CN114888789A - Mechanical arm of live working vehicle - Google Patents
Mechanical arm of live working vehicle Download PDFInfo
- Publication number
- CN114888789A CN114888789A CN202210398852.5A CN202210398852A CN114888789A CN 114888789 A CN114888789 A CN 114888789A CN 202210398852 A CN202210398852 A CN 202210398852A CN 114888789 A CN114888789 A CN 114888789A
- Authority
- CN
- China
- Prior art keywords
- arm
- main
- rotating
- claw
- rotating motor
- 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.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 50
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Images
Classifications
-
- 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
- B25J9/126—Rotary actuators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a mechanical arm of a live working vehicle, and relates to the field of live working vehicles. The mechanical arm of the live working vehicle comprises a main arm and an auxiliary arm, wherein one end of the main arm is connected with an operating platform, the other end of the main arm is provided with a main claw, the auxiliary arm comprises an auxiliary claw and an adjusting mechanism, one end of the adjusting mechanism is arranged at the joint of the main claw and the main arm, and the other end of the adjusting mechanism is provided with the auxiliary claw; on the basis of ensuring the safety, economy and flexibility of the mechanical arm and the compatibility of the existing live-wire work vehicle, the two mechanical arms commonly adopted by the existing domestic live-wire work robot are changed into the main mechanical arm and the auxiliary insulating mechanical arm, so that the weight of equipment can be reduced and the operation flow can be simplified while the live-wire work is completed in a mutually matched manner; not only avoids the danger of manual high-altitude operation, but also greatly improves the working efficiency.
Description
Technical Field
The invention relates to the technical field of live-wire work vehicles, in particular to a mechanical arm of a live-wire work vehicle.
Background
In recent years, the number of live-wire work by national grid companies has been increasing year by year. The modern electric fire-building operation mainly adopts an insulating glove operation method, an operator needs to stand on an insulating bucket arm vehicle to operate a wire, the labor intensity is high, the requirement on the technical level of the operator is high, the operator needs to directly contact a charged body, and potential safety hazards exist, so that a plurality of power supply companies begin to research and develop the work of a charged operation robot at present, but the design of a robot mechanical arm generally adopts a single-arm, double-arm or three-arm structure, wherein the single-arm structure is light in weight, but poor in stability and inaccurate in positioning; the double-arm structure works by two mechanical arms with basically the same function and weight and volume, the robot with the three-arm structure fixes the wires through the mechanical arms at two sides and completes the operation by the middle arm, and the two structures cause the hot-line work robot to have complicated equipment structure, heavy load and difficult operation in practical application.
Disclosure of Invention
Aiming at the technical problem, the design of a main mechanical arm and an auxiliary mechanical arm is adopted, so that the equipment load is reduced. On the basis of ensuring safety, economy, flexibility and compatibility of the existing live-wire work vehicle, the structure of the arm is redesigned, two mechanical arms commonly adopted by the existing domestic live-wire work robot are changed into a main mechanical arm and an auxiliary insulating mechanical arm, so that live-wire work can be completed in a mutually matched mode, the weight of equipment is reduced, and the operation flow is simplified; not only avoids the danger of manual high-altitude operation, but also greatly improves the working efficiency.
The invention aims to provide a mechanical arm of a live working vehicle, which can be matched with each other to complete live working and reduce the weight of equipment and simplify the operation flow on the basis of ensuring the safety, economy and flexibility of the mechanical arm and the compatibility of the existing live working vehicle; not only avoids the danger of manual high-altitude operation, but also greatly improves the working efficiency.
The embodiment of the invention is realized by the following steps:
the embodiment of the application provides a live working car arm, it includes main arm and assists the arm, the one end and the operation panel of main arm are connected, the other end of main arm is provided with the main claw, assist the arm including assisting claw and adjustment mechanism, adjustment mechanism's one end sets up the junction at main claw and main arm, be provided with on adjustment mechanism's the other end and assist the claw.
When the hot-line work vehicle mechanical arm is used, a hot-line work vehicle mechanical arm loaded in an insulating bucket arm vehicle hopper slowly rises to the side of a distribution line in a specified work area through the lifting of the insulating bucket arm, a main claw of the hot-line work vehicle mechanical arm grabs and lifts an operator (such as a wire stripper), a grounding ring is hung on the wire after the wire is operated (such as wire stripping operation), and fastening processing is carried out, in the operation process, the main claw is used for adjusting the position of the main claw, and the auxiliary claw is matched with the main claw to complete a series of operations, so that the hot-line work is safely and accurately completed.
Compared with the double-arm mechanical arm, the main arm and the auxiliary arm can work simultaneously, the auxiliary arm can also assist the main arm to work, the functions of the double-arm mechanical arm are reserved, and the auxiliary function is added.
In addition, the intelligent live-wire operation system also integrates technologies such as intelligent sensing, image recognition and automatic control (the technologies do not belong to the technical characteristics of the intelligent live-wire operation system and are not described in detail), the spatial position of a power supply line can be quickly recognized during operation, a motion path is planned, complex actions such as wire stripping, wire threading and wire lapping are automatically carried out on a lead through a robot arm, and live-wire operation is safely and accurately completed. The staff only need carry out remote operation through the panel computer on ground, has avoided personnel closely to contact 10 kilovolts of having the electric lead completely, greatly reduced operation personnel's personal safety risk.
In some embodiments of the present invention, the main arm includes a plurality of rotating mechanisms and connecting arms, and each of the connecting arms is connected by the rotating mechanism. The main arm is used as a main moving mechanism and can flexibly shuttle between the electric wires during operation, so that the flexibility of the main arm can be greatly increased by arranging a plurality of rotating mechanisms and connecting arms.
In some embodiments of the present invention, the main arm includes a top rotating mechanism, a first connecting arm, a middle rotating mechanism, and a second connecting arm. The top rotating mechanism on the main arm can control the rotation of the working claw and the auxiliary arm, and the first connecting arm, the second connecting arm and the middle rotating mechanism on the main arm can realize that the working claw and the auxiliary arm can flexibly shuttle between wires during operation.
In some embodiments of the present invention, the top rotating mechanism includes a first rotating motor, a top rotating base, and a second rotating motor, a fixed end of the first rotating motor is disposed at one end of the top rotating base, a free end of the second rotating motor is disposed at the other end of the top rotating base, and a fixed end of the second rotating motor is disposed on the first connecting arm. The first rotating motor controls the rotation of the working claw and the auxiliary arm, and the second rotating motor controls the rotation of the top rotating seat on the first connecting arm.
In some embodiments of the present invention, the middle rotating mechanism includes a third rotating motor, a fixed end of the third rotating motor is disposed on the first connecting arm, and a free end of the third rotating motor is disposed on the second connecting arm. The third rotating motor controls the first connecting arm to rotate around the second connecting arm.
In some embodiments of the present invention, the main arm further includes a bottom rotating mechanism, the bottom rotating mechanism includes a fourth rotating motor, a bottom rotating base, and a fifth rotating motor, a fixed end of the fourth rotating motor is disposed on one end of the bottom rotating base, a free end of the fourth rotating motor is disposed on the second connecting arm, a free end of the fifth rotating motor is disposed on the other end of the bottom rotating base, and a fixed end of the fifth rotating motor is disposed on the console. The fifth rotating motor controls the whole main arm to rotate on the operating platform, and the fourth rotating motor controls the second connecting arm to rotate around the bottom rotating seat.
In some embodiments of the present invention, the main claw includes a connecting rod and a first claw head, the first claw head is fixedly connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to one end of the main arm. The first claw head is used for grabbing and lifting an operator (such as a wire stripper) to operate a lead (such as wire stripping operation), and the connecting rod is fixedly connected to the free end of the first rotating motor so as to be rotatably connected with the main arm.
In some embodiments of the present invention, the auxiliary jaw is provided with a support frame at each of two ends thereof, and the support frame is used for supporting the electric wire. Because the auxiliary arm is attached to the main arm, the flexibility of the auxiliary arm is inferior to that of the main arm, and the flexibility of the auxiliary arm is increased by adding a degree of freedom at the second claw head; the support frame at the two ends of the second claw head can better increase the stability of the second claw head in operation on the electric wire.
In some embodiments of the present invention, the adjusting mechanism includes a sixth rotating motor and a telescopic arm, the sixth rotating motor is disposed on the main claw, and an output end of the sixth rotating motor is connected to the telescopic arm. The sixth rotating mechanism drives one end of the telescopic arm to rotate, and then drives the other end of the telescopic arm to stretch, so that the flexibility of the auxiliary arm is increased, and the auxiliary arm can better operate on an electric wire.
In some embodiments of the present invention, the auxiliary claw is provided with a sliding groove, the telescopic arm is provided with a sliding block corresponding to the sliding groove, two ends of the sliding groove are provided with limiting blocks, and the limiting blocks are connected with a stepping motor. The arrangement of the sliding block and the sliding groove can increase the flexibility of the auxiliary claw, and the auxiliary claw can be controlled to operate on an electric wire more conveniently by controlling the movement of the sliding block sliding groove through the stepping motor.
Compared with the prior art, the embodiment of the invention has at least the following advantages or beneficial effects:
on the basis of ensuring the safety, economy and flexibility of the mechanical arm and the compatibility of the existing live-wire work vehicle, the two mechanical arms commonly adopted by the existing domestic live-wire work robot are changed into the main mechanical arm and the auxiliary insulating mechanical arm, so that the weight of equipment can be reduced and the operation flow can be simplified while the live-wire work is completed in a mutually matched manner; not only avoids the danger of manual high-altitude operation, but also greatly improves the working efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic view of an overall structure of a mechanical arm of a hot-line work machine according to an embodiment of the present invention;
fig. 2 is an overall mechanism schematic diagram of a main arm of a mechanical arm of a live working machine according to an embodiment of the present invention;
fig. 3 is a schematic view of an overall structure of a working claw and an auxiliary arm of a mechanical arm of a live-wire work machine according to an embodiment of the present invention.
Icon: 1. a main arm; 2. a main claw; 3. auxiliary claws; 4. an operation table; 5. a first connecting arm; 6. a second connecting arm; 7. a first rotating electrical machine; 8. a top swivel base; 9. a second rotating electrical machine; 10. a third rotating electrical machine; 11. a fourth rotating electrical machine; 12. a bottom rotating base; 13. a fifth rotating electrical machine; 14. a connecting rod; 15. a first claw head; 16. a telescopic arm; 18. a support frame; 19. a sixth rotating electrical machine; 20. a stepper motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an orientation or a positional relationship based on an orientation or a positional relationship shown in the drawings, or an orientation or a positional relationship which is usually arranged when the product of the present invention is used, it is only for convenience of description and simplification of the description, but does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, "a plurality" represents at least 2.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
Example 1
The embodiment provides a mechanical arm of a live working machine, as shown in fig. 1, the mechanical arm comprises a main arm 1 and an auxiliary arm, one end of the main arm 1 is connected with an operating platform 4, a main claw 2 is arranged at the other end of the main arm 1, the auxiliary arm comprises an auxiliary claw 3 and an adjusting mechanism, one end of the adjusting mechanism is arranged at the joint of the main claw 2 and the main arm 1, and the other end of the adjusting mechanism is provided with the auxiliary claw 3.
When the hot-line work vehicle mechanical arm is used, a hot-line work vehicle mechanical arm loaded in an insulating bucket arm vehicle hopper slowly rises to the side of a distribution line in a specified work area through the lifting of the insulating bucket arm, a main claw 2 of the hot-line work vehicle mechanical arm grabs an operator (such as a wire stripper), a grounding ring is hung on the hot-line work vehicle mechanical arm after a conducting wire is operated (such as wire stripping operation), and fastening processing is carried out, in the operation process, the main claw 1 is used for adjusting the position of the main claw 2, and the auxiliary claw 3 is matched with the main claw 2 to complete a series of operations, so that the hot-line work is safely and accurately completed.
Compared with a double-arm mechanical arm, the main arm 1 and the auxiliary arm can work simultaneously, the main arm 1 can also be assisted to work, the functions of the double-arm mechanical arm are reserved, and the auxiliary function is added, and in addition, the auxiliary arm is arranged on the main arm 1, so that the weight is light, the degree of freedom is related to the main arm 1, the structure is simpler, and the operation difficulty is low.
In addition, the invention integrates the technologies of intelligent sensing, image recognition, automatic control and the like, can quickly recognize the space position of a power supply line during operation, plans a motion path, autonomously carries out complex actions such as wire stripping, threading, wire lapping and the like on a lead by a robot arm, and safely and accurately finishes live working. The staff only needs to carry out remote operation on the ground through the tablet personal computer, thereby completely avoiding the close contact of the staff with 10 KV live conductors and greatly reducing the personal safety risk of the operating staff.
Example 2
This embodiment provides a mechanical arm for a hot-line work machine, as shown in fig. 2, which is basically the same as embodiment 1, and the main differences between them are: the main arm 1 includes a plurality of rotating mechanisms and link arms, each of which is connected by the rotating mechanism. The main arm 1 can flexibly shuttle between the wires when in operation as a main moving mechanism, so that the flexibility of the main arm 1 can be greatly increased by arranging a plurality of rotating mechanisms and connecting arms.
Further, the main arm 1 includes a top rotating mechanism, a first connecting arm 5, a middle rotating mechanism, and a second connecting arm 6. The top rotating mechanism on the main arm 1 can control the rotation of the working claw and the auxiliary arm, and the first connecting arm 6, the second connecting arm 6 and the middle rotating mechanism on the main arm 1 can realize that the working claw and the auxiliary arm can flexibly shuttle between wires during operation.
Further, top rotary mechanism includes first rotating electrical machines 7, top roating seat 8 and second rotating electrical machines 9, and the stiff end of first rotating electrical machines 7 sets up in the one end of top roating seat 8, and the free end of second rotating electrical machines 9 sets up in the other end of top roating seat 8, and the stiff end of second rotating electrical machines 9 sets up in first connecting arm 5. A first rotating electric machine 7 controls the rotation of the working claw and of the auxiliary arm, and a second rotating electric machine 9 controls the rotation of the top rotating base 8 on the first connecting arm 5.
Further, the middle rotating mechanism includes a third rotating electrical machine 10, a fixed end of the third rotating electrical machine 10 is disposed on the first connecting arm 5, and a free end of the third rotating electrical machine 10 is disposed on the second connecting arm 6. The third rotating electrical machine 10 controls the first connecting arm 5 to rotate about the second connecting arm 6.
The first rotating electric machine 7, the second rotating electric machine 9, the third rotating electric machine 10, and the like used in this embodiment are conventional electric machines, and the types thereof can be selected according to the power required during production, and the structures thereof are not described herein; the first connecting arm 5 and the top rotary base 8 are customized pieces, and the shapes thereof are based on the rotary function in the embodiment, and the shapes shown in the figures are only one type and can not be regarded as specific structures.
Example 3
This embodiment provides a mechanical arm for a hot-line work machine, as shown in fig. 2, which is substantially the same as embodiment 1 or embodiment 2, and the main difference between them is: the main arm 1 further comprises a bottom rotating mechanism, the bottom rotating mechanism comprises a fourth rotating motor 11, a bottom rotating base 12 and a fifth rotating motor 13, a fixed end of the fourth rotating motor 11 is arranged at one end of the bottom rotating base 12, a free end of the fourth rotating motor 11 is arranged on the second connecting arm 6, a free end of the fifth rotating motor 13 is arranged at the other end of the bottom rotating base 12, and a fixed end of the fifth rotating motor 13 is arranged on the operating platform 4. The fifth rotating motor 13 controls the entire main arm 1 to rotate on the operation table 4, and the fourth rotating motor 11 controls the second connecting arm 6 to rotate around the bottom rotating base 12.
The fourth rotating electrical machine 11, the fifth rotating electrical machine 13, and the like used in this embodiment are existing electrical machines, and the types thereof can be selected according to the power required during production, and the structures thereof are not described herein again; the second connecting arm 6 and the bottom rotating base 12 are customized pieces, and the shape is based on the rotating function in the embodiment, and the shape shown in the figure is only one of them, and can not be regarded as a specific structure.
Example 4
This embodiment provides a mechanical arm for a hot-line work machine, as shown in fig. 3, which is substantially the same as any one of embodiments 1 to 3, and the main difference between them is that: the main claw 2 comprises a connecting rod 14 and a first claw head 15, the first claw head 15 is fixedly connected to one end of the connecting rod 14, and the other end of the connecting rod 14 is rotatably connected to one end of the main arm 1. The first claw head 15 is used for a grabbing operator (such as a wire stripper) to operate a wire (such as wire stripping operation), and the connecting rod 14 is fixedly connected to the free end of the first rotating motor 7 so as to be rotatably connected with the main arm 1.
Further, two ends of the auxiliary jaw 3 are respectively provided with a support frame 18, and the support frames 18 are used for supporting the electric wire. Because the auxiliary arm is attached to the main arm 1, the flexibility of the auxiliary arm is inferior to that of the main arm 1, and the flexibility of the auxiliary arm needs to be increased by adding the degree of freedom at the second claw head; the support frames 18 at the two ends of the second claw head can better increase the stability of the second claw head in working on the electric wire.
Further, the adjusting mechanism comprises a sixth rotating motor 19 and a telescopic arm 16, the sixth rotating motor 19 is arranged on the main claw 2, and the output end of the sixth rotating motor 19 is connected with the telescopic arm 16. The sixth rotating mechanism drives one end of the telescopic arm 16 to rotate, and then drives the other end of the telescopic arm 16 to stretch, so that the flexibility of the auxiliary arm is increased, and the auxiliary arm can better operate on an electric wire.
Furthermore, the auxiliary claw 3 is provided with a sliding groove, the telescopic arm 16 is provided with a sliding block corresponding to the sliding groove, two ends of the sliding groove are provided with limiting blocks, and the limiting blocks are connected with the stepping motor 20. The setting of slider and spout can increase the flexibility of assisting claw 3, through the removal on step motor 20 control slider spout, can control more conveniently and assist claw 3 and carry out the operation on the electric wire.
The first claw head 15 and the second claw head auxiliary claw 3 used in the embodiment are both claw heads on the existing mechanical arm, and the structures thereof are not described herein again; the sixth rotating motor 19, the stepping motor 20 and the telescopic arm 16 are all the prior art, and the structure thereof is not described herein again.
In summary, embodiments of the present invention provide a mechanical arm for a hot-line work machine, which has at least the following advantages or beneficial effects:
(1) on the basis of ensuring the safety, economy and flexibility of the mechanical arm and the compatibility of the existing live-wire work vehicle, the two mechanical arms commonly adopted by the existing domestic live-wire work robot are changed into the main mechanical arm and the auxiliary insulating mechanical arm, so that the weight of equipment can be reduced and the operation flow can be simplified while the live-wire work is completed in a mutually matched manner; not only avoids the danger of manual high-altitude operation, but also greatly improves the working efficiency.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a live working car arm, its characterized in that includes main arm and sub-arm, the one end and the operation panel of main arm are connected, the other end of main arm is provided with the main claw, the sub-arm includes and assists claw and adjustment mechanism, adjustment mechanism's one end sets up the junction at main claw and main arm, be provided with on adjustment mechanism's the other end and assist the claw.
2. The electric working machine robot arm according to claim 1, wherein the main arm includes a plurality of rotating mechanisms and connecting arms, each of the connecting arms being connected by the rotating mechanism.
3. The electric working machine robot arm according to claim 2, wherein the main arm includes a top rotating mechanism, a first link arm, a middle rotating mechanism, and a second link arm.
4. The live-working vehicle mechanical arm according to claim 3, wherein the top rotating mechanism comprises a first rotating motor, a top rotating seat and a second rotating motor, a fixed end of the first rotating motor is disposed at one end of the top rotating seat, a free end of the second rotating motor is disposed at the other end of the top rotating seat, and a fixed end of the second rotating motor is disposed on the first connecting arm.
5. The electric working machine mechanical arm according to claim 3, wherein the middle rotating mechanism comprises a third rotating motor, a fixed end of the third rotating motor is disposed on the first connecting arm, and a free end of the third rotating motor is disposed on the second connecting arm.
6. The electric working machine mechanical arm according to any one of claims 3 to 5, wherein the main arm further comprises a bottom rotating mechanism, the bottom rotating mechanism comprises a fourth rotating motor, a bottom rotating base and a fifth rotating motor, a fixed end of the fourth rotating motor is disposed on one end of the bottom rotating base, a free end of the fourth rotating motor is disposed on the second connecting arm, a free end of the fifth rotating motor is disposed on the other end of the bottom rotating base, and a fixed end of the fifth rotating motor is disposed on the console.
7. The mechanical arm for the live working machine as claimed in claim 1, wherein the main claw comprises a connecting rod and a first claw head, the first claw head is fixedly connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to one end of the main arm.
8. The mechanical arm for the live-wire work machine according to claim 1, wherein two ends of the auxiliary claw are respectively provided with a support frame, and the support frames are used for supporting an electric wire.
9. The electric working machine mechanical arm according to claim 1, wherein the adjusting mechanism comprises a sixth rotating motor and a telescopic arm, the sixth rotating motor is arranged on the main claw, and an output end of the sixth rotating motor is connected with the telescopic arm.
10. The mechanical arm for the live working vehicle according to claim 9, wherein a sliding groove is formed in the auxiliary claw, a sliding block is arranged on the telescopic arm corresponding to the sliding groove, limiting blocks are arranged at two ends of the sliding groove, and a stepping motor is connected to the limiting blocks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210398852.5A CN114888789A (en) | 2022-04-16 | 2022-04-16 | Mechanical arm of live working vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210398852.5A CN114888789A (en) | 2022-04-16 | 2022-04-16 | Mechanical arm of live working vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114888789A true CN114888789A (en) | 2022-08-12 |
Family
ID=82718410
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210398852.5A Pending CN114888789A (en) | 2022-04-16 | 2022-04-16 | Mechanical arm of live working vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114888789A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205969113U (en) * | 2016-08-04 | 2017-02-22 | 台州市路桥热火焊割设备有限公司 | Simple manipulator |
| CN106976074A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator |
| CN206720608U (en) * | 2017-04-26 | 2017-12-08 | 西安航空学院 | A kind of carrying cargo classification machinery |
| CN208051936U (en) * | 2018-03-22 | 2018-11-06 | 国网天津市电力公司 | The major-minor arm configuration of hot line robot machinery |
| CN109698475A (en) * | 2019-01-25 | 2019-04-30 | 武汉大学 | A kind of aerial high-voltage power transmission line hot line robot |
| CN110744555A (en) * | 2019-09-19 | 2020-02-04 | 南京航空航天大学 | Combined arm for plant picking, robot and method |
| CN215633040U (en) * | 2021-08-05 | 2022-01-25 | 长沙科达智能装备股份有限公司 | Flexible pick-up device, auxiliary arm and tunnel arch-form machine |
-
2022
- 2022-04-16 CN CN202210398852.5A patent/CN114888789A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205969113U (en) * | 2016-08-04 | 2017-02-22 | 台州市路桥热火焊割设备有限公司 | Simple manipulator |
| CN106976074A (en) * | 2017-03-28 | 2017-07-25 | 昆明理工大学 | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator |
| CN206720608U (en) * | 2017-04-26 | 2017-12-08 | 西安航空学院 | A kind of carrying cargo classification machinery |
| CN208051936U (en) * | 2018-03-22 | 2018-11-06 | 国网天津市电力公司 | The major-minor arm configuration of hot line robot machinery |
| CN109698475A (en) * | 2019-01-25 | 2019-04-30 | 武汉大学 | A kind of aerial high-voltage power transmission line hot line robot |
| CN110744555A (en) * | 2019-09-19 | 2020-02-04 | 南京航空航天大学 | Combined arm for plant picking, robot and method |
| CN215633040U (en) * | 2021-08-05 | 2022-01-25 | 长沙科达智能装备股份有限公司 | Flexible pick-up device, auxiliary arm and tunnel arch-form machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111463637A (en) | Distribution network live lapping lead operation flow method | |
| CN114389058B (en) | Distribution overhead line earth connection articulates robot | |
| CN209640405U (en) | A kind of a kind of electroscopic device of UAV flight | |
| CN110978004A (en) | Autonomous distribution network live working robot, system and method | |
| CN106972407A (en) | One kind is super, extra-high voltage electric transmission and transformation equipment high-altitude ground connection operation device | |
| CN109607301A (en) | Smart grid inspection device carrying platform | |
| CN110421559A (en) | The teleoperation method and movement locus base construction method of distribution network live line work robot | |
| CN116673944A (en) | Double-arm cooperative work method for live working robot | |
| CN115441340A (en) | Auxiliary robot for installation and maintenance of electric cabinet | |
| CN114888789A (en) | Mechanical arm of live working vehicle | |
| CN109473903A (en) | One kind being used for metal oxide arrester replacing options | |
| CN206664956U (en) | A kind of multivariant undercarriage dismounting vehicle of Omni-mobile | |
| CN215903514U (en) | Live working arm and live working robot | |
| CN114421192B (en) | Distribution network three-phase line grounding operation mechanical arm assembly | |
| CN216750989U (en) | Electricity testing grounding operation robot | |
| CN216773534U (en) | Grounding wire hanging operation mechanical arm assembly | |
| CN101037181A (en) | Movable altitude hot-line operation insulating bench | |
| CN209805276U (en) | Intelligent equipotential repairing device for electric transmission line lead | |
| CN219122696U (en) | Cargo information scanning equipment for logistics management | |
| CN209455827U (en) | Smart grid inspection device carrying platform | |
| CN209767005U (en) | insulator replacement auxiliary device | |
| CN112260141B (en) | On-line uninterrupted operation robot | |
| CN115744749A (en) | Lifting operation vehicle and method for hanging ground wire thereof | |
| CN113346406B (en) | High-altitude wiring device for power detection | |
| CN210704820U (en) | Modularization robotic arm |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220812 |
|
| RJ01 | Rejection of invention patent application after publication |