CN112372646B - Liftable rotatory both arms electric power overhaul robot - Google Patents
Liftable rotatory both arms electric power overhaul robot Download PDFInfo
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- CN112372646B CN112372646B CN202011246264.7A CN202011246264A CN112372646B CN 112372646 B CN112372646 B CN 112372646B CN 202011246264 A CN202011246264 A CN 202011246264A CN 112372646 B CN112372646 B CN 112372646B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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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
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
Abstract
The invention discloses a liftable and rotatable double-arm electric power overhaul robot, which comprises a fixed base with a lifting and rotating function and two mechanical arms arranged on the fixed base, wherein one mechanical arm is used for mounting devices during electric power overhaul, the other mechanical arm is used for dismounting the devices during electric power overhaul, the tail end of each mechanical arm is provided with a mechanical arm, each mechanical arm comprises a dismounting tool for dismounting the devices, a mounting seat for mounting the dismounting tool and a tool disc for containing the dismounting tool, the mounting seat is arranged at the tail end of the mechanical arm, a rotating cylinder is arranged on the mounting seat, a bearing is arranged between the rotating cylinder and the mechanical arms, the mounting seat is also provided with a rotating motor for driving the rotating cylinder to rotate, the tool disc is arranged on the mechanical arm and is connected with the dismounting tool in a threaded manner, and the connection stability of the dismounting tool on the mechanical arm is improved, the phenomenon of improper assembly is avoided.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a double-arm electric power overhaul robot capable of lifting and rotating.
Background
In the field of electric power overhaul, many operations are not suitable for manual work of personnel, and robots are generally used to perform tasks instead of human labor. Because when carrying out electric power maintenance, need dismantle and install the device, electric power overhauls the terminal assembly and disassembly tools (screwdriver) and the anchor clamps that set up of arm of robot, the screwdriver is installed and is dismantled the screw, and anchor clamps then take off the screw with the device after the dismantlement to appointed storage position, and anchor clamps also need remove the screw and the device of treating the installation to the mounted position from storage position simultaneously.
The existing electric power overhaul robot is generally a single-arm robot, devices are dismantled and installed through operation of a single mechanical arm, the mechanical arm drives a screwdriver to rotate forward to realize installation of the devices, and also needs to drive the screwdriver to rotate backward to realize disassembly of the devices, and the screwdriver can be disassembled from the mechanical arm through rotation backward when the screwdriver is connected in a threaded mode, so that a disassembling tool cannot be installed on the mechanical arm in a threaded connection mode; in the above connection fixing manner, a certain gap is inevitably formed between the assembling rod and the assembling hole, so that slight collision occurs between the assembling rod and the assembling hole when the device is assembled and disassembled, which affects the connection stability of the assembling and disassembling tool on the mechanical arm and is easy to cause the phenomenon of incomplete assembly.
When carrying out motor maintenance simultaneously, the model that needs to use the screwdriver is various, and current robot, the screwdriver on its arm end need install the change in advance before overhauing, can't realize automatic the change at the maintenance in-process to the efficiency of overhauing has been influenced.
Disclosure of Invention
Therefore, the embodiment of the invention provides a double-arm electric power overhaul robot capable of lifting and rotating, and aims to solve the problems that in the connection and fixing mode of a screwdriver on the existing electric power overhaul robot, a certain gap is inevitably formed between an assembling rod and an assembling hole, so that the assembling rod and the assembling hole slightly collide when a device is disassembled and assembled, the connection stability of a disassembling tool on a mechanical arm is influenced, and the phenomenon of incomplete assembly is easily caused.
In order to achieve the above object, the embodiment of the present invention discloses the following technical solutions:
a lifting and rotating double-arm electric power overhaul robot comprises a fixed base with a lifting and rotating function and two mechanical arms arranged on the fixed base, wherein one mechanical arm is used for mounting devices during electric power overhaul, the other mechanical arm is used for dismounting the devices during electric power overhaul, and the tail end of each mechanical arm is provided with a mechanical arm;
the manipulator comprises a disassembling tool for disassembling and assembling devices, an installation seat for installing the disassembling tool and a tool disc for containing the disassembling tool, the installation seat is arranged at the tail end of the mechanical arm, a rotating cylinder is arranged on the installation seat, a bearing is arranged between the rotating cylinder and the mechanical arm, and a rotating motor for driving the rotating cylinder to rotate is further arranged on the installation seat;
the utility model discloses a set up, including the dismouting instrument, the dismouting instrument includes that the instrument head is connected with the assembly rod, the instrument dish sets up on the arm, be provided with a plurality of vertical splendid attire holes that run through on the instrument dish, the assembly and disassembly tools is inserted and is established the splendid attire is downthehole, supreme bottom outlet and the assembly groove of including in proper order are followed to the splendid attire hole, the assembly rod includes from supreme instrument head, assembly rod and the assembly cover of including in proper order down, the instrument head passes the bottom outlet, the assembly rod with assembly groove looks adaptation, the assembly suit with it links to each other to rotate a section of thick bamboo screw thread.
Furthermore, the bottom of the assembling groove and one surface of the assembling rod, which faces the assembling groove, are provided with corresponding magnetic sheets.
Further, a guide assembly is arranged on the tool tray and used for guiding the process of detaching the detaching tool from the mechanical arm to the tool tray and simultaneously guiding the process of installing the detaching tool from the tool tray to the mechanical arm.
Further, the guide assembly comprises a conical cylinder, an upper guide cylinder and a lower guide cylinder which are sequentially connected from bottom to top, the diameter of the upper end of the conical cylinder is larger than that of the assembly sleeve, and the diameter of the lower end of the conical cylinder is equal to that of the assembly sleeve.
Further, the inside of going up the guide cylinder is provided with the assembly seat, the vertical pilot hole that wears to be equipped with of center department of assembly seat, the pilot hole is located directly over the bottom outlet, just the pilot hole with assembly pole looks adaptation.
Further, the outside cover of going up the guide cylinder is equipped with intermediate layer sleeve, be provided with the friction pad on the telescopic inner wall of intermediate layer, the friction pad with the outer wall in close contact with of going up the guide cylinder, the intermediate layer sleeve is vertical to be worn to establish in the assembly groove, just the intermediate layer sleeve with threaded connection between the assembly groove.
Further, the periphery of guide cylinder is provided with the spacing ring down, the spacing ring is fixed the assembly inslot, be provided with the spacing groove of circular arc type on the inner wall of spacing ring, it is provided with spacing seat to slide in the spacing groove, spacing seat with the outer wall of guide cylinder links to each other down.
Further, one end of the limiting seat is connected with an arc-shaped reset rod, the arc-shaped reset rod is concentric with the limiting ring, an arc-shaped cavity is arranged inside the limiting ring, one end of the arc-shaped cavity is communicated with the limiting groove, the arc-shaped reset rod is inserted into the arc-shaped cavity, and a rotary reset spring is sleeved on the periphery of the arc-shaped reset rod.
Further, a vertical return spring is arranged between the bottom of the assembling groove and the bottom end of the lower guide cylinder, and the vertical return spring is concentric with the assembling groove.
The embodiment of the invention has the following advantages:
the screw can be installed and disassembled by the aid of the dismounting tool in a forward rotating mode without reverse rotation, the defect that the dismounting tool is disconnected in a reverse rotating process is overcome, and the existing connecting mode is changed, so that the defect that in the existing connecting and fixing mode, a certain gap is inevitably formed between the assembling rod and the assembling hole, the assembling rod and the assembling hole slightly collide when the device is dismounted is avoided, the connection stability of the dismounting tool on an arm is influenced, and the defect that the mounting tool is not assembled in place is easily caused.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic view of the overall structure of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a mounting base according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a mounting/dismounting tool according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a guide assembly according to an embodiment of the present invention;
FIG. 6 is a schematic top view of an upper guide cylinder according to an embodiment of the present invention;
fig. 7 is a schematic top view of the lower guide cylinder according to the embodiment of the present invention.
In the figure:
1. a fixed base; 2. a mechanical arm; 3. a manipulator; 4. a disassembling tool; 5. a mounting seat; 6. a tool tray; 7. a rotating cylinder; 8. rotating the motor; 9. a containing hole; 10. a bottom hole; 11. assembling a groove; 12. a tool head; 13. assembling a rod; 14. assembling; 15. a magnetic sheet; 16. a guide assembly; 17. a tapered barrel; 18. an upper guide cylinder; 19. a lower guide cylinder; 20. assembling a seat; 21. an assembly hole; 22. an interlayer sleeve; 23. a friction pad; 24. a limiting ring; 25. a limiting groove; 26. a limiting seat; 27. an arc-shaped reset rod; 28. an arc-shaped cavity; 29. rotating the return spring; 30. vertical reset spring.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. 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 technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
As shown in fig. 1 to 7, the invention discloses a dual-arm electric power overhaul robot capable of lifting and rotating, which comprises a fixed base 1 with a lifting and rotating function and two mechanical arms 2 arranged on the fixed base 1, wherein one mechanical arm 2 is used for mounting devices during electric power overhaul, and the other mechanical arm 2 is used for dismounting devices during electric power overhaul.
The end of arm 2 is provided with manipulator 3, and manipulator 3 includes mount pad 5 and instrument dish 6, has deposited a plurality of assembly and disassembly tools 4 on the instrument dish 6, and assembly and disassembly tools 4 can be fixed on mount pad 5, and arm 2 treats the device of overhauing through assembly and disassembly tools and dismantles and install. In the present embodiment, the attachment/detachment tool 4 is a screwdriver of different types. Mount pad 5 sets up the end at arm 2, be provided with on mount pad 5 and rotate a section of thick bamboo 7, it is provided with the bearing to rotate between a section of thick bamboo 7 and the arm 2, it rotates 7 rotatory rotation motors 8 still to be provided with the drive on mount pad 5, instrument dish 6 sets up on arm 2, be provided with a plurality of vertical splendid attire holes 9 that run through on instrument dish 6, assembly and disassembly tools 4 insert and establish in splendid attire holes 9, supreme bottom outlet 10 and the assembly groove 11 of including in proper order are followed to splendid attire holes 9, assembly and disassembly tools 4 includes from supreme 12 of including in proper order down, assembly pole 13 and the supporting 14 of equipment, instrument head 12 passes bottom outlet 10, assembly pole 13 and 11 looks adaptations of assembly groove, assembly cover 14 links to each other with a section of rotating 7 screw threads.
In this embodiment, the mounting/dismounting tool 4 is stored in the storage hole 9 of the tool tray 6 in advance, the tool head 12 thereof passes through the bottom hole 10, the mounting rod 13 is inserted into the mounting groove 11, the bottom of the mounting groove 11 and the side of the mounting rod 13 facing the mounting groove 11 are provided with corresponding magnetic sheets 15, and the mounting/dismounting tool 4 is fixed on the tool tray 6 through the magnetic sheets 15. When the dismounting tool 4 needs to be installed, the mechanical arm 2 works to enable the rotating cylinder 7 at the tail end of the mechanical arm to be vertically aligned with the assembling sleeve 14, then the rotating motor 8 drives the rotating cylinder 7 to rotate, the assembling sleeve 14 is connected with the rotating cylinder 7, and the dismounting tool 4 is installed on the mechanical arm 2 in a threaded mode. In the process of the above-mentioned thread installation, since the assembly groove 11 is provided with the special-shaped groove corresponding to the assembly rod 13, the assembly groove 11 can fix the assembling and disassembling tool 4, so that the assembling and disassembling tool 4 does not rotate, and the assembling and disassembling tool 4 can be installed smoothly. Meanwhile, the mounting process of the dismounting tool 4 does not need manual operation and can be automatically completed, and the defect that the dismounting tool cannot be automatically replaced in the maintenance process to cause the maintenance efficiency to be affected is overcome.
It should be noted that, in the present embodiment, there are two robot arms 2, and the two robot arms 2 have different functions, and on the robot arm 2 for mounting a device, the screwing direction of the mounting and dismounting tool 4 during mounting is the same as the screwing direction of the mounting and dismounting tool 4 during mounting a screw, and when mounting a screw, the mounting and dismounting tool 4 is more tightly combined with the robot arm 2; in the mechanical arm 2 for detaching the device, the screwing direction of the detaching tool 4 during installation is the same as the screwing direction of the detaching tool 4 during screw detachment, and the detaching tool 4 is combined with the mechanical arm 2 more tightly during screw detachment, so that smooth screw detachment is ensured.
The existing electric power overhaul robot is generally a single-arm robot, devices are dismantled and installed through single mechanical arm operation, the mechanical arm drives a dismounting tool to rotate forwards to realize the installation of the devices, and also needs to drive the dismounting tool to rotate backwards to realize the disassembly of the devices, so the dismounting tool cannot be installed on the mechanical arm in a threaded connection mode, generally speaking, the front end of the mechanical arm is provided with an inner hexagonal assembling hole, the dismounting tool is provided with an assembling rod matched with the assembling hole, and the dismounting tool and the mechanical arm are connected and fixed through the shape matching of the assembling rod and the assembling hole and a magnetic part between the assembling rod and the assembling hole; in the above connection fixing manner, a certain gap is inevitably formed between the assembling rod and the assembling hole, so that slight collision occurs between the assembling rod and the assembling hole when the device is assembled and disassembled, which affects the connection stability of the assembling and disassembling tool on the mechanical arm and is easy to cause the phenomenon of incomplete assembly.
In the embodiment, the dismounting tool 4 is in threaded connection with the mechanical arm 2, and an assembly gap does not exist between the dismounting tool 4 and the mechanical arm 2, so that the situation that the connection stability of the dismounting tool on the mechanical arm is affected and the occurrence of the phenomenon that the mounting cannot be in place due to slight collision between an assembly rod and an assembly hole when the device is dismounted due to the existence of the gap is avoided.
Further, in order to enable the assembling and disassembling tool 4 to be aligned with the installation position on the mechanical arm 2 more quickly and improve the installation, disassembly and replacement speed of the assembling and disassembling tool 4, thereby improving the efficiency of electric power overhaul, the tool tray 6 is also provided with a guide assembly 16 which can provide a guide for the process of disassembling the assembling and disassembling tool 4 from the mechanical arm 2 to the tool tray 6 and also provide a guide for the process of installing the assembling and disassembling tool 4 from the tool tray 6 to the mechanical arm 2, the guide assembly 16 comprises a conical cylinder 17, an upper guide cylinder 18 and a lower guide cylinder 19 which are sequentially connected from top to bottom, the diameter of the upper end of the conical cylinder 17 is larger than the diameter of the assembling sleeve 14, the diameter of the lower end of the conical cylinder 17 is equal to the diameter of the assembling sleeve 14, an assembling seat 20 is arranged inside the upper guide cylinder 18, an assembling hole 21 is vertically penetrated in the center of the assembling seat 20, the assembling hole 21 is positioned right above the bottom hole 10, and the pilot hole 21 and the adaptation of assembly pole 13, the outside cover of going up guide cylinder 18 is equipped with intermediate layer sleeve 22, be provided with friction pad 23 on the inner wall of intermediate layer sleeve 22, friction pad 23 and the outer wall in close contact with of going up guide cylinder 18, intermediate layer sleeve 22 vertically wears to establish in the assembly groove 11, and threaded connection between intermediate layer sleeve 22 and the assembly groove 11, the periphery of lower guide cylinder 19 is provided with spacing ring 24, spacing ring 24 is fixed in the assembly groove 11, be provided with the spacing groove 25 of circular arc type on the inner wall of spacing ring 24, it is provided with spacing seat 26 to slide in the spacing groove 25, spacing seat 26 links to each other with the outer wall of lower guide cylinder 19.
One end of the limiting seat 26 is connected with a circular arc-shaped reset rod 27, the arc-shaped reset rod 27 is concentric with the limiting ring 24, an arc-shaped cavity 28 is arranged inside the limiting ring 24, one end of the arc-shaped cavity 28 is communicated with the limiting groove 25, the arc-shaped reset rod 27 is inserted into the arc-shaped cavity 28, a rotary reset spring 29 is sleeved on the periphery of the arc-shaped reset rod 27, a vertical reset spring 30 is arranged between the bottom of the assembly groove 11 and the bottom of the lower guide cylinder 19, and the vertical reset spring 30 is concentric with the assembly groove 11.
When the guide assembly 16 is used for installing the dismounting tool 4, the mechanical arm 2 drives the rotary cylinder 7 to move to the upper part of the assembling sleeve 14 and enables the rotary cylinder 7 to continuously approach the assembling sleeve 14, after the rotary cylinder 7 is abutted to the assembling sleeve 14, the rotary motor 8 drives the rotary cylinder 7 to rotate, the assembling sleeve 14 is connected with the rotary cylinder 7, namely the dismounting tool 4 is installed on the mechanical arm 2 in a threaded mode;
when the dismounting tool 4 is dismounted by using the guide assembly 16, the mechanical arm 2 drives the dismounting tool 4 to move towards the guide assembly 16, the dismounting tool 4 passes through the conical barrel 17, the assembling sleeve 14 in the dismounting tool 4 is aligned with and inserted into the upper guide barrel 18 under the collecting and adjusting action of the conical barrel 17, wherein the tool head 12 directly passes through the assembling hole 21, the assembling rod 13 corresponds to the assembling hole 21 in shape but is not aligned in angle, so that the assembling rod 13 pushes the assembling seat 20, the upper guide barrel 18, the conical barrel 17 and the lower guide barrel 19 to move downwards after being abutted with the assembling seat 20, the upper guide barrel 18 is connected with the interlayer sleeve 22 through the friction pad 23 in close contact, the interlayer sleeve 22 and the upper guide barrel 18 move together under the action of friction force generated during extrusion, and the interlayer sleeve 22 is also rotated when moving downwards due to the threaded connection between the interlayer sleeve 22 and the assembling groove 11, thereby the assembling seat 20 rotates to change the angle of the assembling hole 21; after the angle of the fitting hole 21 is aligned with the fitting rod 13, the fitting rod 13 is inserted into the fitting hole 21, and the aligned insertion of the attachment/detachment tool 4 into the fitting hole 21 is completed.
In the process that the assembling and disassembling tool 4 drives the assembling seat 20, the upper guide cylinder 18, the conical cylinder 17 and the lower guide cylinder 19 to move downwards, the vertical return spring 30 is compressed, after the angle of the assembling hole 21 is aligned with the assembling rod 13, the assembling rod 13 does not press the assembling seat 20 any more, at the moment, the assembling seat 20, the upper guide cylinder 18, the conical cylinder 17 and the lower guide cylinder 19 move upwards to the original position under the elastic force action of the vertical return spring 30, meanwhile, the assembling rod 13 continuously penetrates downwards until contacting with the bottom surface, and at the moment, the assembling seat 20 is still not contacted with the assembling sleeve 14.
After the assembling rod 13 extends to the bottommost part and stops moving, the rotating motor 8 drives the rotating cylinder 7 to rotate reversely, so that the disassembling tool 4 rotates, the assembling rod 13 drives the assembling seat 20 and the lower guide cylinder 19 to rotate, the limiting seat 26 slides along the limiting groove 25, after the limiting seat 26 slides to the end part of the limiting groove 25, the assembling seat 20 stops rotating, the assembling seat 20 and the rotating cylinder 7 rotate relatively along with the continuous rotation of the rotating cylinder 7, and meanwhile, the mechanical arm 2 is lifted upwards to enable the rotating cylinder 7 to be gradually separated from the assembling sleeve 14, so that the disassembling tool 4 is disassembled; during the sliding process of the limiting seat 26, the rotating return spring 29 is compressed, and after the rotating cylinder 7 is separated from the assembling sleeve 14, the limiting seat 26 returns to the original position under the elastic force of the rotating return spring 29, so that the assembling sleeve 20 is reset.
In this embodiment, when the dismounting tool 4 is mounted and dismounted, since the bottom of the rotary cylinder 7 and the top of the mounting sleeve 14 are both circular, the rotary cylinder 7 is driven to rotate after the two are aligned in position, so that the mounting of the dismounting tool 4 can be realized, but the mounting rod 13 and the mounting hole 21 are in adaptive shapes, and also need to be aligned in angle after the position alignment, for the time of smaller angle alignment, when the dismounting tool 4 is dismounted, the mechanical arm 2 directly drives the dismounting tool 4 to be inserted into the guide assembly 16, so that the angle alignment of the mounting rod 13 and the mounting hole 21 can be realized, the dismounting steps of the dismounting tool 4 are greatly simplified, and the efficiency of electric power overhaul is improved.
Through setting up two arms 2, assembly and disassembly tools 4 on one arm 2 is through the installation of corotation in order to realize the device, assembly and disassembly tools 4 on another arm 2 realizes the dismantlement of device through the corotation, that is assembly and disassembly tools 4 need not the reversal, it breaks away from in succession to have avoided assembly and disassembly tools 4 that assembly and disassembly tools 4 reversal and lead to, the drawback of unable work, so can adopt threaded connection assembly and disassembly tools 4 in this embodiment, thereby in avoiding current connection fixed mode, certain clearance has certainly to exist between assembling rod 13 and the pilot hole 21, lead to when carrying out the dismouting of device, take place slight collision between assembling rod 13 and the pilot hole 21, in the long term, influence the connection steadiness of assembly and disassembly tools on the arm, the phenomenon that the assembly is not in place also appears easily.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. A lifting and rotating double-arm electric power overhaul robot comprises a fixed base (1) with lifting and rotating functions, and is characterized in that one mechanical arm (2) used for device installation and the other mechanical arm (2) used for device disassembly are mounted on the fixed base (1), and a mechanical arm (3) is arranged at the tail end of the mechanical arm (2);
the manipulator (3) comprises a disassembling tool (4) for disassembling and assembling devices, a mounting seat (5) for mounting the disassembling tool (4) and a tool tray (6) for containing the disassembling tool (4), the mounting seat (5) is arranged at the tail end of the mechanical arm (2), a rotating cylinder (7) is arranged on the mounting seat (5), a bearing is arranged between the rotating cylinder (7) and the mechanical arm (2), and a rotating motor (8) for driving the rotating cylinder (7) to rotate is further arranged on the mounting seat (5);
the tool tray (6) is arranged on the mechanical arm (2), a plurality of vertically-penetrating containing holes (9) are formed in the tool tray (6), the disassembling tool (4) is inserted into the containing holes (9), the containing holes (9) sequentially comprise bottom holes (10) and assembling grooves (11) from bottom to top, the disassembling tool (4) sequentially comprises a tool head (12), an assembling rod (13) and an assembling sleeve (14) from bottom to top, the tool head (12) penetrates through the bottom holes (10), the assembling rod (13) is matched with the assembling grooves (11), and the assembling sleeve (14) is in threaded connection with the rotating cylinder (7);
the bottom of the assembling groove (11) and one surface of the assembling rod (13) which is just opposite to the assembling groove (11) are provided with corresponding magnetic sheets (15);
the tool tray (6) is also provided with a guide assembly (16) for guiding the dismounting tool (4) to be dismounted from the mechanical arm (2) to the tool tray (6) and simultaneously guiding the dismounting tool (4) to be mounted from the tool tray (6) to the mechanical arm (2);
the guide assembly (16) comprises a conical cylinder (17), an upper guide cylinder (18) and a lower guide cylinder (19) which are sequentially connected from bottom to bottom, the diameter of the upper end of the conical cylinder (17) is larger than that of the assembly sleeve (14), and the diameter of the lower end of the conical cylinder (17) is equal to that of the assembly sleeve (14);
an assembly seat (20) is arranged inside the upper guide cylinder (18), an assembly hole (21) vertically penetrates through the center of the assembly seat (20), the assembly hole (21) is located right above the bottom hole (10), and the assembly hole (21) is matched with the assembly rod (13);
an interlayer sleeve (22) is sleeved outside the upper guide cylinder (18), a friction pad (23) is arranged on the inner wall of the interlayer sleeve (22), the friction pad (23) is tightly contacted with the outer wall of the upper guide cylinder (18), the interlayer sleeve (22) vertically penetrates through the assembly groove (11), and the interlayer sleeve (22) is in threaded connection with the assembly groove (11);
the periphery of guide cylinder (19) is provided with spacing ring (24) down, spacing ring (24) are fixed in assembly groove (11), be provided with spacing groove (25) of circular arc type on the inner wall of spacing ring (24), it is provided with spacing seat (26) to slide in spacing groove (25), spacing seat (26) with the outer wall of guide cylinder (19) links to each other down.
2. The liftable rotatory both arms electric power of claim 1 overhauls robot, characterized in that, the wherein one end connection of spacing seat (26) has convex arc release link (27), arc release link (27) with spacing ring (24) are concentric, spacing ring (24) inside is provided with arc cavity (28), wherein one end of arc cavity (28) with spacing groove (25) are linked together, arc release link (27) insert in arc cavity (28), the periphery cover of arc release link (27) is equipped with rotates reset spring (29).
3. The liftable and rotatable double-arm electric power overhaul robot as claimed in claim 2, wherein a vertical return spring (30) is arranged between the bottom of the assembly groove (11) and the bottom end of the lower guide cylinder (19), and the vertical return spring (30) is concentric with the assembly groove (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246264.7A CN112372646B (en) | 2020-11-10 | 2020-11-10 | Liftable rotatory both arms electric power overhaul robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246264.7A CN112372646B (en) | 2020-11-10 | 2020-11-10 | Liftable rotatory both arms electric power overhaul robot |
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| Publication Number | Publication Date |
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| CN112372646A CN112372646A (en) | 2021-02-19 |
| CN112372646B true CN112372646B (en) | 2022-02-18 |
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| CN202011246264.7A Active CN112372646B (en) | 2020-11-10 | 2020-11-10 | Liftable rotatory both arms electric power overhaul robot |
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| DE19832303C2 (en) * | 1998-07-17 | 2000-05-18 | Storz Karl Gmbh & Co Kg | screwdriver |
| DE102011003290A1 (en) * | 2011-01-28 | 2012-08-02 | Hilti Aktiengesellschaft | Concrete screw and method for anchoring a concrete screw in a substrate |
| CN202805053U (en) * | 2012-10-16 | 2013-03-20 | 俞春媚 | Screw driver |
| US10836484B2 (en) * | 2016-04-17 | 2020-11-17 | Lucio Volpi | Unmanned aerial robotic vehicle with mounting mechanism |
| JP2019005886A (en) * | 2017-06-20 | 2019-01-17 | 坂田 正久 | Detachable screw holding tool for driver |
| CN107877117A (en) * | 2017-11-15 | 2018-04-06 | 广州文冲船厂有限责任公司 | A kind of installation of reamer head and provision for disengagement |
| CN109501501B (en) * | 2018-11-30 | 2021-01-12 | 鲁迅美术学院艺术工程总公司 | Intelligent engraving and etching equipment with overturning and fixing functions |
| CN209987510U (en) * | 2019-03-21 | 2020-01-24 | 王冰 | Seal engraving device convenient for replacing tool bit |
| CN110757388A (en) * | 2019-10-30 | 2020-02-07 | 广东电网有限责任公司 | Dual-purpose measurement fortune dimension screwdriver |
| CN111185917A (en) * | 2020-01-21 | 2020-05-22 | 青岛理工大学 | High-altitude intelligent operation lamp-changing robot |
| CN211806203U (en) * | 2020-03-26 | 2020-10-30 | 冰之沁人工智能科技(上海)有限公司 | Multi-functional detachable robot clamping jaw |
-
2020
- 2020-11-10 CN CN202011246264.7A patent/CN112372646B/en active Active
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