CN111342397B - An intelligent power line pipe fixing robot for outdoor building walls - Google Patents
An intelligent power line pipe fixing robot for outdoor building walls Download PDFInfo
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- CN111342397B CN111342397B CN202010163005.1A CN202010163005A CN111342397B CN 111342397 B CN111342397 B CN 111342397B CN 202010163005 A CN202010163005 A CN 202010163005A CN 111342397 B CN111342397 B CN 111342397B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
本发明公开了一种户外建筑墙体智能电力线管固定机器人，箱体的上端固定有第一支撑架，第一支撑架的一侧固定有第一伺服电机，第一伺服电机的输出轴固定有第一转轴，第一转轴与第一支撑架转动连接，第一转轴的另一端与第一支撑架之间设有锁止机构，第一转轴通过连接块固定有安装杆，安装杆的内部固定有第二伺服电机，第二伺服电机的输出轴固定有丝杆，丝杆上螺纹传动有传动螺母，传动螺母镶嵌有伸缩杆，伸缩杆位于安装杆的内部，伸缩杆的上端焊接有安装板，安装板上设有角度调节机构，角度调节机构上设有机械头，箱体的底端设有平衡调节机构，实现机械头的角度和高度调节，通过机械头能够对固定卡环进行自动安装，从而进一步的实现对线管的固定。
The invention discloses an intelligent power line pipe fixing robot for an outdoor building wall. A first support frame is fixed on the upper end of the box body, a first servo motor is fixed on one side of the first support frame, and an output shaft of the first servo motor is fixed with a A first rotating shaft, the first rotating shaft is rotatably connected with the first support frame, a locking mechanism is arranged between the other end of the first rotating shaft and the first support frame, the first rotating shaft is fixed with a mounting rod through a connecting block, and the interior of the mounting rod is fixed There is a second servo motor, the output shaft of the second servo motor is fixed with a screw rod, a transmission nut is threaded on the screw rod, the transmission nut is inlaid with a telescopic rod, the telescopic rod is located inside the installation rod, and the upper end of the telescopic rod is welded with a mounting plate , the installation plate is provided with an angle adjustment mechanism, the angle adjustment mechanism is provided with a mechanical head, and the bottom end of the box is provided with a balance adjustment mechanism to realize the angle and height adjustment of the mechanical head, and the fixed snap ring can be automatically installed through the mechanical head , so as to further realize the fixing of the line pipe.
Description
Technical Field
The invention belongs to the technical field of power maintenance devices, and particularly relates to an intelligent power line pipe fixing robot for an outdoor building wall.
Background
Electric power is an energy source using electric energy as power. In the 70 s of the 19 th century, the invention and application of electric power opened up the second industrialized climax. The technology becomes one of three technological revolution which occur in the world since 18 th century of human history, and the technology changes the lives of people. The large-scale power system appearing in the 20 th century is one of the most important achievements in the history of human engineering science, and is a power generation and consumption system consisting of links of power generation, power transmission, power transformation, power distribution, power utilization and the like. It converts the primary energy of nature into electric power through mechanical energy devices, and then supplies the electric power to each user through power transmission, transformation and distribution.
Wherein at rural electric power cable laying's in-process, need set up the cable intraductally on the line, then fix the spool on the wall body, thereby just can carry electric power to thousands of households, because the spool needs to be fixed on the wall body, so just need the workman to nail the customs of fixed spool in the wall body, thereby reach the purpose of fixed spool, because the length of spool is longer, and the spool has certain height, so just need artifical repeated adjustment spool's fixed position, just can reach and fix the spool on the wall body, although can accomplish the fixed of pipe strap through the manual work, but owing to the adjustment fixed position that needs relapse, and rely on the ladder of ascending a height to realize, thereby reduce a lot for the efficiency of construction.
Therefore, the intelligent power line pipe fixing robot for the outdoor building wall is provided to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide an intelligent electric power line pipe fixing robot for an outdoor building wall, which is capable of adjusting the height through a mechanical arm and fixing a clamping ring on the wall through a mechanical jackpot, so that troubles caused by fixing a pipe clamp through manual ascending are avoided, and the efficiency can be further improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
an intelligent power line pipe fixing robot for an outdoor building wall body comprises a box body, wherein a first support frame is fixed at the upper end of the box body, a first servo motor is fixed on one side of the upper end of the first support frame through bolts, a first rotating shaft is fixed at the end part of an output shaft of the first servo motor, the first rotating shaft is rotatably connected with the two sides of the first support frame through bearings, a locking mechanism is arranged between one end of the first rotating shaft, which is far away from the first servo motor, and the first support frame, a connecting block is welded in the middle of the first rotating shaft, an installation rod is fixed at the end part of the connecting block, a second servo motor is fixed at the inner bottom end of the installation rod through bolts, a lead screw is fixed at the end part of the output shaft of the second servo motor through a coupler, a support plate is rotatably connected at the end part of one end part, which is far away from the second, the screw rod is in threaded transmission connection with a transmission nut, a telescopic rod is embedded on the outer side of the transmission nut and is located inside the installation rod, an avoidance groove matched with the supporting plate is formed in the side wall of the telescopic rod, the supporting plate slides in the avoidance groove, an installation plate is welded at the upper end of the telescopic rod and is located on the outer side of the telescopic rod, an angle adjusting mechanism is arranged on the installation plate, a mechanical head is arranged on the angle adjusting mechanism, and a balance adjusting mechanism is arranged on the periphery of the outer side of the bottom end of the box body;
the mechanical head is provided with two clamping arms, a fixed clamping ring is clamped between the two clamping arms, two ends of the fixed clamping ring are respectively provided with a steel nail, the clamping arms are respectively provided with a sliding knocking head, the knocking heads respectively knock the steel nails, a sliding module for controlling the knocking heads to slide is arranged in the mechanical head, and a fifth servo motor for controlling the sliding module to slide is arranged in the mechanical head.
Preferably, the locking mechanism comprises an installation box, the installation box is fixed on one side, away from the first servo motor, of the first support frame, an air cylinder is fixed on the outer side of the bottom end of the installation box through a bolt, a locking block is fixed on the end portion of a piston rod of the air cylinder, the locking block slides in the installation box, locking teeth are integrally formed on the end portion of the upper end of the locking block, a gear matched with the locking teeth is arranged right above the locking teeth, and the gear is fixed on the first rotating shaft;
the two sides of the locking block are both fixed with sliding blocks, sliding grooves matched with the sliding blocks are formed in the first support frame and the installation box, and the sliding blocks slide in the sliding grooves.
Preferably, angle adjustment mechanism includes the second support frame, the one end terminal surface of telescopic link is kept away from at the mounting panel to the welding of second support frame, one side of second support frame is fixed with third servo motor through the bolt, third servo motor's output shaft end fixing has the second pivot, the second pivot is passed through the bearing and is connected with the rotation of second support frame, second pivot and mechanical head fixed connection.
Preferably, a first limiting block is fixed at the end part of one end, far away from the third servo motor, of the second rotating shaft, and the first limiting block is located on the outer side of the second supporting frame.
Preferably, the balance adjusting mechanism comprises a fixed plate, the fixed plate is fixed at the bottom end of the box body through a bolt, an adjusting screw is fixed on the lower end face of the fixed plate, and a conical base is in threaded transmission connection with the adjusting screw;
and a second limiting block is welded at the end part of the lower end of the adjusting screw rod and is positioned in the conical base.
Preferably, the inside of box divides into three storing room, the left side and centre install battery and balancing weight respectively in the storing room, the right side the indoor welding of storing has the baffle.
Preferably, the two ends of the outer side of the storage chamber are hinged with a box door, the box door is connected with the box body through a hasp, and a handle is fixed on the outer side of the middle of one end, far away from the hinged part, of the box door.
Preferably, a limiting table is arranged above the first servo motor and welded at the lower end of the inner wall of the mounting rod;
and self-locking universal wheels are fixed at four corners of the bottom end of the box body through bolts.
Preferably, a sliding jacking shaft is respectively arranged in the clamping arms, the knocking head is fixedly connected to one end of the jacking shaft, a mechanical head inner groove is formed in the mechanical head, the sliding module slides in the mechanical head inner groove, a third rotating shaft driven by a fourth servo motor is arranged in the sliding module, jacking cams are respectively arranged at two ends of the third rotating shaft, and the jacking cams respectively jack against the other end of the jacking shaft;
the mechanical arm is internally provided with a clamping arm inner groove, the jacking shaft is internally provided with a jacking sliding block which slides in the clamping arm inner groove, and the clamping arm inner grooves are internally provided with second springs for springing the jacking sliding block.
Preferably, two supporting slide blocks are respectively arranged on two sides of the sliding module, a threaded hole is respectively formed in each supporting slide block, the thread directions of the threaded holes on the two sides are correspondingly arranged, two jacking screws rotating in an inner groove of the mechanical head are arranged in the mechanical head, the jacking screws are correspondingly meshed with the threaded holes respectively, a gear is respectively arranged on each jacking screw, the two gears are correspondingly meshed, and the fifth servo motor drives one jacking screw to rotate;
the clamping arm is characterized in that a clamping arm sliding groove is formed in the inner side of each clamping arm, a sliding extrusion block is arranged in each clamping arm sliding groove, and a first spring for pressing the extrusion block is arranged in each clamping arm sliding groove.
The invention has the technical effects and advantages that: compared with the prior art, the intelligent electric power wire tube fixing robot for the outdoor building wall provided by the invention has the following advantages:
1. the first servo motor drives the first rotating shaft to rotate, the first rotating shaft drives the mounting rod to rotate through the connecting block, so that the angle adjustment of the mounting rod is realized, the second servo motor drives the screw rod to rotate, the screw rod drives the telescopic rod to move outwards along the screw rod, and the telescopic rod extends outwards, so that the whole length is increased, the top end of the telescopic rod is provided with the mechanical head, the position adjustment of the mechanical head is realized, the pipe clamp does not need to be manually climbed to a high position to be fixed, and the safety of personnel is further ensured;
2. according to the invention, the cylinder is fixed at the bottom end of the installation box, the cylinder pushes the locking block to slide in the installation box, when the position of the installation rod is adjusted, the cylinder pushes the locking block upwards, so that locking teeth on the locking block are inserted between teeth of the gear, further locking of the gear is realized, further locking of the first rotating shaft is realized, further locking of the installation rod is realized, further fixing of the installation rod is realized, and on the contrary, when the installation rod needs to be adjusted, the cylinder pulls the locking block back downwards, further the locking teeth are separated from the gear, further rotation adjustment of the installation rod can be carried out, the structure is simple, the operation is convenient, and the firmness and the stability of the device are improved;
3. according to the invention, the four corners of the bottom end of the box body are fixedly provided with the fixed plates, the fixed plates are welded with the adjusting screws, the adjusting screws are in threaded transmission connection with the conical bases, when the ground is uneven, the four conical bases are all contacted with the ground by rotating the conical bases, and the balance degree and stability of the whole device are improved;
4. can be with the position of fixed snap ring automatically regulated to the spool through mechanical head to can realize fixing the purpose of snap ring automatic fixation on the wall body, further avoid the trouble that the manual work fixed pipe strap caused, thereby raise the efficiency.
Drawings
FIG. 1 is a schematic perspective view of the present invention in an open state;
FIG. 2 is an enlarged view of the invention at A;
FIG. 3 is a schematic perspective view of the present invention in a retracted state;
FIG. 4 is a schematic perspective view of the present invention;
FIG. 5 is an enlarged view of the invention at B;
FIG. 6 is a structural view of the locking mechanism of the present invention;
FIG. 7 is a view of the internal structure of the mounting bar of the present invention;
FIG. 8 is an enlarged view of the invention at C;
FIG. 9 is a structural view of an angle adjustment mechanism of the present invention;
fig. 10 is a structural view of a balance adjustment mechanism of the present invention.
Fig. 11 is a schematic view of the overall structure of the mechanical head of the present invention.
Fig. 12 is a schematic view of the overall structure of the sliding module according to the present invention.
Reference numerals: 1. a box body; 101. a storage chamber; 102. a storage battery; 103. a balancing weight; 104. a partition plate; 105. a box door; 106. a hasp; 107. a handle; 2. a first support frame; 3. a first servo motor; 4. a first rotating shaft; 5. a locking mechanism; 501. installing a box; 502. a cylinder; 503. a locking block; 504. a locking tooth; 505. a gear; 506. a slider; 507. a chute; 6. connecting blocks; 7. mounting a rod; 8. a second servo motor; 9. a screw rod; 10. a support plate; 11. a drive nut; 12. a telescopic rod; 13. an avoidance groove; 14. mounting a plate; 15. an angle adjusting mechanism; 151. a second support frame; 152. a third servo motor; 153. a second rotating shaft; 154. a first stopper; 16. a mechanical head; 161. a clamping arm; 162. a clamping arm chute; 163. extruding the block; 164. a first spring; 165. jacking the shaft; 166. a knocking head; 167. clamping an inner groove of the arm; 168. pressing the sliding block; 169. a second spring; 17. a balance adjustment mechanism; 171. a fixing plate; 172. adjusting the screw rod; 173. a conical base; 174. a second limiting block; 18. a limiting table; 19. a self-locking universal wheel; 20. an inner groove of the mechanical head; 201. a sliding module; 202. a third rotating shaft; 203. a fourth servo motor; 204. a fifth servo motor; 205. a gear; 206. jacking and pressing the screw; 207. pressing the cam; 208. a support slide block; 209. a threaded hole; 3. fixing the snap ring; 301. and (5) steel nails.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The specific embodiments described herein are merely illustrative of the invention and do not delimit the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides an intelligent power line pipe fixing robot for an outdoor building wall body as shown in figures 1-12, which comprises a box body 1, wherein the interior of the box body 1 is divided into three storage chambers 101, a storage battery 102 and a balancing weight 103 are respectively arranged in the left storage chamber 101 and the middle storage chamber 101, a partition plate 104 is welded in the right storage chamber 101, maintenance tools, accessories and the like are placed on the partition plate 104, two ends of the outer side of each storage chamber 101 are hinged with a box door 105, each box door 105 is connected with the box body 1 through a buckle 106, a handle 107 is fixed on the outer side of the middle of one end, far away from the hinged part, of each box door 105, a user can conveniently open the box door 105 through the handle 107, balance adjusting mechanisms 17 are respectively arranged on the periphery of the outer side of the bottom end of the box body 1, each balance adjusting mechanism 17 comprises a fixing plate 171, the fixing plate 171 is fixed, the adjusting screw 172 is in threaded transmission connection with a conical base 173, when the ground is uneven, the four conical bases 173 are all in contact with the ground by rotating the conical base 173, the balance degree and stability of the whole device are improved, in order to prevent the conical bases 173 from sliding out of the adjusting screw 172 when being adjusted downwards, a second limiting block 174 is welded at the lower end of the adjusting screw 172, the second limiting block 174 is positioned inside the conical base 173, and self-locking universal wheels 19 are fixed at four corners of the bottom end of the box body 1 through bolts, so that the whole device is convenient to move and fix, and the mobility and flexibility of the device are improved;
a first support frame 2 is fixed at the upper end of the box body 1, a first servo motor 3 is fixed on one side of the upper end of the first support frame 2 through bolts, a first rotating shaft 4 is fixed at the end part of an output shaft of the first servo motor 3, the first rotating shaft 4 is rotatably connected with two sides of the first support frame 2 through bearings, and a locking mechanism 5 is arranged between one end, far away from the first servo motor 3, of the first rotating shaft 4 and the first support frame 2;
the locking mechanism 5 comprises an installation box 501, the installation box 501 is fixed on one side of the first support frame 2 far away from the first servo motor 3, an air cylinder 502 is fixed on the outer side of the bottom end of the installation box 501 through a bolt, a locking block 503 is fixed on the end portion of a piston rod of the air cylinder 502, the locking block 503 slides in the installation box 501, a locking tooth 504 is integrally formed at the end portion of the upper end of the locking block 503, a gear 505 matched with the locking tooth 504 is arranged right above the locking tooth, the gear 505 is fixed on the first rotating shaft 4 to lock and fix the installation rod 7, the firmness of the whole device is improved, sliding blocks 506 are fixed on two sides of the locking block 503, sliding grooves 507 matched with the sliding blocks 506 are formed in the first support frame 2 and the installation box 501, the sliding blocks 506 slide in the sliding grooves 507 to limit the up and down movement of the locking block 503, Guiding;
the middle of the first rotating shaft 4 is welded with a connecting block 6, the end part of the connecting block 6 is fixed with an installation rod 7, the bottom end inside the installation rod 7 is fixed with a second servo motor 8 through bolts, a limiting table 18 is arranged above the first servo motor 3, the limiting table 18 is welded at the lower end of the inner wall of the installation rod 7, the telescopic rod 12 is prevented from colliding with the second servo motor 8 when descending, the limiting and protecting effects are achieved, the end part of an output shaft of the second servo motor 8 is fixed with a lead screw 9 through a coupler, one end part, far away from the second servo motor 8, of the lead screw 9 is connected with a supporting plate 10 through a bearing in a rotating mode, the supporting plate 10 is welded at the upper end part of the installation rod 7, the lead screw 9 is connected with a transmission nut 11 in a threaded transmission mode, the outer side of the transmission nut 11 is inlaid with a telescopic rod, an avoidance groove 13 matched with the support plate 10 is formed in the side wall of the telescopic rod 12, the support plate 10 slides in the avoidance groove 13, an installation plate 14 is welded to the end portion of the upper end of the telescopic rod 12, and the installation plate 14 is located on the outer side of the telescopic rod 12;
the angle adjusting mechanism 15 is arranged on the mounting plate 14, the mechanical head 16 is arranged on the angle adjusting mechanism 15, the angle adjusting mechanism 15 comprises a second support frame 151, the second support frame 151 is welded on the end face, far away from the telescopic rod 12, of the mounting plate 14, a third servo motor 152 is fixed on one side of the second support frame 151 through a bolt, a second rotating shaft 153 is fixed on the end portion of an output shaft of the third servo motor 152, the second rotating shaft 153 is rotatably connected with the second support frame 151 through a bearing, the second rotating shaft 153 is fixedly connected with the mechanical head 16, the third servo motor 152 drives the second rotating shaft 153 to work during maintenance, the second rotating shaft 153 drives the mechanical head 16 to rotate to realize angle adjustment of the mechanical head 16, maintenance of electric power is facilitated, a first limit block 154 is fixed on the end portion, far away from the third servo motor 152, of the second rotating shaft 153, the first limiting block 154 is located outside the second supporting frame 151, and prevents the second rotating shaft 153 from sliding out of the second supporting frame 151, so that limiting and protecting effects are achieved.
The mechanical head 16 is provided with two clamping arms 161, a fixed clamping ring 3 is clamped between the two clamping arms 161, two ends of the fixed clamping ring 3 are respectively provided with a steel nail 301, the clamping arms 161 are respectively provided with a sliding knocking head 166, the knocking heads 166 respectively knock the steel nails 301, a sliding module 201 for controlling the knocking heads 166 to slide is arranged in the mechanical head 16, and a fifth servo motor 204 for controlling the sliding module 201 to slide is arranged in the mechanical head 16.
The mechanical head 16 is provided with two clamping arms 161, the fixed clamping ring 3 can be inserted between the two clamping arms 161 in the process of installing the fixed clamping ring 3, so that the fixed clamping ring 3 can be installed on the mechanical head 16, the clamping arms 161 are respectively provided with a sliding knocking head 166, the steel nail 301 can be knocked through the knocking head 166, the steel nail 301 can be knocked into a wall body, and the purpose of fixing the linear pipe can be achieved.
A sliding top pressure shaft 165 is respectively arranged in the clamping arm 161, the knocking head 166 is fixedly connected with one end of the top pressure shaft 165, a mechanical head inner groove 20 is arranged in the mechanical head 16, the sliding module 201 slides in the mechanical head inner groove 20, a third rotating shaft 202 driven by a fourth servo motor 203 is arranged in the sliding module 201, two ends of the third rotating shaft 202 are respectively provided with a top pressure cam 207, and the top pressure cams 207 respectively top pressure the other end of the top pressure shaft 165;
the clamping arms 161 are respectively provided with a clamping arm inner groove 167, the jacking shaft 165 is respectively provided with a jacking slide block 168 which slides in the clamping arm inner groove 167, and the clamping arm inner grooves 167 are respectively provided with a second spring 169 which can spring the jacking slide block 168.
The rotation of the third rotating shaft 202 can be further driven by the rotation of the fourth servo motor 203, so that the top pressing cam 207 can be further rotated, the top pressing cam 207 is of a cam structure, the top pressing shaft 165 can be pressed by the top pressing cam 207, a top pressing slider 168 which is pressed by a second spring 169 is arranged in the clamping arm inner groove 167, the top pressing shaft 165 can be further intermittently reciprocated by the pressing of the top pressing cam 207 and the second spring 169, the knocking head 166 can be further used for knocking the steel nail 301, and the steel nail 301 can be knocked in a wall body.
Two supporting sliding blocks 208 are respectively arranged on two sides of the sliding module 201, a threaded hole 209 is respectively arranged on each supporting sliding block 208, the thread directions of the threaded holes 209 on the two sides are correspondingly arranged, two jacking screws 206 rotating in the inner groove 20 of the mechanical head are arranged in the mechanical head 16, the jacking screws 206 are correspondingly meshed with the threaded holes 209 respectively, a gear 205 is respectively arranged on each jacking screw 206, the two gears 205 are correspondingly meshed with each other, and the fifth servo motor 204 drives one of the jacking screws 206 to rotate;
the inboard joint arm spout 162 that is provided with respectively of joint arm 161, be provided with a gliding extrusion piece 163 in the joint arm spout 162 respectively, be provided with one in the joint arm spout 162 and suppress first spring 164 of extrusion piece 163 respectively.
The top pressure screw 206 can be driven to rotate by the fifth servo motor 204, and the top pressure screw can be driven to rotate by the corresponding meshing connection of the two gears 205, thereby further rotating the two jacking screws 206, wherein the two jacking screws 206 are correspondingly meshed with the threaded holes 209, the thread directions of the two threaded holes 209 are opposite, thereby further controlling the sliding of the sliding module 201, further pressing the pressing shaft 165 through the pressing cam 207, further nailing the steel nail 301 into the wall, so that the fixing clamp ring 3 fixes the conduit on the wall body, and simultaneously the extrusion block 163 is pressed by the first spring 164, thereby further extruding and fixing the fixed snap ring 3, facilitating the installation of the fixed snap ring 3, the pressing block 163 is provided with an inclined end surface, so that the fixing snap ring 3 can be further mounted.
The working principle is as follows: firstly, a first servo motor 3 drives a first rotating shaft 4 to rotate, and then the first rotating shaft 4 drives an installation rod 7 to rotate through a connecting block 6, so that the angle adjustment of the installation rod 7 is realized, and a mechanical head 16 is approximately aligned with a to-be-repaired position;
then, the screw rod 9 is driven to rotate by the second servo motor 8, the screw rod 9 drives the telescopic rod 12 to move outwards along the screw rod 9, the telescopic rod 12 extends outwards, the increase of the overall length is realized, the telescopic rod 12 drives the mechanical head 16 to approach the to-be-repaired position, and the movement is stopped when the mechanical head approaches the to-be-repaired position;
then, the first servo motor 3 is started again to finely adjust the position of the mechanical head 16, the first servo motor 3 stops working after fine adjustment, then the piston rod of the air cylinder 502 pushes the locking block 503 upwards, and then the locking teeth 504 on the locking block 503 are inserted between teeth of the gear 505 on the first rotating shaft 4, so that the gear 505 is locked, and further the first rotating shaft 4 is locked, so that the mounting rod 7 is locked, and further the mounting rod 7 is fixed, on the contrary, when the mounting rod 7 needs to be adjusted, the air cylinder 502 pulls the locking block 503 back downwards, so that the locking teeth 504 are separated from the gear 505, and further the rotation adjustment of the mounting rod 7 can be performed;
during maintenance, the third servo motor 152 drives the second rotating shaft 153 to work, and then the second rotating shaft 153 drives the mechanical head 16 to rotate, so that the angle of the mechanical head 16 is adjusted, and power maintenance is facilitated;
there is fixed plate 171 through the bottom four corners position at box 1, and the welding has adjusting screw 172 on fixed plate 171, and threaded transmission is connected with conical base 173 on adjusting screw 172, and when meetting uneven ground, through rotating conical base 173, makes four conical base 173 all contact with ground, improves the equilibrium and the stability of whole device.
The end part of the mechanical head 1 is provided with two clamping arms 161, in the process of fixing the spool, the fixing clamping ring 3 can be arranged between the two clamping arms 161, the steel nail 301 can be knocked through the action of the knocking head 166, so that the fixing clamping ring 3 can be fixed on a wall, the spool is further fixed on the wall, the purpose of fixing the spool is achieved, the trouble caused by manual spool fixing is avoided, the efficiency is further improved, the action of the knocking head 301 is realized through the propping of the propping cam 207 on the propping shaft 165 and the elastic pressure of the second spring 169 on the propping sliding block 168, the repeated discontinuous action of the propping shaft 165 is realized, the purpose of knocking the steel nail 301 by the knocking head 165 is achieved, meanwhile, the sliding of the propping cam 207 can be driven through the sliding of the sliding module 201, and the sliding of the propping shaft 165 is further driven, thereby achieving the purpose of knocking the steel nail 301 into the wall body.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides an outdoor building wall body intelligence electric power spool fixed robot, includes box (1), its characterized in that: a first support frame (2) is fixed at the upper end of the box body (1), a first servo motor (3) is fixed at one side of the upper end of the first support frame (2) through bolts, a first rotating shaft (4) is fixed at the end part of an output shaft of the first servo motor (3), the first rotating shaft (4) is rotatably connected with the two sides of the first support frame (2) through bearings, a locking mechanism (5) is arranged between one end of the first rotating shaft (4) far away from the first servo motor (3) and the first support frame (2), a connecting block (6) is welded in the middle of the first rotating shaft (4), an installation rod (7) is fixed at the end part of the connecting block (6), a second servo motor (8) is fixed at the inner bottom end of the installation rod (7) through bolts, and a lead screw (9) is fixed at the end part of the output shaft of the second servo motor (8) through a coupler, the screw rod (9) is far away from one end part of the second servo motor (8) and is connected with a supporting plate (10) in a rotating mode through a bearing, the supporting plate (10) is welded at the upper end part of the installation rod (7), the screw rod (9) is connected with a transmission nut (11) in a threaded transmission mode, an expansion rod (12) is embedded in the outer side of the transmission nut (11), the expansion rod (12) is located inside the installation rod (7), an avoidance groove (13) matched with the supporting plate (10) is formed in the side wall of the expansion rod (12), the supporting plate (10) slides in the avoidance groove (13), a mounting plate (14) is welded at the upper end part of the expansion rod (12), the mounting plate (14) is located on the outer side of the expansion rod (12), an angle adjusting mechanism (15) is arranged on the mounting plate (14), and a mechanical head (16) is arranged, the periphery of the outer side of the bottom end of the box body (1) is provided with a balance adjusting mechanism (17);
the mechanical head is characterized in that two clamping arms (161) are arranged on the mechanical head (16), a fixed clamping ring (3) is clamped between the two clamping arms (161), two ends of the fixed clamping ring (3) are respectively provided with a steel nail (301), the clamping arms (161) are respectively provided with a sliding knocking head (166), the knocking heads (166) respectively knock the steel nails (301), a sliding module (201) for controlling the knocking heads (166) to slide is arranged in the mechanical head (16), and a fifth servo motor (204) for controlling the sliding module (201) to slide is arranged in the mechanical head (16).
2. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 1, wherein: the locking mechanism (5) comprises an installation box (501), the installation box (501) is fixed on one side, away from the first servo motor (3), of the first support frame (2), an air cylinder (502) is fixed on the outer side of the bottom end of the installation box (501) through a bolt, a locking block (503) is fixed on the end portion of a piston rod of the air cylinder (502), the locking block (503) slides in the installation box (501), locking teeth (504) are integrally formed on the end portion of the upper end of the locking block (503), a gear (505) matched with the locking teeth (504) is arranged right above the locking teeth (504), and the gear (505) is fixed on the first rotating shaft (4);
the two sides of the locking block (503) are both fixed with sliding blocks (506), sliding grooves (507) matched with the sliding blocks (506) are formed in the first supporting frame (2) and the installation box (501), and the sliding blocks (506) slide in the sliding grooves (507).
3. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 1, wherein: angle adjustment mechanism (15) include second support frame (151), the one end terminal surface of telescopic link (12) is kept away from in mounting panel (14) welding second support frame (151), one side of second support frame (151) is fixed with third servo motor (152) through the bolt, the output shaft tip of third servo motor (152) is fixed with second pivot (153), second pivot (153) are connected through bearing and second support frame (151) rotation, second pivot (153) and mechanical head (16) fixed connection.
4. The intelligent electric power line pipe fixing robot for the outdoor building wall body according to claim 3, wherein: and a first limiting block (154) is fixed at one end part of the second rotating shaft (153) far away from the third servo motor (152), and the first limiting block (154) is positioned at the outer side of the second supporting frame (151).
5. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 1, wherein: the balance adjusting mechanism (17) comprises a fixing plate (171), the fixing plate (171) is fixed at the bottom end of the box body (1) through bolts, an adjusting screw rod (172) is fixed on the lower end face of the fixing plate (171), and a conical base (173) is in threaded transmission connection with the adjusting screw rod (172);
a second limiting block (174) is welded at the end part of the lower end of the adjusting screw rod (172), and the second limiting block (174) is located inside the conical base (173).
6. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 1, wherein: the inside of box (1) is divided into three storing room (101), left side and centre install battery (102) and balancing weight (103) respectively in storing room (101), the right side welding has baffle (104) in storing room (101).
7. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 6, wherein: two ends of the outer side of the storage chamber (101) are hinged with a box door (105), the box door (105) is connected with the box body (1) through a hasp (106), and a handle (107) is fixed on the outer side of the middle of one end, far away from the hinged position, of the box door (105).
8. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 1, wherein: a limiting table (18) is arranged above the first servo motor (3), and the limiting table (18) is welded at the lower end of the inner wall of the mounting rod (7);
and self-locking universal wheels (19) are fixed at four corners of the bottom end of the box body (1) through bolts.
9. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 1, wherein: a sliding jacking shaft (165) is respectively arranged in each clamping arm (161), each knocking head (166) is fixedly connected to one end of each jacking shaft (165), a mechanical head inner groove (20) is arranged in each mechanical head (16), each sliding module (201) slides in each mechanical head inner groove (20), each sliding module (201) is internally provided with a third rotating shaft (202) driven by a fourth servo motor (203), two jacking cams (207) are respectively arranged at two ends of each third rotating shaft (202), and each jacking cam (207) respectively jacks the other end of each jacking shaft (165);
the clamping arm (161) is internally provided with a clamping arm inner groove (167), the jacking shaft (165) is respectively provided with a jacking sliding block (168) which slides in the clamping arm inner groove (167), and the clamping arm inner groove (167) is internally provided with a second spring (169) which can elastically press the jacking sliding block (168).
10. The intelligent electric power line pipe fixing robot for the outdoor building wall body of claim 9, wherein: two supporting sliding blocks (208) are respectively arranged on two sides of the sliding module (201), a threaded hole (209) is respectively formed in each supporting sliding block (208), the thread directions of the threaded holes (209) on the two sides are correspondingly arranged, two jacking screws (206) rotating in the inner grooves (20) of the mechanical head are arranged in the mechanical head (16), the jacking screws (206) are respectively correspondingly meshed with the threaded holes (209), a gear (205) is respectively arranged on each jacking screw (206), the two gears (205) are correspondingly meshed, and the fifth servo motor (204) drives one of the jacking screws (206) to rotate;
the clamping arm is characterized in that a clamping arm sliding groove (162) is formed in the inner side of each clamping arm (161), a sliding extrusion block (163) is arranged in each clamping arm sliding groove (162), and a first spring (164) which is used for pressing the extrusion block (163) is arranged in each clamping arm sliding groove (162).
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| CN202010163005.1A CN111342397B (en) | 2020-03-10 | 2020-03-10 | An intelligent power line pipe fixing robot for outdoor building walls |
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| CN202010163005.1A CN111342397B (en) | 2020-03-10 | 2020-03-10 | An intelligent power line pipe fixing robot for outdoor building walls |
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| CN111342397B true CN111342397B (en) | 2021-04-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111805515B (en) * | 2020-07-20 | 2025-02-07 | 广西科技大学 | A length-adjustable lower limb exoskeleton mechanism |
| JP7532209B2 (en) * | 2020-10-29 | 2024-08-13 | 株式会社日立ビルシステム | Anchor installation tool, anchor installation method using same, and anchor installation unit |
| CN112661009A (en) * | 2020-12-24 | 2021-04-16 | 株洲时代装备技术有限责任公司 | Device and method for hoisting wiring board from operation table to electrical cabinet for installation |
| CN113135378A (en) * | 2021-04-26 | 2021-07-20 | 河南水利与环境职业学院 | Book management device with image analysis function |
| CN113814965A (en) * | 2021-10-11 | 2021-12-21 | 嘉兴浮昇科技有限公司 | High-speed six-axis robot |
| CN114043524B (en) * | 2021-12-10 | 2023-12-26 | 上海锐数微医疗科技发展有限公司 | Foldable mechanical arm capable of being locked |
| CN115102130A (en) * | 2022-06-30 | 2022-09-23 | 天津电力工程监理有限公司 | Portable and adjustable cable laying aids in wells |
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