CN115592683A - Protection tripping device for quick-mounting head of live working robot - Google Patents
Protection tripping device for quick-mounting head of live working robot Download PDFInfo
- Publication number
- CN115592683A CN115592683A CN202211326651.0A CN202211326651A CN115592683A CN 115592683 A CN115592683 A CN 115592683A CN 202211326651 A CN202211326651 A CN 202211326651A CN 115592683 A CN115592683 A CN 115592683A
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- Prior art keywords
- rotating disc
- gear
- live working
- working robot
- disc
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- 210000000078 claw Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Images
Classifications
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a quick-mounting head protection tripping device of a live working robot, which comprises a fixed disc and a rotating disc, wherein the rotating disc is rotatably arranged on the surface of the fixed disc, the rotating disc is of an annular structure, a gear structure is formed on the inner annular side wall of the rotating disc, a driving motor is fixedly arranged on the fixed disc, a driving gear is fixedly arranged at the output end of the driving motor, a driven gear is arranged between the driving gear and the gear mechanism, the driving motor drives the driving gear to rotate so as to drive the driven gear to rotate, and the driven gear drives the rotating disc to rotate compared with the fixed disc; the surface of the rotating disc is provided with a plurality of hollowed-out mounting holes, and a clamp body at the tail end of a mechanical arm of the electric working robot can be fixed or separated from the mounting holes; the device can be directly used for timely releasing in emergency, so that the device is out of the predicament and the safety of the live working robot and the stable operation of the line are ensured.
Description
Technical Field
The invention belongs to the technical field of live working devices, and particularly relates to a protective tripping device for a quick-mounting head of a live working robot.
Background
In the operation process of the existing live working robot, the situation that the collective tool head cannot be separated because the collective tool head is clamped by a line is avoided. In case of the situation that the robot cannot be separated from the line independently, workers need to take the lift truck to go up the rod again for manual separation, the operation risk and the workload of the robots are increased, the operation time and the operation task are delayed, excessive working resources are occupied, and the robot live working potential safety hazard is one of the potential safety hazards. Aiming at the problem, the invention provides a special fast-assembling head protection tripping device for a live working robot.
Disclosure of Invention
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
a quick-mounting head protection tripping device of a live working robot comprises a fixed disc and a rotating disc, wherein the rotating disc is rotatably mounted on the surface of the fixed disc and is of an annular structure, a gear structure is formed on the inner annular side wall of the rotating disc, a driving motor is fixedly mounted on the fixed disc, a driving gear is fixedly mounted at the output end of the driving motor, a driven gear is mounted between the driving gear and the gear mechanism, the driving motor drives the driving gear to rotate, so that the driven gear is driven to rotate, and the driven gear drives the rotating disc to rotate compared with the fixed disc;
the surface of the rotating disc is provided with a plurality of hollowed-out mounting holes, and the clamp body at the tail end of the mechanical arm of the electric operating robot can be fixed or separated from the mounting holes.
Furthermore, a pressure sensor and an alarm are installed on the fixed disc.
Furthermore, a signal receiving control structure is installed on the outer wall of the fixed disc, and the signal receiving control structure can receive signals and control the driving motor to work through the signals.
Furthermore, the mounting hole is of an arc-shaped structure, the width of the arc-shaped structure is matched with the small end of the clamping jaw on the clamp body, and a hollow structure capable of being matched with the large end of the clamping jaw on the clamp body is formed at one end of the arc-shaped structure.
Furthermore, one end of the rotating disc is provided with a handle.
The invention has the advantages and positive effects that:
the device is simple in design, and realizes automatic tripping of the live working robot when meeting a wire clamping condition in the working process without manual climbing and dismantling; the gear is added on the metal part of the connecting structure of the quick mounting head and the mechanical arm to be connected with the built-in motor, so that the quick mounting head can be dismounted manually or from the inside by remote control; the device simulates the principle of gecko tail breaking and escaping, and when in emergency, the device can directly realize timely tripping and break away from the predicament, thereby ensuring the safety of the live working robot and the stable operation of the line.
Drawings
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and examples, but it should be understood that these drawings are designed for illustrative purposes only and thus are not intended to limit the scope of the present invention. Furthermore, unless otherwise indicated, the drawings are intended to be illustrative of the structural configurations described herein and are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a protection tripping device for a quick-mounting head of a live working robot according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a robot arm according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a robot arm clamp of a robot according to an embodiment of the present invention.
Detailed Description
First, it should be noted that the specific structures, features, advantages, etc. of the present invention will be specifically described below by way of example, but all the descriptions are for illustrative purposes only and should not be construed as limiting the present invention in any way. Furthermore, any single feature described or implicit in any embodiment or any single feature shown or implicit in any drawing may still be combined or subtracted between any of the features (or equivalents thereof) to obtain still further embodiments of the invention that may not be directly mentioned herein. In addition, for the sake of simplicity, the same or similar features may be indicated in only one place in the same drawing.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements 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.
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.
As shown in fig. 1 to 3, the protection tripping device for the quick-mounting head of the live working robot provided by the embodiment includes a fixed disk 1 and a rotating disk 2, wherein the rotating disk is rotatably mounted on the surface of the fixed disk, the rotating disk is of an annular structure, a gear structure 3 is formed on the inner annular side wall of the rotating disk, a driving motor 4 is fixedly mounted on the fixed disk, a driving gear 5 is fixedly mounted at the output end of the driving motor, a driven gear 6 is mounted between the driving gear and the gear mechanism, the driving motor drives the driving gear to rotate, so that the driven gear drives the rotating disk to rotate compared with the fixed disk;
the surface of the rotating disc is provided with a plurality of hollowed-out mounting holes 7, and the clamp body at the tail end of the mechanical arm of the electric operating robot can be fixed or separated from the mounting holes.
Specifically, a pressure sensor and an alarm are mounted on the fixed disk, and in this embodiment, the pressure sensor and the alarm can be integrated into one mounting box, such as the mounting box 10 in fig. 1; in addition, the outer wall mounting signal reception control structure 8 of fixed disk, signal reception control structure can accept the signal to through signal control driving motor work, specifically, signal reception control structure can adopt signal reception module and controller collection moulding piece, installs on the lateral wall of rolling disc.
In order to realize that the terminal anchor clamps body 13 of arm of live working robot can fix or deviate from the mounting hole, can consider, the mounting hole is the arc structure, the width of arc structure with jack catch tip on the anchor clamps body matches, the one end of arc structure form can with the hollow out construction that the jack catch major part on the anchor clamps body matches.
In addition, for convenient operation during installation, a handle 9 is arranged at one end of the rotating disc.
By way of example, in this embodiment, before the robot works, the robot arm body 11 in fig. 2 needs to be fixed with the quick-mounting head protection tripping device of the live working robot in fig. 1, and the operation process is as follows: the claw 12 of fig. 2 extends into the thicker end of the mounting hole of fig. 1, and considering the thickness of the lower surface of the claw and the thickness of the upper surface of the claw, the handle 9 of fig. 1 is manually moved on the ground by an auxiliary bracket or an operator to realize the relative rotation of the fixed disc and the rotating disc, so that the thinner end of the mounting hole of fig. 1 is clamped at the thinner part of the claw of fig. 2, and the connection and fixation of the robot mechanical arm, the tool head and the tripping device body are realized.
When the robot works, the pressure sensor in the graph 1 can measure pressure in real time, when torque is sensed to be larger than a normal value, an alarm is sent out through an alarm, a ground operator judges whether the situation that the tool head cannot be separated due to the fact that the tool head is clamped by a circuit exists or not, if the line is not clamped, the operation is continued, if the line is clamped, a tripping signal is sent to a tripping device through a control terminal, after a signal receiving module in the graph 1 receives the tripping signal, a driving motor is controlled to drive a driving gear to rotate, the driving gear drives a driven gear to rotate, the driven gear drives a gear structure to rotate, the rotating disc is rotated, the position where a clamping jaw in the graph 2 is clamped in a thin position is converted to a thick end from a thin end of a mounting hole, therefore, automatic tripping of a graph mechanical arm is achieved, pole climbing operation of an operator is avoided, working strength of the operator is reduced, and safety of the person and a power grid is guaranteed.
The live working robot is light in weight design and easy to modify, and the tripping device built in the collecting tool is used for realizing that the live working robot automatically trips when meeting a clamping line in the working process without manually climbing a pole for dismounting, so that the popularization of an autonomous working mode of the live working robot is facilitated, the workload and the working strength of operators are reduced, the safety of live working is improved, the safety of a line is protected, and the efficiency of live working of a power distribution network is improved.
The present invention has been described in detail with reference to the above examples, but the description is only for the preferred examples of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (5)
1. A quick-mounting head protection tripping device of a live working robot is characterized by comprising a fixed disc and a rotating disc, wherein the rotating disc is rotatably arranged on the surface of the fixed disc and is of an annular structure, a gear structure is formed on the inner annular side wall of the rotating disc, a driving motor is fixedly arranged on the fixed disc, a driving gear is fixedly arranged at the output end of the driving motor, a driven gear is arranged between the driving gear and the gear mechanism, the driving motor drives the driving gear to rotate so as to drive the driven gear to rotate, and the driven gear drives the rotating disc to rotate compared with the fixed disc;
the surface of the rotating disc is provided with a plurality of hollowed-out mounting holes, and the clamp body at the tail end of the mechanical arm of the electric operating robot can be fixed or separated from the mounting holes.
2. The live working robot quick-mounting head protection tripping device of claim 1, characterized in that: and the fixed disc is provided with a pressure sensor and an alarm.
3. The live working robot quick-mounting head protection tripping device of claim 1, characterized in that: and a signal receiving control structure is arranged on the outer wall of the fixed disc, can receive signals and controls the driving motor to work through the signals.
4. The live working robot quick-mounting head protection tripping device of claim 1, characterized in that: the mounting hole is of an arc-shaped structure, the width of the arc-shaped structure is matched with the small end of the clamping jaw on the clamp body, and a hollow structure capable of being matched with the large end of the clamping jaw on the clamp body is formed at one end of the arc-shaped structure.
5. The live working robot quick-mounting head protection tripping device of claim 1, characterized in that: and one end of the rotating disc is provided with a handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211326651.0A CN115592683A (en) | 2022-10-27 | 2022-10-27 | Protection tripping device for quick-mounting head of live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211326651.0A CN115592683A (en) | 2022-10-27 | 2022-10-27 | Protection tripping device for quick-mounting head of live working robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115592683A true CN115592683A (en) | 2023-01-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211326651.0A Pending CN115592683A (en) | 2022-10-27 | 2022-10-27 | Protection tripping device for quick-mounting head of live working robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115592683A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406915A (en) * | 2013-07-18 | 2013-11-27 | 北京航空航天大学 | Chuck-type quick independent-replacement device of space mechanical arm tail-end manipulators |
| CN105881847A (en) * | 2015-01-12 | 2016-08-24 | 王龙海 | Rapid inserting disk of injection molding manipulator |
| CN206296936U (en) * | 2016-12-29 | 2017-07-04 | 西南科技大学 | A kind of robot end's instrument fast replacing device |
| CN211103971U (en) * | 2019-11-12 | 2020-07-28 | 扬州野马工业智能装备有限公司 | High-mobility clamping manipulator chassis |
| CN111496831A (en) * | 2020-05-19 | 2020-08-07 | 安徽三联学院 | Robot tail end flexible quick-change disc |
| CN111618877A (en) * | 2020-06-12 | 2020-09-04 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-changing device and control system and method thereof |
| CN212020796U (en) * | 2020-03-27 | 2020-11-27 | 山东乐普韦尔自动化技术有限公司 | Automatic quick-change device for terminal operation tool of distribution network live working robot |
| CN212399600U (en) * | 2020-06-12 | 2021-01-26 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-change device and control system thereof |
| CN212859500U (en) * | 2020-05-19 | 2021-04-02 | 安徽三联学院 | Robot tail end flexible quick-change disc |
| CN112776000A (en) * | 2021-03-04 | 2021-05-11 | 内蒙古硕博自动化科技有限公司 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
-
2022
- 2022-10-27 CN CN202211326651.0A patent/CN115592683A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406915A (en) * | 2013-07-18 | 2013-11-27 | 北京航空航天大学 | Chuck-type quick independent-replacement device of space mechanical arm tail-end manipulators |
| CN105881847A (en) * | 2015-01-12 | 2016-08-24 | 王龙海 | Rapid inserting disk of injection molding manipulator |
| CN206296936U (en) * | 2016-12-29 | 2017-07-04 | 西南科技大学 | A kind of robot end's instrument fast replacing device |
| CN211103971U (en) * | 2019-11-12 | 2020-07-28 | 扬州野马工业智能装备有限公司 | High-mobility clamping manipulator chassis |
| CN212020796U (en) * | 2020-03-27 | 2020-11-27 | 山东乐普韦尔自动化技术有限公司 | Automatic quick-change device for terminal operation tool of distribution network live working robot |
| CN111496831A (en) * | 2020-05-19 | 2020-08-07 | 安徽三联学院 | Robot tail end flexible quick-change disc |
| CN212859500U (en) * | 2020-05-19 | 2021-04-02 | 安徽三联学院 | Robot tail end flexible quick-change disc |
| CN111618877A (en) * | 2020-06-12 | 2020-09-04 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-changing device and control system and method thereof |
| CN212399600U (en) * | 2020-06-12 | 2021-01-26 | 国网天津市电力公司 | Power distribution network operation robot, tool quick-change device and control system thereof |
| CN112776000A (en) * | 2021-03-04 | 2021-05-11 | 内蒙古硕博自动化科技有限公司 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
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