CN111618879A - Device and method for quickly replacing operation tail end of electric robot - Google Patents
Device and method for quickly replacing operation tail end of electric robot Download PDFInfo
- Publication number
- CN111618879A CN111618879A CN202010536073.8A CN202010536073A CN111618879A CN 111618879 A CN111618879 A CN 111618879A CN 202010536073 A CN202010536073 A CN 202010536073A CN 111618879 A CN111618879 A CN 111618879A
- Authority
- CN
- China
- Prior art keywords
- tail end
- quick
- connecting sleeve
- opening
- shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a device and a method for quickly replacing an operation tail end of an electric robot, wherein the device comprises a power source, a fixing frame and a quick-changing module; the quick change module comprises a shell, a transmission mechanism, a clutch mechanism, an opening and closing element, a mechanical arm tail end connecting sleeve and an operation tail end connecting sleeve, wherein the transmission mechanism is arranged in the shell, an input end receives power input by a power source, an output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the operation tail end connecting sleeve to control the mechanical arm tail end connecting sleeve to be locked or separated from the operation tail end connecting sleeve; the quick-change modules are arranged in parallel and connected with the two fixing frames through the couplers, and the power source is connected to the fixing frames to supply power to the quick-change modules. The insulating operating rod and different tools can be quickly replaced, the time consumed is reduced, and the working efficiency can be greatly improved; the remote control operation is convenient to realize, and direct operation of operators in ascending is not needed.
Description
Technical Field
The invention belongs to the technical field of power transmission line maintenance equipment, and particularly relates to a device and a method for quickly replacing an operation tail end of an electric power robot.
Background
During power transmission maintenance operation, a plurality of tools such as an electric peeler, an electric wire cutter, a drainage and fire wire overlapping clamp, a J-shaped wire clamp replacing device, a wire gripper and the like are needed, and in order to reduce manpower consumption and improve operation intellectualization, a manipulator can be matched with an insulating operating rod to operate each tool. However, the replacement process between the insulated operating rod and different tools is complicated in the using process, a large amount of time is consumed, and the working efficiency is seriously affected.
Disclosure of Invention
The invention aims to provide a device and a method for quickly replacing a working tail end of an electric robot aiming at the defects of the prior art.
The invention provides a quick change device for an operation tail end of an electric robot, which comprises a power source, a fixing frame and a quick change module; the quick change module comprises a shell, a transmission mechanism, a clutch mechanism, an opening and closing element, a mechanical arm tail end connecting sleeve and an operation tail end connecting sleeve, wherein the transmission mechanism is arranged in the shell, an input end receives power input by a power source, an output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the operation tail end connecting sleeve to control the mechanical arm tail end connecting sleeve to be locked or separated from the operation tail end connecting sleeve; the quick-change modules are arranged in parallel and connected with the two fixing frames through the couplers, and the power source is connected to the fixing frames to supply power to the quick-change modules.
The shell comprises a main shell, a connecting seat, an access panel, a support and a quick-change seat; the main shell is a cuboid shell with openings at two sides, a shaft passing hole is formed in an end plate at one end of the main shell, and an access hole is formed in an end plate at the other end of the main shell; the connecting seat is connected in openings on two sides of the main shell; the access panel is detachably connected to the access opening; the support is connected outside the shaft passing hole; the quick-change seat is assembled outside the support.
The main shell comprises a panel and end plates, wherein C-shaped openings are formed in two sides of each end plate, and a pair of panels are arranged up and down and connected through the two end plates; the connecting seat comprises a sealing plate and a connecting plate, a shaft hole is formed in the sealing plate, the sealing plate seals the opening of the main shell, and the connecting plate is connected with two adjacent main shells.
The support is a door-shaped seat, the closed end of the support is provided with a pair of through holes, the open end of the support is connected outside the main shell, and the through holes are aligned with the through shaft holes; the quick-change seat comprises a connecting section and a sliding groove section, the connecting section is detachably connected outside the support, and a sliding groove is formed in the sliding groove section and used for installing the operation tail end connecting sleeve.
The operation tail end connecting sleeve comprises a sleeve and a sliding seat; the sleeve is a cylindrical sleeve with openings at two ends, an arc-shaped groove extending along the circumferential direction is arranged on the sleeve wall, and a cross-shaped plug board is arranged in the sleeve corresponding to the arc-shaped groove; the sliding seat is a rectangular seat, the outer surface of the sliding seat is provided with a quick-change groove, the section of the quick-change groove is D-shaped, the plane end of the quick-change groove faces outwards, and the arc end of the quick-change groove penetrates through the cylinder wall of the sleeve; the operation tail end connecting sleeve is arranged in the quick-change seat through a sliding seat and can slide along the sliding groove section.
The end connecting sleeve of the mechanical arm is a cylindrical sleeve, the bottom end of the cylindrical sleeve is provided with a cross-shaped plug connector, and a circumferential groove is formed in the wall of the bottom sleeve.
The opening and closing element is a flat shaft and comprises a shaft main body and a locking section, and the section of the locking section is D-shaped; the opening and closing element is inserted into the sliding seat, and the locking section can rotate in the quick-change groove.
The transmission mechanism comprises a driving shaft, driving bevel gears, driven bevel gears, a driven shaft and an output shaft, wherein a pair of driving bevel gears are arranged in opposite directions and are respectively and fixedly connected outside the driving shaft, the two driven bevel gears are respectively engaged with the corresponding driving bevel gears, one end of the driven shaft is fixedly connected with the axes of the driven bevel gears, the other end of the driven shaft is connected with the output shaft through a coupler, and the output shaft transmits power to the opening and closing element through a clutch mechanism; the driving shaft, the driving bevel gear and the driven bevel gear are all arranged in the main shell, two ends of the driving shaft respectively penetrate through the shaft holes in the connecting seat, and the outer end of the driven shaft penetrates through the shaft holes to extend out of the main shell.
The clutch mechanism comprises a driving rotating arm and a driven rotating arm; the driving rotating arm is a U-shaped arm, and a through hole is formed in the center of the closed end of the driving rotating arm so as to be connected with the output shaft; the driven rotating arm is a straight arm, the length of the driven rotating arm is greater than the opening width of the driving rotating arm, and a round hole is formed in the center of the driven rotating arm to be connected with the opening and closing element; the transmission mechanism transmits power to the driving rotating arm to rotate, and the two side plates are rotated to be in contact with the driven rotating arm when the driving rotating arm rotates to drive the driven rotating arm to rotate.
The invention also provides a method for quickly replacing the operation tail end of the electric robot, which is carried out by using the device as a tool and comprises the following steps:
step one, mounting a mechanical arm tail end connecting sleeve at the tail end of an insulating operating rod, and respectively mounting each operation tail end below the corresponding operation tail end connecting sleeve;
secondly, controlling the insulating operation rod to be positioned at the corresponding operation tail end according to operation requirements, and controlling the mechanical arm to enable the mechanical arm tail end connecting sleeve to be inserted into the operation tail end connecting sleeve;
thirdly, starting a power source, transmitting the power to the opening and closing element through the clutch mechanism by the transmission mechanism, and enabling the opening and closing element to rotate to lock the mechanical arm tail end connecting sleeve and the operation tail end connecting sleeve to form an operation assembly body;
step four, controlling the mechanical arm to work, so that the operation assembly body can be separated from the shell to carry out operation;
after the operation is finished, operating the mechanical arm to return the operation assembly body to the shell;
and step six, starting a power source, transmitting power to the opening and closing element through the clutch mechanism by the transmission mechanism, enabling the opening and closing element to rotate reversely, separating the locking mechanical arm tail end connecting sleeve from the operation tail end connecting sleeve, and controlling the insulation operating rod to return to prepare for the next operation.
After the device is put into use, the tail end connecting sleeve of the mechanical arm is arranged at the tail end of the insulating operating rod, and each operation tail end is arranged below the corresponding operation tail end connecting sleeve; then, a connecting sleeve at the tail end of the mechanical arm is controlled by a manipulator to be inserted into the connecting sleeve at the tail end of the operation; then starting the power source, transmitting the power to the opening and closing element by the transmission mechanism through the clutch mechanism, and enabling the opening and closing element to rotate and lock the mechanical arm tail end connecting sleeve and the operation tail end connecting sleeve to form an operation assembly body; the operation can be carried out; after the operation is finished, the mechanical arm is operated to enable the operation assembly to return; and then starting the power source, transmitting the power to the opening and closing element through the clutch mechanism by the transmission mechanism, enabling the opening and closing element to rotate reversely, separating the tail end connecting sleeve of the locking mechanical arm from the tail end connecting sleeve of the operation, and controlling the insulation operating rod to return to prepare for the next operation. The quick replacement between the insulating operation rod and different tools is realized, the time that needs consume is reduced, and the work efficiency can be greatly improved. The direct operation of ascending a height by operators is not needed, and the remote control operation is convenient to realize.
Drawings
Fig. 1 is a schematic view of a state of use of a preferred embodiment of the present invention.
Fig. 2 is a perspective view of the device in the preferred embodiment.
Fig. 3 is an enlarged perspective view of the quick-change module in the preferred embodiment. (connecting sleeve of mechanical arm end is not shown)
Fig. 4 is an enlarged perspective view of the housing in the preferred embodiment.
Fig. 5 is a schematic perspective enlarged view of the working end connecting sleeve in the preferred embodiment.
Fig. 6 is an enlarged perspective view of the connecting sleeve of the working robot in the preferred embodiment.
Fig. 7 is an enlarged perspective view of the opening and closing member in the preferred embodiment.
Fig. 8 is a rotation enlarged view of fig. 3 with the housing removed.
Sequence numbers of the drawings:
1-a power source;
2, fixing a frame;
3-a quick-change module, wherein,
31-shell, 311-main shell, 312-connecting seat, 313-access hole, 314-support, 315-quick-change seat,
32-operation end connecting sleeve, 321-sleeve, 322-sliding seat, 323-cross plug board,
33-mechanical arm tail end connecting sleeve, 331-cross plug connector, 332-circumferential groove,
34-an opening and closing element, 341-a shaft body, 342-a locking section,
35-clutch mechanism, 351-driving rotating arm, 352-driven rotating arm,
36-transmission mechanism, 361-driving shaft, 362-driving bevel gear, 363-driven bevel gear, 364-driven shaft and 365-output shaft;
4, operating the trolley; 5, the electric robot.
Detailed Description
As shown in fig. 1 and fig. 2, the device for quickly replacing the working end of the electric robot disclosed in this embodiment includes a power source 1, a fixing frame 2, and a quick-change module 3; power supply 1 is worm gear speed reducer motor, installs outside mount 2, on a pair of mount mutual disposition and operation platform truck 4, each quick change module passes through the shaft coupling and links to each other, assembles between two mounts, and the quick change module of one end tip passes through the shaft coupling with the output shaft of power supply and links to each other.
As shown in fig. 3, the quick-change module 3 includes a housing 31, a working end connecting sleeve 32, a robot end connecting sleeve 33, an opening and closing member 34, a clutch mechanism 35, and a transmission mechanism 36.
As shown in fig. 4, the housing 31 includes a main shell 311, a connection seat 312, an access panel, a seat 314, and a quick-change seat 315. The main shell 311 is a rectangular parallelepiped shell with openings at two sides, and comprises a panel and end plates, wherein the two sides of the end plates are provided with C-shaped openings, a pair of panels are arranged up and down and are connected through the two end plates, one end plate of each panel is provided with a through-hole, and the other end plate of each panel is provided with an access hole 313. The connecting seat 312 includes a sealing plate and a connecting plate, a shaft hole is formed on the sealing plate, the connecting seat is connected in openings at two sides of the main shell, the sealing plate seals the openings, and the connecting plate is connected with two adjacent main shells. The access panel 313 is removably attached to the access opening. The support 314 is a door-shaped seat, and the closed end of the support is provided with a pair of through holes, the open end of the support is connected outside the main shell, and the through holes are aligned with the through hole. The quick-change seat 315 includes a connection section detachably connected to the outside of the support and a chute section having a chute therein for installing the operation end connection sleeve 32.
As shown in fig. 5, the working end connecting sleeve 32 includes a sleeve 321 and a slide 322; the sleeve is a cylindrical sleeve with openings at two ends, an arc-shaped groove extending along the circumferential direction is arranged on the sleeve wall, and a cross-shaped plug board 323 is arranged in the sleeve corresponding to the arc-shaped groove; the sliding seat is a 322 rectangular seat, the outer surface of the sliding seat is provided with a quick-change groove, the section of the quick-change groove is D-shaped, the plane end of the quick-change groove faces outwards, and the arc end of the quick-change groove penetrates through the cylinder wall of the sleeve; the working end connecting sleeve 32 is mounted with its slide in the quick-change seat and can slide along the sliding groove section. The working end connecting sleeve 32 and the mechanical arm end connecting sleeve 33 are controlled to be locked and separated through an opening and closing element 34 inserted into a quick-change groove of the sliding seat.
As shown in fig. 6, the connection sleeve 33 at the end of the mechanical arm is a cylindrical sleeve, the bottom end of which is provided with a cross-shaped plug 331, and the bottom wall of which is provided with a circumferential groove 332.
As shown in fig. 7, the opening and closing element 34 is a flat shaft, and includes a shaft main body 341 and a locking section 342, and the section of the locking section is D-shaped; during assembly, the mechanical arm tail end connecting sleeve is inserted into the operation tail end connecting sleeve, the cross-shaped plug connector is located below the cross-shaped plug board, the opening and closing element is inserted into the sliding seat, the upper set and the lower set are locked when the arc surface of the locking section rotates into the circumferential groove, and the upper set and the lower set can be separated when the plane rotates to the inner side. The opening and closing element 34 controls the transmission, the cut-off and the disengagement of the power transmission mechanism through the clutch mechanism 35.
As shown in fig. 8, the clutch mechanism 35 includes a driving pivot arm 351 and a driven pivot arm 352; the driving rotating arm 351 is a U-shaped arm, and a through hole is formed in the center of the closed end of the driving rotating arm to be connected with an output shaft; the driven rotating arm 352 is a straight arm, the length of which is greater than the opening width of the driving rotating arm, and a round hole is formed in the center of the driven rotating arm to be connected with the opening and closing element; the driving rotating arm receives the power transmitted by the transmission mechanism 36, when the opening and closing element needs to be controlled to rotate, the driven rotating arm 352 is moved into the driving rotating arm, two side plates of the driving rotating arm are rotated to be in contact with the driven rotating arm, the driven rotating arm is driven to rotate, and the power transmission is realized; when the separation is needed, the mechanical arm tail end connecting sleeve 33 is directly driven by the mechanical arm to be pulled along the sliding groove, and then the separation of the driven rotating arm and the driving rotating arm can be realized.
As shown in fig. 8, the transmission mechanism 36 includes a driving shaft 361, a driving bevel gear 362, driven bevel gears 363, a driven shaft 364 and an output shaft 365, the driving shaft, the driving bevel gears and the driven bevel gears are all disposed in the main housing, a pair of driving bevel gears are oppositely disposed and respectively fixed outside the driving shaft, the two driven bevel gears are respectively engaged with the corresponding driving bevel gears, one end of the driven shaft is fixed to the axis of the driven bevel gear, the other end of the driven shaft passes through the shaft hole and extends outside the main housing to be connected with the output shaft through a coupling, and the output shaft transmits power to the opening and closing element through.
The quick change module 3 receives power input by a power source through the input end of the transmission mechanism, the output end of the transmission mechanism is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the operation tail end connecting sleeve to control the locking or the disengagement of the mechanical arm tail end connecting sleeve and the operation tail end connecting sleeve.
When the electric power robot works at the tail end for quick replacement, the specific operation steps are as follows:
firstly, mounting a mechanical arm tail end connecting sleeve at the tail end of an insulating operating rod of the electric robot 5, and respectively mounting each operation tail end below the corresponding operation tail end connecting sleeve;
step two, mounting the quick-change device and the electric power robot on the platform plate;
step three, controlling the operation trolley to move to an operation position, and controlling the platform board to extend to an operation area;
controlling the electric robot to act to enable the insulating operation rod to be positioned at the corresponding operation tail end according to operation requirements, and enabling the mechanical arm tail end connecting sleeve to be inserted into the operation tail end connecting sleeve through the electric robot to operate the insulating operation rod;
step five, starting a power source, transmitting power to the opening and closing element through the clutch mechanism by the transmission mechanism, and enabling the opening and closing element to rotate to lock the mechanical arm tail end connecting sleeve and the operation tail end connecting sleeve to form an operation assembly body;
step six, controlling the electric robot to work, and separating the operation assembly body from the shell to carry out operation;
seventhly, after the operation is finished, the electric robot is controlled to enable the operation assembly body to return to the shell;
and step eight, starting a power source, transmitting power to the opening and closing element through the clutch mechanism by the transmission mechanism, enabling the opening and closing element to rotate reversely, separating the locking mechanical arm tail end connecting sleeve from the operation tail end connecting sleeve, and controlling the insulation operating rod to return to prepare for the next operation.
Wherein operation platform truck 4 is equipped with flexible landing leg including portable chassis, the both ends on portable chassis, and the last crane that establishes of portable chassis, the top of crane is equipped with the landing slab. The electric robot 5 comprises a cabinet, a slide rail and a mechanical arm, wherein the bottom end of the mechanical arm is mounted on the slide rail and can slide along the slide rail, the mechanical arm can move in multiple degrees of freedom, and an insulating operating rod is mounted at the tail end of the mechanical arm. The operation end comprises an electric peeler, an electric wire cutter, a drainage and fire-overlapping wire clamp, a J-shaped wire clamp replacing device, a wire gripper and the like which are commonly used in the maintenance of the power transmission line.
After the remote control tool changing device is put into use, the insulating operating rod and different tools can be quickly changed, the time consumed by tool changing is reduced, the working efficiency can be greatly improved, direct operation of operators without ascending a height is avoided, and remote control operation is convenient to realize.
Claims (10)
1. The utility model provides an electric power robot operation end quick replacement device which characterized in that: the device comprises a power source, a fixing frame and a quick-change module;
the quick change module comprises a shell, a transmission mechanism, a clutch mechanism, an opening and closing element, a mechanical arm tail end connecting sleeve and an operation tail end connecting sleeve, wherein the transmission mechanism is arranged in the shell, an input end receives power input by a power source, an output end is connected with the clutch mechanism, the other end of the clutch mechanism is connected with the opening and closing element, and the other end of the opening and closing element is inserted into the operation tail end connecting sleeve to control the mechanical arm tail end connecting sleeve to be locked or separated from the operation tail end connecting sleeve;
the quick-change modules are arranged in parallel and connected with the two fixing frames through the couplers, and the power source is connected to the fixing frames to supply power to the quick-change modules.
2. The electric robot working end quick change device of claim 1, wherein: the shell comprises a main shell, a connecting seat, an access panel, a support and a quick-change seat; the main shell is a cuboid shell with openings at two sides, a shaft passing hole is formed in an end plate at one end of the main shell, and an access hole is formed in an end plate at the other end of the main shell; the connecting seat is connected in openings on two sides of the main shell; the access panel is detachably connected to the access opening; the support is connected outside the shaft passing hole; the quick-change seat is assembled outside the support.
3. The electric robot working end quick change device of claim 2, wherein: the main shell comprises a panel and end plates, wherein C-shaped openings are formed in two sides of each end plate, and a pair of panels are arranged up and down and connected through the two end plates; the connecting seat comprises a sealing plate and a connecting plate, a shaft hole is formed in the sealing plate, the sealing plate seals the opening of the main shell, and the connecting plate is connected with two adjacent main shells.
4. The electric robot working end quick change device of claim 2, wherein: the support is a door-shaped seat, the closed end of the support is provided with a pair of through holes, the open end of the support is connected outside the main shell, and the through holes are aligned with the through shaft holes; the quick-change seat comprises a connecting section and a sliding groove section, the connecting section is detachably connected outside the support, and a sliding groove is formed in the sliding groove section and used for installing the operation tail end connecting sleeve.
5. The electric robot working end quick change device of claim 4, wherein: the operation tail end connecting sleeve comprises a sleeve and a sliding seat; the sleeve is a cylindrical sleeve with openings at two ends, an arc-shaped groove extending along the circumferential direction is arranged on the sleeve wall, and a cross-shaped plug board is arranged in the sleeve corresponding to the arc-shaped groove; the sliding seat is a rectangular seat, the outer surface of the sliding seat is provided with a quick-change groove, the section of the quick-change groove is D-shaped, the plane end of the quick-change groove faces outwards, and the arc end of the quick-change groove penetrates through the cylinder wall of the sleeve; the operation tail end connecting sleeve is arranged in the quick-change seat through a sliding seat and can slide along the sliding groove section.
6. The electric robotic work tip quick change device of claim 5, wherein: the end connecting sleeve of the mechanical arm is a cylindrical sleeve, the bottom end of the cylindrical sleeve is provided with a cross-shaped plug connector, and a circumferential groove is formed in the wall of the bottom sleeve.
7. The electric robot working end quick change device of claim 6, wherein: the opening and closing element is a flat shaft and comprises a shaft main body and a locking section, and the section of the locking section is D-shaped; the opening and closing element is inserted into the sliding seat, and the locking section can rotate in the quick-change groove.
8. The electric robot working end quick change device of claim 2, wherein: the transmission mechanism comprises a driving shaft, driving bevel gears, driven bevel gears, a driven shaft and an output shaft, wherein a pair of driving bevel gears are arranged in opposite directions and are respectively and fixedly connected outside the driving shaft, the two driven bevel gears are respectively engaged with the corresponding driving bevel gears, one end of the driven shaft is fixedly connected with the axes of the driven bevel gears, the other end of the driven shaft is connected with the output shaft through a coupler, and the output shaft transmits power to the opening and closing element through a clutch mechanism; the driving shaft, the driving bevel gear and the driven bevel gear are all arranged in the main shell, two ends of the driving shaft respectively penetrate through the shaft holes in the connecting seat, and the outer end of the driven shaft penetrates through the shaft holes to extend out of the main shell.
9. The electric robotic work tip quick change device of claim 8, wherein: the clutch mechanism comprises a driving rotating arm and a driven rotating arm; the driving rotating arm is a U-shaped arm, and a through hole is formed in the center of the closed end of the driving rotating arm so as to be connected with the output shaft; the driven rotating arm is a straight arm, the length of the driven rotating arm is greater than the opening width of the driving rotating arm, and a round hole is formed in the center of the driven rotating arm to be connected with the opening and closing element; the transmission mechanism transmits power to the driving rotating arm to rotate, and the two side plates are rotated to be in contact with the driven rotating arm when the driving rotating arm rotates to drive the driven rotating arm to rotate.
10. A method for quickly replacing the working end of an electric robot, characterized in that the method is carried out by using the device of any one of claims 1-9 as a tool, and comprises the following steps:
step one, mounting a mechanical arm tail end connecting sleeve at the tail end of an insulating operating rod, and respectively mounting each operation tail end below the corresponding operation tail end connecting sleeve;
secondly, controlling the insulating operation rod to be positioned at the corresponding operation tail end according to operation requirements, and controlling the mechanical arm to enable the mechanical arm tail end connecting sleeve to be inserted into the operation tail end connecting sleeve;
thirdly, starting a power source, transmitting the power to the opening and closing element through the clutch mechanism by the transmission mechanism, and enabling the opening and closing element to rotate to lock the mechanical arm tail end connecting sleeve and the operation tail end connecting sleeve to form an operation assembly body;
step four, controlling the mechanical arm to work, so that the operation assembly body can be separated from the shell to carry out operation;
after the operation is finished, operating the mechanical arm to return the operation assembly body to the shell;
and step six, starting a power source, transmitting power to the opening and closing element through the clutch mechanism by the transmission mechanism, enabling the opening and closing element to rotate reversely, separating the locking mechanical arm tail end connecting sleeve from the operation tail end connecting sleeve, and controlling the insulation operating rod to return to prepare for the next operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010536073.8A CN111618879B (en) | 2020-06-12 | 2020-06-12 | Device and method for quickly replacing operation tail end of electric robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010536073.8A CN111618879B (en) | 2020-06-12 | 2020-06-12 | Device and method for quickly replacing operation tail end of electric robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111618879A true CN111618879A (en) | 2020-09-04 |
| CN111618879B CN111618879B (en) | 2023-09-19 |
Family
ID=72268522
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010536073.8A Active CN111618879B (en) | 2020-06-12 | 2020-06-12 | Device and method for quickly replacing operation tail end of electric robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111618879B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043247A (en) * | 2021-03-15 | 2021-06-29 | 浏阳市金锋机械科技有限公司 | Quick connecting device and method for operation tail end of electric mechanical arm |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150145178A1 (en) * | 2013-11-26 | 2015-05-28 | Krones Ag | Blow moulding machine with blow mould changing robot with additional treatment function |
| CN108942997A (en) * | 2018-05-03 | 2018-12-07 | 江南大学 | A kind of multi-function robot tool fast replacing device |
| CN110193839A (en) * | 2019-06-24 | 2019-09-03 | 埃斯顿（湖北）机器人工程有限公司 | It is a kind of to realize the more empty continuous punching work stations of the robot quickly changed the mold |
| CN110421546A (en) * | 2019-06-21 | 2019-11-08 | 国网安徽省电力有限公司淮南供电公司 | A kind of distribution network live line work robot with automatic quick change engaging tool system |
| US20190360180A1 (en) * | 2018-03-30 | 2019-11-28 | ESCO GROUP LLC (formerly ESCO Corporation) | Manipulator, system and process of operating the same |
| CN110978003A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | System and method for automatically replacing working tool of live working robot |
| CN212265857U (en) * | 2020-06-12 | 2021-01-01 | 国网湖南省电力有限公司 | Quick replacing device for operation tail end of electric robot |
-
2020
- 2020-06-12 CN CN202010536073.8A patent/CN111618879B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150145178A1 (en) * | 2013-11-26 | 2015-05-28 | Krones Ag | Blow moulding machine with blow mould changing robot with additional treatment function |
| US20190360180A1 (en) * | 2018-03-30 | 2019-11-28 | ESCO GROUP LLC (formerly ESCO Corporation) | Manipulator, system and process of operating the same |
| CN108942997A (en) * | 2018-05-03 | 2018-12-07 | 江南大学 | A kind of multi-function robot tool fast replacing device |
| CN110421546A (en) * | 2019-06-21 | 2019-11-08 | 国网安徽省电力有限公司淮南供电公司 | A kind of distribution network live line work robot with automatic quick change engaging tool system |
| CN110193839A (en) * | 2019-06-24 | 2019-09-03 | 埃斯顿（湖北）机器人工程有限公司 | It is a kind of to realize the more empty continuous punching work stations of the robot quickly changed the mold |
| CN110978003A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | System and method for automatically replacing working tool of live working robot |
| CN212265857U (en) * | 2020-06-12 | 2021-01-01 | 国网湖南省电力有限公司 | Quick replacing device for operation tail end of electric robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043247A (en) * | 2021-03-15 | 2021-06-29 | 浏阳市金锋机械科技有限公司 | Quick connecting device and method for operation tail end of electric mechanical arm |
| CN114770498A (en) * | 2022-03-31 | 2022-07-22 | 常州市盈能电气有限公司 | Live working robot operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111618879B (en) | 2023-09-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212265857U (en) | Quick replacing device for operation tail end of electric robot | |
| CN111618879A (en) | Device and method for quickly replacing operation tail end of electric robot | |
| CN111740348B (en) | Live working system and working method thereof | |
| CN110242231B (en) | Automatic drill rod discharging and transmitting device | |
| CN105666478A (en) | Joint type mechanical arm rapid disassembling and assembling system under nuclear radiation environment | |
| CN112388656B (en) | Wire drawing rivet automatic assembly mechanism using mechanical arm | |
| CN207827344U (en) | Automatic loading and unloading device and forging equipment with it | |
| CN112382976B (en) | Drainage wire termination, engineering vehicle and live working robot | |
| TW201700240A (en) | Electrical equipment attachment device and method | |
| CN112571406A (en) | Electro-hydraulic hybrid drive special robot and control method | |
| CN212794956U (en) | Industrial robot of modularization multipurpose can be dismantled | |
| CN207841332U (en) | A kind of 5DOF anti-explosion mechanical arm | |
| CN103170974A (en) | Target body remote maintenance device and assembly thereof and operation technology under hot chamber environment | |
| CN111774780A (en) | Robot welding arm | |
| CN215989609U (en) | Electric mounting and dismounting insulation device for grounding ring | |
| CN216759937U (en) | Claw hand device of full-automatic feeding and discharging mechanical arm | |
| CN205888096U (en) | Real device of instructing of unloading in numerical control lathe automation | |
| CN214227333U (en) | Automatic wiring device and engineering vehicle and live working robot with same | |
| CN213857976U (en) | Screw up frock with automatic function of changing of sleeve | |
| CN112216196A (en) | Artificial intelligent robot system | |
| CN212470316U (en) | Robot welding arm | |
| CN217651535U (en) | Bolt tightening and loosening mechanism suitable for rail | |
| CN219902224U (en) | Chassis of industrial robot | |
| CN220414968U (en) | Detachable thin-wall steel frame modularized box-type house | |
| CN112382980B (en) | Drainage device installation device, engineering vehicle and live working robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |