CN114619419A - Dangerous goods pickup apparatus of transformer substation - Google Patents
Dangerous goods pickup apparatus of transformer substation Download PDFInfo
- Publication number
- CN114619419A CN114619419A CN202210103943.1A CN202210103943A CN114619419A CN 114619419 A CN114619419 A CN 114619419A CN 202210103943 A CN202210103943 A CN 202210103943A CN 114619419 A CN114619419 A CN 114619419A
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- CN
- China
- Prior art keywords
- driving
- picking
- drive
- telescopic
- arm
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- 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.)
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Classifications
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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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a dangerous goods pickup apparatus of transformer substation includes: the device comprises a driving mechanism, a picking mechanism, a telescopic mechanism, a control mechanism and a fixing mechanism; the driving mechanism is used for driving the picking mechanism to carry out picking operation on the target object within the range of 360 degrees; the control mechanism is used for controlling the telescopic mechanism to stretch so as to drive the picking mechanism to move in the horizontal and vertical directions; the supporting mechanism is used for providing support for the driving mechanism, the picking mechanism, the telescopic mechanism and the control mechanism.
Description
Technical Field
The utility model belongs to the technical field of power equipment, concretely relates to dangerous goods pickup apparatus of transformer substation.
Background
Under the working conditions of dangerous environments such as a transformer substation and the like, some dangerous articles are easy to generate (namely, because the dangerous articles are in a high-voltage environment, fire and explosion risks are easy to cause in the processes of storage, loading, unloading and transportation, and personal injuries and property damages are possibly caused). In recent years, safety events have frequently occurred, and therefore, it is necessary to design a mechanical device to deal with the problem.
Disclosure of Invention
Aiming at the defects in the prior art, the object of the present disclosure is to provide a substation dangerous goods picking device, which can realize 360 ° rotation and can freely extend and retract along the horizontal and vertical directions, thereby realizing the full-range coverage of the picked goods.
In order to achieve the above object, the present disclosure provides the following technical solutions:
a substation hazardous article pickup apparatus, comprising: the device comprises a driving mechanism, a picking mechanism, a telescopic mechanism, a control mechanism and a fixing mechanism; wherein the content of the first and second substances,
the driving mechanism is used for driving the picking mechanism to carry out picking operation on the target object within the range of 360 degrees;
the control mechanism is used for controlling the telescopic mechanism to stretch so as to drive the picking mechanism to move in the horizontal and vertical directions;
the supporting mechanism is used for providing support for the driving mechanism, the picking mechanism, the telescopic mechanism and the control mechanism.
Preferably, the driving mechanism comprises a first driving motor and a rotating disk, and the first driving motor is used for driving the rotating disk to enable the telescopic mechanism and the picking mechanism to realize 360-degree rotation in the horizontal direction.
Preferably, the telescopic mechanism comprises a transverse telescopic arm, and one end of the transverse telescopic arm is arranged on the rotating disc through a first connecting piece.
Preferably, the telescopic mechanism further comprises a longitudinal telescopic arm, and one end of the longitudinal telescopic arm is arranged at the other end of the transverse telescopic arm through a second connecting piece.
Preferably, the driving mechanism further comprises a second driving motor for driving the longitudinal telescopic arm to move the picking mechanism up and down in a vertical direction.
Preferably, the control mechanism includes a first controller for controlling the rotation angle and the rotation speed of the rotating disk.
Preferably, the control mechanism further comprises a second controller for controlling the extension and retraction of the transverse telescopic arm and the longitudinal telescopic arm.
Preferably, the picking mechanism comprises a first manipulator and a second manipulator which have the same structure, and the first manipulator and the second manipulator are arranged at the other end of the longitudinal telescopic arm through a third connecting piece.
Preferably, the driving mechanism further includes a third driving motor for driving the first and second manipulators to perform a picking operation on the object.
Preferably, the supporting mechanism comprises a fixed frame, and a moving platform is arranged at the bottom end of the fixed frame.
Compared with the prior art, the beneficial effect that this disclosure brought does:
1. the transverse telescopic arm can rotate 360 degrees, and the full-range coverage can enable workers to remotely operate the machine in a safe range.
2. The staff operation is convenient more convenient, use remote control can, from can using manpower sparingly to a certain extent, bring the flexibility of working for the staff.
Drawings
Fig. 1 is a front view of a dangerous goods pickup device of a transformer substation provided by an embodiment of the disclosure;
fig. 2 is a rear view of a dangerous goods picking device of a transformer substation provided by another embodiment of the disclosure;
fig. 3 is a side view of a substation hazardous material pickup device provided by another embodiment of the present disclosure;
FIG. 4 is a schematic view of the construction of the telescopic arm of the apparatus of FIG. 1;
FIG. 5 is a schematic view of the robot of the apparatus of FIG. 1;
FIG. 6 is a schematic view of a clamp plate in the robot of FIG. 4;
FIG. 7 is a schematic view of the motor and rotating disk of the apparatus of FIG. 1;
the reference numerals in the drawings are as follows:
101. a second drive motor; 102. a second controller; 103. a first drive motor; 104. a roller; 105. a metal frame retainer; 106-1, a first manipulator; 106-2, a second manipulator; 107. a third drive motor; 108. a splint; 201. a longitudinally telescoping arm; 202. a screw; 203. a fixed mount; 204. rotating the disc; 205. a first controller; 206. a transverse telescopic arm; 207. and (4) a screw.
Detailed Description
Specific embodiments of the present disclosure will be described in detail below with reference to fig. 1 to 7. While specific embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It should be noted that certain terms are used throughout the description and claims to refer to particular components. As one skilled in the art will appreciate, various names may be used to refer to a component. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. The description which follows is a preferred embodiment of the present disclosure, but is made for the purpose of illustrating the general principles of the disclosure and not for the purpose of limiting the scope of the disclosure. The scope of the present disclosure is to be determined by the terms of the appended claims.
To facilitate an understanding of the embodiments of the present disclosure, the following detailed description is to be considered in conjunction with the accompanying drawings, and the drawings are not to be construed as limiting the embodiments of the present disclosure.
In one embodiment, as shown in fig. 1 to 3, the present disclosure provides a substation hazardous article pickup device, including: the device comprises a driving mechanism, a picking mechanism, a telescopic mechanism, a control mechanism and a fixing mechanism; wherein, the first and the second end of the pipe are connected with each other,
the driving mechanism is used for driving the picking mechanism to carry out picking operation on the target object within the range of 360 degrees;
the control mechanism is used for controlling the telescopic mechanism to stretch so as to drive the picking mechanism to move in the horizontal and vertical directions;
the supporting mechanism is used for providing support for the driving mechanism, the picking mechanism, the telescopic mechanism and the control mechanism.
The above embodiments constitute a complete technical solution of the present disclosure. Compared with the existing pickup device, the device can realize the pickup operation of the target object within 360 degrees under the condition that the device is not moved integrally, and the working efficiency is improved. The device of the embodiment can also weaken the limitation of the distance of the target object, and pick up the target objects with different distances on the premise of reducing the overall moving frequency of the device.
In another embodiment, as shown in fig. 7, the driving mechanism comprises a first driving motor 103 and a rotating disc 204, and the first driving motor 103 drives the rotating disc 204 to enable the telescoping mechanism and the picking mechanism to realize 360 ° rotation in the horizontal direction.
In this embodiment, first driving motor 103 passes through screw 207 to be fixed on fixed establishment, and first driving motor can be used to drive the rotary disk and rotate, and then drives telescopic machanism and picks up the mechanism and realize 360 rotations, can realize that the omnidirectional target object picks up under the condition that does not need the whole position of adjusting device, has improved and has picked up efficiency.
In another embodiment, as shown in fig. 4, the telescoping mechanism comprises a transverse telescoping arm 206, and one end of the transverse telescoping arm 206 is disposed on the rotating disc 204 through a first link.
The existing device mostly adopts mechanical arms with fixed lengths, and when a target object is too far or too close, the device needs to be moved integrally, so that time and labor are consumed. As an improvement on the existing device, the traditional mechanical arm is designed into a telescopic arm with a telescopic length, and the whole device does not need to be moved, so that the picking operation of the target objects with different distances can be completed.
In another embodiment, the telescopic mechanism further comprises a longitudinal telescopic arm 201, and one end of the longitudinal telescopic arm 201 is disposed at the other end of the transverse telescopic arm 206 through a second connecting member.
In this embodiment, can follow vertical direction through the setting and carry out the vertical flexible arm that stretches out and draws back for the mechanism that picks up can be applicable to in a flexible way and pick up the target object of ground height difference.
In another embodiment, the driving mechanism further comprises a second driving motor 101 for driving the longitudinal telescopic arm 201 to move the picking mechanism up and down in the vertical direction.
In another embodiment, the control mechanism comprises a first controller 205 for controlling the rotation angle and the rotation speed of the rotating disc 204.
In this embodiment, the first controller is connected with the rotating disk through the first connecting piece, and an operator controls the rotating angle and the speed of the rotating disk through the first remote control controller, so as to drive the transverse telescopic arm to rotate within the range of 360 degrees at the same speed and angle.
In another embodiment, the control mechanism further comprises a second controller 102 for controlling the extension and retraction of the transversely extending arm 206 and the longitudinally extending arm 201.
In this embodiment, according to the distance and the ground height of target object, operating personnel passes through the flexible length of remote control second controller in order to control horizontal flexible arm and vertical flexible arm for pickup mechanism can easily accomplish the pickup operation to the target object.
It should be noted that the pickup apparatus of the present disclosure is provided with a wireless communication device (not shown in the drawings), so that the second controller and the first controller in the present embodiment can establish remote communication with the remote control device in the hand of the operator. The wireless communication device and the remote control device may adopt the existing common devices in the market, and do not belong to the protection scope of the present disclosure.
In another embodiment, as shown in fig. 5, the picking mechanism comprises a first manipulator and a second manipulator which are identical in structure, and the first manipulator 106-1 and the second manipulator 106-2 are arranged at the other end of the longitudinal telescopic arm 201 through a third connecting piece.
In this embodiment, a slide rail is disposed on a lower end surface of the third connecting piece, the first manipulator and the second manipulator are slidably connected to the third connecting piece, and when the two manipulators lock a target object, the third driving motor 107 disposed on the third connecting piece drives the manipulators to simulate hands of the. In addition, the two mechanical hands have the same structure, as shown in fig. 6, each mechanical hand is composed of 4 clamping plates 108 which are arranged circumferentially, and when a picking operation needs to be carried out on an object, the third driving motor 107 drives the clamping plates to contract inwards to realize grabbing; when the object is carried to a designated position, the third driving motor 107 drives the clamp plates to be opened outward, thereby releasing the object from the robot.
In another embodiment, the supporting mechanism includes a fixing frame 203, and a moving platform is disposed at the bottom end of the fixing frame.
In this embodiment, the fixing frame is a metal fixing frame, which is fixed by a metal frame fixer 105, and the lower end of the fixing frame is provided with a moving platform, the moving platform is fixed by a screw 202, the lower end of the moving platform is provided with a roller 104, and an operator can remotely control the moving platform to move, so as to pick up a target object outside the operation range of the manipulator.
The foregoing description of the present disclosure has been presented with specific examples to aid understanding thereof, and is not intended to limit the present disclosure. Any partial modification or replacement within the technical scope disclosed in the present disclosure by a person skilled in the art should be included in the scope of the present disclosure.
Claims (10)
1. A substation hazardous article pickup apparatus, comprising: the device comprises a driving mechanism, a picking mechanism, a telescopic mechanism, a control mechanism and a fixing mechanism; wherein the content of the first and second substances,
the driving mechanism is used for driving the picking mechanism to carry out picking operation on the target object within the range of 360 degrees;
the control mechanism is used for controlling the telescopic mechanism to stretch so as to drive the picking mechanism to move in the horizontal and vertical directions;
the supporting mechanism is used for providing support for the driving mechanism, the picking mechanism, the telescopic mechanism and the control mechanism.
2. The apparatus according to claim 1, wherein preferably the drive mechanism comprises a first drive motor and a rotary disc, the first drive motor being adapted to drive the rotary disc to effect a 360 ° rotation of the telescopic mechanism and the pick-up mechanism in a horizontal direction.
3. The apparatus of claim 2, wherein the telescoping mechanism comprises a laterally telescoping arm, one end of which is disposed on the rotating disk by a first link.
4. The device of claim 3, wherein the telescoping mechanism further comprises a longitudinally telescoping arm, one end of which is disposed at the other end of the transversely telescoping arm by a second link.
5. The apparatus of claim 4, wherein the drive mechanism further comprises a second drive motor for driving the longitudinal telescoping arm to move the pick up mechanism up and down in a vertical direction.
6. The apparatus of claim 2, wherein the control mechanism comprises a first controller for controlling the rotation angle and the rotation speed of the rotating disk.
7. The apparatus of claim 4, wherein the control mechanism further comprises a second controller for controlling the degree of extension and retraction of the transversely extending and longitudinally extending arms.
8. A device according to any one of claims 4, 5 or 7, wherein the pick-up mechanism comprises first and second identically configured manipulators arranged at the other end of the longitudinally extending arm by a third link.
9. The apparatus of claim 8, wherein the drive mechanism further comprises a third drive motor for driving the first and second manipulators to perform a pick operation on the target object.
10. The device of claim 1, wherein the support mechanism comprises a fixed frame, and a moving platform is arranged at the bottom end of the fixed frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210103943.1A CN114619419A (en) | 2022-01-27 | 2022-01-27 | Dangerous goods pickup apparatus of transformer substation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210103943.1A CN114619419A (en) | 2022-01-27 | 2022-01-27 | Dangerous goods pickup apparatus of transformer substation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114619419A true CN114619419A (en) | 2022-06-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210103943.1A Pending CN114619419A (en) | 2022-01-27 | 2022-01-27 | Dangerous goods pickup apparatus of transformer substation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114619419A (en) |
Citations (10)
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|---|---|---|---|---|
| US20150050111A1 (en) * | 2013-08-16 | 2015-02-19 | Barrett Technology, Inc. | Mobile manipulation system with vertical lift |
| CN206717843U (en) * | 2017-03-28 | 2017-12-08 | 衢州学院 | A kind of mechanical arm of intelligent tennis ball pickup robot |
| CN206764815U (en) * | 2017-04-21 | 2017-12-19 | 萨玛汽车内饰（北京）有限公司 | A kind of automatic Picking places mechanical hand |
| CN207027488U (en) * | 2017-08-03 | 2018-02-23 | 李蓬 | A kind of hospital refuse clears up manipulator |
| CN108582024A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of clamp device of manipulator |
| CN209224078U (en) * | 2018-12-28 | 2019-08-09 | 西安航空学院 | The dedicated rubbish robot for picking up of rail mounted highway |
| CN209319809U (en) * | 2018-12-11 | 2019-08-30 | 金石奉 | Mechanical arm assembly, manipulator and mechanical equipment |
| CN210704825U (en) * | 2019-08-19 | 2020-06-09 | 苏州伯德环境发展有限公司 | Pick up rubbish robot's arm drive mechanism |
| CN211682086U (en) * | 2020-02-24 | 2020-10-16 | 安永辉 | Garbage sorting robot |
| US20210078183A1 (en) * | 2019-09-17 | 2021-03-18 | Cardinal Gibbons High School | Self-lifting robot with automatic release and multi-jointed arm |
-
2022
- 2022-01-27 CN CN202210103943.1A patent/CN114619419A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150050111A1 (en) * | 2013-08-16 | 2015-02-19 | Barrett Technology, Inc. | Mobile manipulation system with vertical lift |
| CN206717843U (en) * | 2017-03-28 | 2017-12-08 | 衢州学院 | A kind of mechanical arm of intelligent tennis ball pickup robot |
| CN206764815U (en) * | 2017-04-21 | 2017-12-19 | 萨玛汽车内饰（北京）有限公司 | A kind of automatic Picking places mechanical hand |
| CN207027488U (en) * | 2017-08-03 | 2018-02-23 | 李蓬 | A kind of hospital refuse clears up manipulator |
| CN108582024A (en) * | 2018-05-04 | 2018-09-28 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of clamp device of manipulator |
| CN209319809U (en) * | 2018-12-11 | 2019-08-30 | 金石奉 | Mechanical arm assembly, manipulator and mechanical equipment |
| CN209224078U (en) * | 2018-12-28 | 2019-08-09 | 西安航空学院 | The dedicated rubbish robot for picking up of rail mounted highway |
| CN210704825U (en) * | 2019-08-19 | 2020-06-09 | 苏州伯德环境发展有限公司 | Pick up rubbish robot's arm drive mechanism |
| US20210078183A1 (en) * | 2019-09-17 | 2021-03-18 | Cardinal Gibbons High School | Self-lifting robot with automatic release and multi-jointed arm |
| CN211682086U (en) * | 2020-02-24 | 2020-10-16 | 安永辉 | Garbage sorting robot |
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Effective date of registration: 20230606 Address after: 313000 No.777, Fenghuang Road, Wuxing District, Huzhou City, Zhejiang Province Applicant after: State Grid Zhejiang Electric Power Co., Ltd. Huzhou Power Supply Co. Applicant after: ZHEJIANG TAILUN ELECTRIC POWER GROUP CO.,LTD. Address before: 313000 No.777, Fenghuang Road, Wuxing District, Huzhou City, Zhejiang Province Applicant before: State Grid Zhejiang Electric Power Co., Ltd. Huzhou Power Supply Co. |