently enter, the labor intensity is obviously reduced, and the operation efficiency is obviously improved; furthermore, the safety of the operation equipment is higher, the automatic grabbing and climbing process is realized, meanwhile, the mechanical arm is composed of a plurality of sections of movable joints, and the shape structure of the mechanical arm can be changed according to the shape of the object to be grabbed and climbed, so that the object to be grabbed and climbed in different shapes can be grabbed, and the application range of the operation equipment is expanded.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable to various fields of endeavor for which the invention may be embodied with additional modifications as would be readily apparent to those skilled in the art, and the invention is therefore not limited to the details shown and described herein without departing from the general concept defined by the claims and their equivalents.
Claims (10)
1. The utility model provides an automatic operation equipment of elasticity adjustable which characterized in that includes:
the guide rail is fixedly arranged on a bottom plate of the operation equipment, the guide rail is perpendicular to the bottom plate of the operation equipment, a sliding sleeve is sleeved on the upper part of the guide rail, the guide rail is of a hollow structure, a linear displacement ball grid ruler is arranged in the guide rail, a reading head is arranged in the sliding sleeve, the reading head is enveloped on the periphery of the linear displacement ball grid ruler, and the reading head is connected with a controller of the operation equipment;
the upper manipulator and the lower manipulator are arranged on the same side of the operating equipment, and the manipulators grab and run the periphery of a target climbing object, wherein the upper manipulator is fixed on the sliding sleeve, the lower manipulator is fixed on the bottom plate, a first rotating mechanism and a second rotating mechanism are arranged on the axial center of the manipulator, the first rotating mechanism consists of a first speed reducing motor and a pair of first meshing gears which are linked, the second rotating mechanism consists of a second speed reducing motor and a pair of second meshing gears which are linked, the first meshing gears are connected with the upper manipulator, and the second meshing gears are connected with the lower manipulator;
the main motor is fixedly arranged on the operating equipment bottom plate, an output shaft of the main motor is linked with the sliding sleeve through a steering reduction box and a screw rod to drive the sliding sleeve to move relatively on the guide rail, and the main motor is connected with the controller; and
the pressing devices are arranged on the inner side wall of the manipulator in a rotating mode at intervals, and anti-slip pads are arranged on the pressing devices;
wherein each manipulator comprises a pair of mechanical arms which can rotate relatively, each mechanical arm comprises a plurality of sections of movable joints, each movable joint is rotatably connected with each other through a rotating shaft, each rotating shaft is fixed with the second movable joint of two adjacent movable joints, the upper end of each rotating shaft is flush with the upper surface of the mechanical arm, at least two grooves are symmetrically arranged on the rotating shaft in the axial direction, a guide rod is arranged in each groove in a telescopic mode, a tension spring is sleeved on each guide rod, the upper end of each tension spring is connected with the corresponding guide rod, the lower end of each tension spring is connected with the inner side wall of each groove, a first face gear is transversely arranged at the upper end of each guide rod, the teeth of the first face gear face are downward, a tooth socket is arranged on the mechanical arm at the periphery of the rotating shaft, and the first face gear is jointed with the, the sliding is provided with a drive mechanism on the arm, the flexible second terminal surface gear that is provided with in first drive mechanism upper end, the tooth of second terminal surface gear makes progress, first terminal surface gear transversely protrusion in the arm certain distance, the second terminal surface gear with the selective linkage of first terminal surface gear, the drive the axis of rotation rotates, a drive mechanism with the controller is connected.
2. The tightness-adjustable automatic operating device according to claim 1, further comprising a connecting base mounted on the sliding sleeve, wherein the first rotating mechanism is mounted on the connecting base, the first speed reduction motor is in meshing driving connection with one of the first meshing gears, the first meshing gear central shaft is rotatably mounted on the connecting base, a pair of the first meshing gears are in meshing connection, one end of the first mechanical arm of the upper mechanical arm is connected to the central shaft of one of the first meshing gears, and one end of the second mechanical arm of the upper mechanical arm is connected to the central shaft of the other first meshing gear.
3. The tightness degree adjustable automatic operating device according to claim 2, wherein a base is installed on said bottom plate, said second rotating mechanism is installed on said base, said second speed reduction motor is engaged and drive-connected with one of said second engaging gears, said second engaging gear center shaft is rotatably installed on said base, a pair of said second engaging gears is engaged and connected, one end of said first arm of said lower robot is connected to a center shaft of one of said second engaging gears, and one end of said second arm of said lower robot is connected to a center shaft of the other of said second engaging gears.
4. The tightness degree adjustable automatic operation equipment according to claim 3, wherein the screw rod is vertically connected with the output end of the steering reduction box, a threaded hole is arranged on the connecting seat, and the screw rod is in threaded connection with the threaded hole.
5. The tightness degree adjustable automatic operation equipment according to claim 4, wherein at least one pressing device is arranged on the inner side wall of each movable joint, the contact angle between the pressing device and the object to be grabbed and climbed is adjustable, the manipulator is in contact with the object to be grabbed and climbed through the anti-skid pad, a socket is arranged on the inner side wall of the pressing device, a pressure sensor is arranged at the bottom of the socket, the anti-skid pad is plugged into the socket, and the pressure sensor is connected with the controller.
6. The tightness degree adjustable automatic operation equipment according to claim 5, wherein an LCD display module is arranged on the top of the operation equipment, the LCD display module is connected with the controller, and a plurality of keys for controlling the controller are arranged on the top of the operation equipment.
7. The tightness degree adjustable automatic operation equipment according to claim 6, wherein a locking device is installed on the bottom plate, the locking device is controlled by the controller to be selectively locked with the target grabbing object, an infrared distance measurement module is further arranged at the bottom of the bottom plate, a detection port of the infrared distance measurement module faces the ground vertically, and an output end of the infrared distance measurement module is connected with the controller.
8. The tightness degree adjustable automatic operation equipment as claimed in claim 7, wherein the diameter of said first face gear is larger than the diameter of said rotation shaft, said first face gear bottom is telescopically arranged in said groove through said guide bar sleeved with said tension spring, said first face gear is engaged with said tooth socket under the action of said tension spring, when said second face gear upper surface contacts with said first face gear lower surface and lifts said first face gear, said first face gear is disengaged from said tooth socket.
9. The adjustable slack automated guided apparatus of claim 8, wherein the first drive mechanism comprises:
the driving motor is movably arranged on the outer side wall of the mechanical arm, an output shaft of the driving motor is vertically arranged upwards, and a coupler is arranged at the output end of the driving motor;
the telescopic mechanism is arranged at the output end of the coupler, and a telescopic connector is arranged at the telescopic end of the telescopic mechanism;
a drive rod longitudinally arranged on the output end of the telescopic connector; and
the second end face gear is arranged at the end head of the driving rod and is in selective meshed connection with the first end face gear.
10. The tightness degree adjustable automatic operation equipment according to claim 9, wherein a pair of guide devices are arranged on the inner side wall of the driving motor at intervals, a guide block is arranged on each guide device in a protruding mode, a guide groove is correspondingly formed in each of the upper end and the lower end of the mechanical arm, and the guide blocks are slidably arranged in the guide grooves;
the automatic over-travel protection device is characterized in that a second driving mechanism is arranged on the inner side wall of the driving motor between the guide devices, a flat gear is transversely arranged on an output shaft of the second driving mechanism, a gear belt is correspondingly arranged on the outer side wall of the mechanical arm, the flat gear is meshed and connected with the gear belt, two ends of the gear belt are provided with over-travel protection switches, and the over-travel protection switches are connected with the controller.
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| CN201711251453.1A CN108159656B (en) | 2017-12-01 | 2017-12-01 | Automatic operation equipment with adjustable tightness |
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| CN201711251453.1A CN108159656B (en) | 2017-12-01 | 2017-12-01 | Automatic operation equipment with adjustable tightness |
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| CN108159656A CN108159656A (en) | 2018-06-15 |
| CN108159656B true CN108159656B (en) | 2020-10-02 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109331431B (en) * | 2018-09-21 | 2020-10-09 | 浙江宝纺印染有限公司 | Automatic climbing device for stable climbing transportation of vertical rod |
| CN109364439B (en) * | 2018-10-29 | 2023-09-26 | 国网安徽省电力有限公司淮南供电公司 | Pole holding mechanism of manned pole climbing device for pole climbing operation |
| CN109966716A (en) * | 2019-04-22 | 2019-07-05 | 国家电网有限公司 | Electric pole climbing device |
| CN112827141B (en) * | 2020-12-31 | 2022-04-15 | 吉林华讯科技有限公司 | 5G signal tower climbing maintenance system |
| 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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