CN117444944B - Door structure of mechanical arm driving operation robot for power distribution cabinet - Google Patents
Door structure of mechanical arm driving operation robot for power distribution cabinet Download PDFInfo
- Publication number
- CN117444944B CN117444944B CN202311807102.XA CN202311807102A CN117444944B CN 117444944 B CN117444944 B CN 117444944B CN 202311807102 A CN202311807102 A CN 202311807102A CN 117444944 B CN117444944 B CN 117444944B
- Authority
- CN
- China
- Prior art keywords
- offset
- horizontal
- sliding door
- rolling door
- side sliding
- 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.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 111
- 238000005096 rolling process Methods 0.000 claims abstract description 94
- 230000003416 augmentation Effects 0.000 claims description 35
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 238000012423 maintenance Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 59
- 230000005012 migration Effects 0.000 description 13
- 238000013508 migration Methods 0.000 description 13
- 230000000694 effects Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention relates to the field of operation robots, in particular to a door structure of a mechanical arm driving operation robot for a power distribution cabinet, which comprises a top rolling door component and a side sliding door component, wherein the side sliding door component is provided with a rolling door opening and closing mechanism for driving the top rolling door component to retract and expand, the side sliding door component is provided with an offset mechanism for driving the outer side of the side sliding door component to offset, and the side sliding door component is provided with a horizontal moving mechanism for driving the side sliding door component to open and close. The mechanical arm is provided with a tool quick-change assembly, and the tool quick-change assembly comprises a mechanical arm signal module arranged on the mechanical arm and a rolling door opening and closing core signal module arranged on a rolling door opening and closing mechanism. The door structure of the invention enables the top, the left side and the right side of the operation robot to be exposed outside, thereby facilitating the overhaul and maintenance of the power distribution cabinet or executing certain operations requiring internal equipment.
Description
Technical Field
The invention relates to the field of installation and maintenance of power distribution cabinets, in particular to a door structure of a mechanical arm driving operation robot for a power distribution cabinet.
Background
With the continuous development of smart grids, the power grid equipment is increased, and the power grid voltage is also increased. For safety, many devices are deployed in a power distribution switch cabinet, and a traditional method adopts manpower to operate the power distribution switch cabinet, so that safety accidents easily occur during electrician operation.
With the rise of robotics, power distribution switch cabinets are beginning to be introduced into robots for automation or remote control. The robot operation power distribution cabinet with perfect functions and flexible operation can improve the control accuracy of the power distribution switch cabinet, can improve the safety operation coefficient, ensures the stability of power grid enterprises for social power supply, and simultaneously ensures the safety of the power grid and equipment thereof, thereby having important effect and significance.
However, at present, electrical equipment such as a main machine and a motor of a robot is commonly installed in a machine body. In use, end-effector performance of the robot is sometimes affected. If the inside breaks down, the shell needs to be removed to complete maintenance.
In view of this, the present invention provides a door structure for a robot arm-driven operation robot of a power distribution cabinet.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a door structure of a mechanical arm driving operation robot for a power distribution cabinet.
In order to solve the technical problems, the following technical scheme is adopted: a door structure for arm drive operation robot of switch board, including top rolling door subassembly and lateral part sliding door subassembly, be equipped with on the lateral part sliding door subassembly and drive the rolling door opening and closing mechanism that the top rolling door subassembly was received and was unfolded, just install the offset mechanism that drives lateral part sliding door subassembly outside offset on the lateral part sliding door subassembly, and install the horizontal migration mechanism that drives lateral part sliding door subassembly and open and close on the lateral part sliding door subassembly.
The mechanical arm is provided with a tool quick-change assembly, the tool quick-change assembly comprises a mechanical arm signal module arranged on the mechanical arm and a rolling door opening and closing core signal module arranged on the rolling door opening and closing mechanism, and the power of the mechanical arm is transmitted to the rolling door opening and closing mechanism through quick-change matching of the mechanical arm signal module and the rolling door opening and closing core signal module.
The tool quick-change assembly further comprises an offset core signal module arranged on the offset mechanism, and the power of the mechanical arm is transmitted to the offset mechanism through quick-change matching of the mechanical arm signal module and the offset core signal module.
Further, the offset mechanism comprises an offset rotating member, a vertical connecting member and a horizontal connecting member, wherein the horizontal connecting member comprises a first horizontal connecting member arranged at the lower part of the side sliding door assembly and a second horizontal connecting member arranged at the upper part of the side sliding door assembly, the offset rotating member comprises a first offset rotating member arranged at the lower part of the side sliding door assembly and a second offset rotating member arranged at the upper part of the side sliding door assembly, the first horizontal connecting member and the second horizontal connecting member are identical in structure, and the first offset rotating member and the second offset rotating member are identical in structure.
The offset core signal module is connected with an offset speed reducer, an output shaft of the offset speed reducer is connected with a first offset rotating piece, the side part of the first offset rotating piece is connected with a first horizontal connecting piece, the first horizontal connecting piece is connected with a side part sliding door assembly, the upper part of the offset rotating piece is connected with a vertical connecting piece, the vertical connecting piece is connected with a second offset rotating piece, the side part of the second offset rotating piece is connected with a second horizontal connecting piece, and the second horizontal connecting piece is connected with a side part sliding door assembly.
Further, the offset rotating piece comprises an offset rotating plate, a first offset connecting shaft, a second offset connecting shaft, an offset fixing block, a stability increasing plate and a stability increasing linkage rod, a first offset rotating through hole connected with the first offset connecting shaft is formed in one side of the offset rotating plate, a second offset rotating through hole connected with the second offset connecting shaft is formed in the other side of the offset rotating plate, and the middle of the offset rotating plate is connected with the vertical connecting piece.
The middle part of first skew connecting axle has cup jointed and has rotated the cover, the external connection of rotating the cover has the stability augmentation board, the inboard of stability augmentation board articulates has the stability augmentation gangbar, the other end of stability augmentation gangbar articulates on the skew fixed block.
The external connection of second skew connecting axle has the skew fixed block, the skew fixed block articulates there is the steady gangbar that increases, the skew fixed block is connected with the skew connecting plate, skew connecting plate fixed mounting in on the horizontal connection spare.
Further, the lower end of the first offset connecting shaft is connected with an output shaft of the offset speed reducer, and the outer side of the stability augmentation plate is fixed on a fixed seat of the offset speed reducer.
Further, the upper portion of the stability augmentation plate is connected with a stability augmentation sliding block, and the stability augmentation sliding block is connected with a stability augmentation sliding rail.
Further, horizontal migration mechanism includes horizontal migration motor, horizontal migration screw rod, horizontal migration nut, horizontal migration motor installs in the frame, horizontal migration motor's output is connected with horizontal migration screw rod, be connected with horizontal migration nut on the horizontal migration screw rod, be equipped with horizontal migration connecting seat on the horizontal migration nut, horizontal migration connecting seat is connected with offset mechanism.
Further, the lower part of the horizontal moving nut is provided with a horizontal sliding block, the horizontal sliding block is connected with a horizontal sliding rail, and the horizontal sliding rail is fixedly installed on the frame.
Further, the horizontal movement mechanism is provided with two groups, a first group horizontal movement mechanism set up in the left side of frame, a second group horizontal movement mechanism set up in the right side of frame, two groups be equipped with the link gear between the horizontal movement mechanism, the link gear includes linkage hold-in range, first linkage synchronous pulley and second linkage synchronous pulley, first linkage synchronous pulley sets up in a group horizontal movement screw rod of horizontal movement mechanism, the second linkage synchronous pulley sets up in the second group horizontal movement screw rod of horizontal movement mechanism, be equipped with between first linkage synchronous pulley and the second linkage synchronous pulley the linkage hold-in range.
Further, the rolling door opening and closing mechanism comprises a rolling door shaft and rolling door gears, the output end of the rolling door opening and closing core signal module is connected with a rolling door opening and closing speed reducer, the rolling door opening and closing speed reducer is connected with the rolling door shaft, the rolling door opening and closing core signal module is located in the middle of the rolling door shaft, the rolling door gears are installed at the two ends of the rolling door shaft, and rolling door tooth grooves matched with the rolling door gears are formed in the top rolling door assembly.
Further, still include preceding side shift door subassembly and drive the vertical movement mechanism that preceding side shift door subassembly was opened and close, vertical movement mechanism includes flexible motor, telescopic shaft, cuts movable seat and lift movable block, flexible motor is connected with the telescopic shaft, the other end of telescopic shaft connect in cut the lateral part of support, the upper portion of cutting the movable seat that goes up and down is connected with, the movable seat that goes up and down is connected with the lift movable block, the lift movable block is connected with preceding side shift door subassembly.
Due to the adoption of the technical scheme, the method has the following beneficial effects: the door structure of the mechanical arm driving operation robot for the power distribution cabinet ensures the control accuracy degree of the power distribution cabinet and the operation safety in the processes of installation, maintenance and the like of the power distribution cabinet. Specifically, the invention adopts the designed door structure, and when the door structure is not used normally, the top rolling door component, the side sliding door component and the front sliding door component of the door structure wrap the operating robot in the shell except the mechanical arm. When maintenance is needed or some operations requiring internal equipment are executed, the two sets of rolling door opening and closing mechanisms are firstly arranged, the left and right sets of top rolling doors are arranged on the top rolling door assembly, and the rolling door opening and closing mechanisms respectively correspond to the two sets of top rolling doors. Under the effect of instrument quick change subassembly, through the quick change cooperation of arm signal module and shutter opening and close core signal module, will the power transmission of arm arrives on the shutter opening and closing mechanism drives the shutter axle and does rotary motion, and then under the effect of shutter gear and shutter tooth's socket, accomodate the lateral part of left and right sides with two sets of top shutter in the door subassembly that moves. And then, through quick-change matching of the mechanical arm signal module and the offset core signal module, power of the mechanical arm is transmitted to the offset mechanism, the offset core signal module drives a first offset rotating piece to rotate, and then drives a vertical connecting piece to rotate, so that a second offset rotating piece rotates. Therefore, the top, the left side and the right side of the operation robot are exposed to the outside, and the operation robot is convenient to overhaul and maintain or perform certain operations requiring internal equipment. Furthermore, the front side sliding door assembly can be pushed upwards for a distance through the vertical moving mechanism, and the device is suitable for being used under certain special working conditions.
According to the offset rotating piece, as the stability increasing device consisting of the stability increasing plate and the stability increasing linkage rod is designed, when the lateral sliding door assembly is driven to deviate from the outer side, the motion of the integral door structure can be more stably rotated, and the accuracy and the safety of rotation are provided.
Drawings
The invention is further described below with reference to the accompanying drawings:
fig. 1 is an external structural schematic view of a door structure of a mechanical arm driving operation robot for a power distribution cabinet according to an embodiment of the present invention.
Fig. 2 is a schematic front view of a door structure of a robot arm driving operation for a power distribution cabinet according to an embodiment of the present invention.
Fig. 3 is a schematic rear view of a door structure of a robot arm driving operation for a power distribution cabinet according to an embodiment of the present invention.
Fig. 4 is a schematic left view of a door structure of a robot driven by a mechanical arm for a power distribution cabinet according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a right-side view of a door structure of a robot arm driving operation robot for a power distribution cabinet according to an embodiment of the present invention.
Fig. 6 is a schematic top view of a door structure of a robot arm driving operation for a power distribution cabinet according to an embodiment of the present invention.
Fig. 7 is a schematic structural view of a door structure of a mechanical arm driving operation robot for a power distribution cabinet according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a door structure of a mechanical arm driving operation robot for a power distribution cabinet according to an embodiment of the present invention.
Fig. 9 is a schematic front view of the biasing mechanism of the embodiment of the present invention.
Fig. 10 is a schematic top view illustrating an outward offset of the offset mechanism according to the embodiment of the present invention.
Fig. 11 is a schematic side view of the offset mechanism of the embodiment of the present invention.
Fig. 12 is a schematic perspective view of an offset mechanism according to an embodiment of the present invention.
Fig. 13 is a schematic perspective view of an offset mechanism according to an embodiment of the present invention.
Fig. 14 is a schematic structural view of a horizontal moving mechanism connecting with an offset mechanism according to an embodiment of the present invention.
Fig. 15 is a schematic structural diagram of a horizontal moving mechanism according to an embodiment of the present invention.
Fig. 16 is a schematic structural view of an offset rotary member according to an embodiment of the present invention.
FIG. 17 is a schematic view of a front side swing door assembly coupled to a vertical movement mechanism according to an embodiment of the present invention.
Fig. 18 is a schematic structural view of a vertical movement mechanism according to an embodiment of the present invention.
Fig. 19 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention.
Fig. 20 is a schematic structural diagram of an offset core signal module according to an embodiment of the invention.
In the figure: 1-a top roller door assembly; 2-side sliding door assembly; 3-a shutter opening and closing mechanism; 4-an offset mechanism; 5-a horizontal movement mechanism; 6-a front side door assembly; 7-a vertical movement mechanism; 8-a frame; 9-a tool quick change assembly; 10-mechanical arm.
31-opening and closing a speed reducer of the rolling door; 32-a roller door shaft; 33-rolling door gear; 34-rolling door bearing seat.
41-an offset speed reducer; 42-vertical connectors; 43-first horizontal connector; 44-a second horizontal connector; 45-a first offset rotation; 46-a second offset rotational member; 47-fixing base of offset speed reducer; 48-stability augmentation slide blocks; 49-stability augmentation slide rail.
451-offset rotating plates; 452-a first offset connection shaft; 453-a second offset connection shaft; 454-offset fixed block; 455-stability augmentation plate; 456-stability augmentation linkage rod; 457-rotating sleeve.
4511—a first offset rotational throughbore; 4512-second offset rotational throughbore; 4513-connecting lugs.
51-a horizontal movement motor; 52-horizontally moving screw; 53-horizontally moving the nut; 54-a horizontal movement connecting seat; 55-horizontal slide blocks; 56-horizontal slide rails; 57-linkage synchronous belt; 58-a first linkage synchronous pulley; 59-a second linkage synchronous pulley.
71-a telescopic motor; 72-a telescopic shaft; 73-scissor-type brackets; 74-lifting the movable seat; 75-lifting a moving block; 91-a mechanical arm signal module; 92-a shutter door opening and closing core signal module; 93-offset core signal module.
Detailed Description
The present invention will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
Referring to fig. 1-20, a door structure of a mechanical arm driving operation robot for a power distribution cabinet comprises a top rolling door component 1 and a side sliding door component 2, wherein a rolling door opening and closing mechanism 3 for driving the top rolling door component 1 to retract and expand is arranged on the side sliding door component 2, a deviation mechanism 4 for driving the outside of the side sliding door component 2 to deviate is arranged on the side sliding door component 2, and a horizontal movement mechanism 5 for driving the side sliding door component 2 to open and close is arranged on the side sliding door component 2.
The top rolling door assembly 1 of the embodiment is designed with a left top rolling door set and a right top rolling door set, and correspondingly, the rolling door opening and closing mechanisms 3 are designed with two sets, and the two sets of rolling door opening and closing mechanisms 3 respectively correspond to the two sets of top rolling doors.
The side sliding door assembly 2 of this embodiment is designed with a left set and a right set of sliding door assemblies respectively located at the left side and the right side of the operation robot, and when the two sets of top rolling doors respectively roll up, the two sets of sliding door assemblies are respectively rolled up into the side sliding door assemblies 2 at the left side and the right side. Correspondingly, the offset mechanism 4 is also provided with a left set and a right set, which respectively drive the side sliding door assemblies 2 at the left side and the right side to offset outwards by a set distance.
As a further explanation of the present embodiment, the mechanical arm 10 is provided with a tool quick-change assembly 9, the tool quick-change assembly 9 includes a mechanical arm signal module 91 disposed on the mechanical arm 10 and a rolling door opening and closing core signal module 92 disposed on the rolling door opening and closing mechanism, and the power of the mechanical arm 10 is transmitted to the rolling door opening and closing mechanism through the quick-change cooperation of the mechanical arm signal module 91 and the rolling door opening and closing core signal module 92; as a further illustration of the present embodiment, the tool quick-change assembly 9 further includes an offset core signal module 93 disposed on an offset mechanism to which the power of the robotic arm 10 is transmitted by the quick-change engagement of the robotic arm signal module 91 and the offset core signal module 93.
As a further explanation of the present embodiment, the offset mechanism 4 includes an offset core signal module 93, an offset rotation member, a vertical connection member 42, and a horizontal connection member, the horizontal connection member includes a first horizontal connection member 43 disposed at a lower portion of the side sliding door assembly 2 and a second horizontal connection member 44 disposed at an upper portion of the side sliding door assembly 2, the offset rotation member includes a first offset rotation member 45 disposed at a lower portion of the side sliding door assembly 2 and a second offset rotation member 46 disposed at an upper portion of the side sliding door assembly 2, the first horizontal connection member 43 and the second horizontal connection member 44 have the same structure, and the first offset rotation member 45 and the second offset rotation member 46 have the same structure. Specifically, both ends of the first horizontal connector 43 and the second horizontal connector 44 are connected to the inner wall of the side sliding door assembly 2 by screws.
The output shaft of the offset core signal module 93 is connected with a first offset rotating member 45, the side portion of the first offset rotating member 45 is connected with a first horizontal connecting member 43, the first horizontal connecting member 43 is connected with a side portion sliding door assembly 2, the upper portion of the offset rotating member is connected with a vertical connecting member 42, the vertical connecting member 42 is connected with a second offset rotating member 46, the side portion of the second offset rotating member 46 is connected with a second horizontal connecting member 44, and the second horizontal connecting member 44 is connected with the side portion sliding door assembly 2.
As a further explanation of the present embodiment, the offset rotary member includes an offset rotary plate 451, a first offset connecting shaft 452, a second offset connecting shaft 453, an offset fixing block 454, a stability augmentation plate 455, and a stability augmentation linkage rod 456, one side of the offset rotary plate 451 is provided with a first offset rotary through hole 4511 connected to the first offset connecting shaft 452, the other side of the offset rotary plate 451 is provided with a second offset rotary through hole 4512 connected to the second offset connecting shaft 453, and the middle of the offset rotary plate 451 is connected with the vertical connecting member 42. Two connecting lugs 4513 are provided on both left and right sides of the offset rotation plate 451, wherein the two connecting lugs 4513 on the left side are provided with first offset rotation through holes 4511, and the two connecting lugs 4513 on the right side are provided with second offset rotation through holes 4512.
The middle part of first skew connecting axle 452 has cup jointed and has rotated the cover 457, the external connection of rotating the cover 457 has the increase steady board 455, the inboard of increase steady board 455 articulates has increase steady gangbar 456, the other end of increase steady gangbar 456 articulates on the skew fixed block 454.
The outside of second offset connecting axle 453 is connected with offset fixed block 454, offset fixed block 454 articulates has increases steady gangbar 456, offset fixed block 454 is connected with the offset connecting plate, offset connecting plate fixed mounting in on the horizontal connecting piece.
As a further explanation of the present embodiment, in the first offset rotating member 45 at the lower portion, the lower end of the first offset connecting shaft 452 is connected to the output shaft of the offset speed reducer 41, and the outer side of the stability augmentation plate 455 is fixed to the fixing seat 47 of the offset speed reducer.
As a further explanation of the present embodiment, in the upper second offset rotating member 46, a stability augmentation slider 48 is connected to the upper portion of the stability augmentation plate 455, and a stability augmentation slide rail 49 is connected to the stability augmentation slider 48.
When the side sliding door assembly 2 needs to be moved outwards for a certain distance, the mechanical arm signal module 91 and the offset core signal module 93 are matched in a quick-change mode, the mechanical arm 10 is powered to the offset mechanism, the offset core signal module 93 drives the first offset rotating member to rotate and then drives the vertical connecting member 42 to rotate, so that the second offset rotating member 46 rotates, the first horizontal connecting member 43 and the second horizontal connecting member 44 are respectively and fixedly connected with the offset fixing block 454 of the offset rotating member, the first offset rotating member 45 and the second offset rotating member 46 are used as rotation centers, the first offset rotating member 45 and the second offset rotating member 46 rotate around the centers of the first offset rotating through holes 4511, the first horizontal connecting member 43 and the second horizontal connecting member 44 are driven to be offset outwards for a certain distance, and the side sliding door assembly 2 is driven to be pushed to be offset outwards for the same distance due to the fixed connection between the horizontal connecting member and the side sliding door assembly 2, so that the side sliding door assembly 2 is conveniently pushed to be moved outwards by the machine body 5, and certain maintenance equipment is conveniently carried out by pushing the side sliding door assembly 2 to the inside of a machine body through the machine body.
As a further explanation of this embodiment, the horizontal movement mechanism 5 includes a horizontal movement motor 51, a horizontal movement screw 52 and a horizontal movement nut 53, the horizontal movement motor 51 is mounted on the frame, an output end of the horizontal movement motor 51 is connected with the horizontal movement screw 52, the horizontal movement screw 52 is connected with the horizontal movement nut 53, the horizontal movement nut 53 is provided with a horizontal movement connection seat 54, and the horizontal movement connection seat 54 is connected with the offset mechanism 4. A horizontal movement motor 51 and a horizontal movement screw 52 are mounted on the frame 8, and a horizontal movement nut 53 is mounted on the horizontal movement screw 52 so as to be linearly movable. In this embodiment, the offset core signal module 93 of the offset mechanism 4 and the fixing seat 47 of the offset speed reducer are mounted on the horizontal movement connecting seat 54 of the horizontal movement nut 53, so that the entire offset mechanism 4, the shutter opening and closing mechanism 3, the top shutter assembly 1 and the side shutter assembly 2 can move along with the linear movement of the horizontal movement nut 53. Specifically, after the offset mechanism 4 offsets the side sliding door assembly 2 to the outside by a set distance, it is ensured that the parts of the side sliding door assembly 2 and the casing of the operation robot do not interfere with each other in motion, so that the horizontal moving motor 51 drives the horizontal moving screw 52 to perform a rotary motion, and under the action of the horizontal moving screw 52 and the horizontal moving nut 53, the rotary motion of the horizontal moving screw 52 is converted into a linear motion of the horizontal moving nut 53, so that the horizontal moving nut 53 is ensured to perform a linear motion on the horizontal moving screw 52, and the offset mechanism 4, the rolling door opening and closing mechanism 3, the top rolling door assembly 1 and the side sliding door assembly 2 are driven to move along with the linear motion of the horizontal moving nut 53, thereby achieving the effect of opening the side sliding door assembly 2.
As a further explanation of the present embodiment, a horizontal sliding block 55 is provided at the lower portion of the horizontal moving nut 53, the horizontal sliding block 55 is connected with a horizontal sliding rail 56, and the horizontal sliding rail 56 is fixedly mounted on the frame 8. In the process that the horizontal moving mechanism 5 drives the offset mechanism 4, the rolling door opening and closing mechanism 3, the top rolling door component 1 and the side sliding door component 2 to perform linear movement, the horizontal sliding block 55 and the horizontal sliding rail 56 are arranged at the lower part of the horizontal moving nut 53, so that the overall movement smoothness and stability are ensured.
Correspondingly, in the second offset rotating member 46 at the upper part, the stability augmentation slider 48 is connected to the upper part of the stability augmentation plate 455, and the stability augmentation slider 48 is connected to the stability augmentation slide rail 49. The function of the stability augmentation slider 48 and the stability augmentation slide rail 49 is the same as the function of the horizontal slider 55 and the horizontal slide rail 56, so as to ensure the movement smoothness and stability of the side sliding door assembly 2.
As a further explanation of this embodiment, the horizontal moving mechanism 5 is provided with two groups, a first group of horizontal moving mechanisms 5 is disposed on the left side of the frame 8, a second group of horizontal moving mechanisms 5 is disposed on the right side of the frame 8, a linkage mechanism is disposed between the two groups of horizontal moving mechanisms 5, the linkage mechanism includes a linkage synchronous belt 57, a first linkage synchronous pulley 58 and a second linkage synchronous pulley 59, the first linkage synchronous pulley 58 is disposed on the horizontal moving screw 52 of the first group of horizontal moving mechanisms 5, the second linkage synchronous pulley 59 is disposed on the horizontal moving screw 52 of the second group of horizontal moving mechanisms 5, and the linkage synchronous belt 57 is disposed between the first linkage synchronous pulley 58 and the second linkage synchronous pulley 59. Through the linkage mechanism, the motion coordination consistency of the side sliding door assemblies 2 on the left side and the right side can be ensured, driving equipment for operating the robot is reduced, and the cost is reduced.
As a further explanation of this embodiment, the shutter opening and closing mechanism 3 includes a shutter shaft 32 and a shutter gear 33, the output end of the shutter opening and closing core signal module 92 is connected with a shutter opening and closing speed reducer 31, the shutter opening and closing speed reducer 31 is connected with the shutter shaft 32, the shutter opening and closing core signal module 92 is located in the middle of the shutter shaft 32, the shutter gears 33 are installed at two ends of the shutter shaft 32, and the shutter tooth slots matched with the shutter gear 33 are provided on the top shutter assembly 1. The rolling door opening and closing mechanism 3 is adopted, wherein the rolling door opening and closing mechanism 3 is designed to be two sets, the top rolling door assembly 1 is designed to be a left top rolling door and a right top rolling door, and the rolling door opening and closing mechanism 3 corresponds to the two sets of top rolling doors respectively. Under the effect of the tool quick-change assembly 9, through the quick-change cooperation of the mechanical arm signal module 91 and the shutter opening and closing core signal module 92, the power of the mechanical arm 10 is transmitted to the shutter opening and closing mechanism to drive the shutter shaft to rotate, and then under the effect of the shutter gear 33 and the shutter tooth grooves, two sets of top shutter doors are accommodated in the accommodating spaces of the side shutter assembly 2 on the left side and the right side.
As a further explanation of the present embodiment, the rolling door shaft 32 is provided with rolling door bearing seats 34 at both ends, and the rolling door bearing seats 34 are mounted on the first horizontal connector 43.
As a further explanation of this embodiment, the operation robot further includes a front side sliding door assembly 6 and a vertical moving mechanism 7 for driving the front side sliding door assembly 6 to open and close, the vertical moving mechanism 7 includes a telescopic motor 71, a telescopic shaft 72, a scissor bracket 73, a lifting moving base 74 and a lifting moving block 75, the telescopic motor 71 is connected with the telescopic shaft 72, the other end of the telescopic shaft 72 is connected to the side portion of the scissor bracket 73, the upper portion of the scissor bracket 73 is connected with the lifting moving base 74, the lifting moving base 74 is connected with the lifting moving block 75, and the lifting moving block 75 is connected with the front side sliding door assembly 6. The front side door assembly 6 is pushed up by the vertical moving mechanism 7 by a distance. Specifically, the telescopic motor 71 drives the telescopic shaft 72 to perform linear motion, and the telescopic shaft 72 is mounted on the side portion of the scissor bracket 73, so that the upper portion of the scissor bracket 73 is driven to perform lifting motion. The upper part of the scissor bracket 73 is connected with a lifting moving seat 74 and a lifting moving block 75, so that the front side sliding door assembly 6 can be driven to move up and down, and the front side sliding door assembly 6 can be opened or closed.
The working principle of the embodiment is that when the operation robot is not used normally, the top rolling door component 1, the side sliding door component 2 and the front sliding door component 6 of the door structure wrap the operation robot in the shell except the part of the mechanical arm 10. When maintenance is needed or certain operations requiring internal equipment are executed, the rolling door opening and closing mechanism 3 is firstly adopted, wherein two sets of rolling door opening and closing mechanisms 3 are designed, the top rolling door assembly 1 is designed with a left set of top rolling door and a right set of top rolling door, and the rolling door opening and closing mechanisms 3 respectively correspond to the two sets of top rolling doors. Under the effect of the tool quick-change assembly 9, through the quick-change cooperation of the mechanical arm signal module 91 and the shutter opening and closing core signal module 92, the power of the mechanical arm 10 is transmitted to the shutter opening and closing mechanism to drive the shutter shaft to rotate, and then under the effect of the shutter gear 33 and the shutter tooth grooves, two sets of top shutter doors are accommodated in the accommodating spaces of the side shutter assembly 2 on the left side and the right side.
Then, through the quick-change matching of the mechanical arm signal module 91 and the offset core signal module 93, the power of the mechanical arm 10 is transmitted to the offset mechanism, the offset core signal module 93 drives the first offset rotating member to rotate and further drives the vertical connecting member 42 to rotate, so that the second offset rotating member 46 rotates, and the first horizontal connecting member 43 and the second horizontal connecting member 44 are fixedly connected with the offset fixing block 454 of the offset rotating member, so that in the process of rotating the first offset rotating member 45 and the second offset rotating member 46, the first offset rotating member 45 and the second offset rotating member 46 take the first offset rotating through hole 4511 as a rotating center, and rotate around the center of the first offset rotating through hole 4511, so as to drive the first horizontal connecting member 43 and the second horizontal connecting member 44 to offset outwards by a distance, and because the horizontal connecting member and the side sliding door assembly 2 are fixedly connected, so as to drive the side sliding door assembly 2 to be pushed to offset outwards by the same distance.
Then, after the offset mechanism 4 offsets the side sliding door assembly 2 to the outside by a set distance, it is ensured that the parts of the side sliding door assembly 2 and the casing of the operation robot do not interfere with each other in motion, so that the horizontal moving motor 51 drives the horizontal moving screw 52 to perform rotary motion, and under the action of the horizontal moving screw 52 and the horizontal moving nut 53, the rotary motion of the horizontal moving screw 52 is converted into the linear motion of the horizontal moving nut 53, so that the horizontal moving nut 53 is ensured to perform the linear motion on the horizontal moving screw 52, and the offset mechanism 4, the rolling door opening and closing mechanism 3, the top rolling door assembly 1 and the side sliding door assembly 2 are driven to move along with the linear motion of the horizontal moving nut 53, thereby achieving the effect of opening the side sliding door assembly 2. Therefore, the top, the left side and the right side of the operation robot are exposed to the outside, and the operation robot is convenient to overhaul and maintain or perform certain operations requiring internal equipment.
Finally, the front side sliding door assembly 6 is pushed upwards for a certain distance through the vertical moving mechanism 7, and the device is suitable for use under certain special working conditions. Specifically, the telescopic motor 71 drives the telescopic shaft 72 to perform linear motion, and the telescopic shaft 72 is mounted on the side portion of the scissor bracket 73, so that the upper portion of the scissor bracket 73 is driven to perform lifting motion. The upper part of the scissor bracket 73 is connected with a lifting moving seat 74 and a lifting moving block 75, so that the front side sliding door assembly 6 can be driven to move up and down, and the front side sliding door assembly 6 can be opened or closed.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the substantially same technical problems and achieve the substantially same technical effects are encompassed within the scope of the present invention.
Claims (7)
1. A door structure that is used for arm drive operation robot of switch board, its characterized in that: the robot comprises a top rolling door assembly, a side sliding door assembly and a mechanical arm arranged on a robot body, wherein a rolling door opening and closing mechanism for driving the top rolling door assembly to retract and expand is arranged on the side sliding door assembly, an offset mechanism for driving the outer side of the side sliding door assembly to offset is arranged on the side sliding door assembly, and a horizontal moving mechanism for driving the side sliding door assembly to open and close is arranged on the side sliding door assembly;
the offset mechanism comprises an offset rotating piece, a vertical connecting piece and a horizontal connecting piece, wherein the horizontal connecting piece comprises a first horizontal connecting piece arranged at the lower part of the side sliding door assembly and a second horizontal connecting piece arranged at the upper part of the side sliding door assembly, the offset rotating piece comprises a first offset rotating piece arranged at the lower part of the side sliding door assembly and a second offset rotating piece arranged at the upper part of the side sliding door assembly, the first horizontal connecting piece and the second horizontal connecting piece are identical in structure, and the first offset rotating piece and the second offset rotating piece are identical in structure;
the offset core signal module is connected with an offset speed reducer, an output shaft of the offset speed reducer is connected with a first offset rotating piece, the side part of the first offset rotating piece is connected with a first horizontal connecting piece, the first horizontal connecting piece is connected with a side sliding door assembly, the upper part of the offset rotating piece is connected with a vertical connecting piece, the vertical connecting piece is connected with a second offset rotating piece, the side part of the second offset rotating piece is connected with a second horizontal connecting piece, and the second horizontal connecting piece is connected with a side sliding door assembly;
the offset rotating piece comprises an offset rotating plate, a first offset connecting shaft, a second offset connecting shaft, an offset fixing block, a stability increasing plate and a stability increasing linkage rod, wherein a first offset rotating through hole connected with the first offset connecting shaft is formed in one side of the offset rotating plate, a second offset rotating through hole connected with the second offset connecting shaft is formed in the other side of the offset rotating plate, and the middle part of the offset rotating plate is connected with the vertical connecting piece;
the middle part of the first offset connecting shaft is sleeved with a rotating sleeve, the outer part of the rotating sleeve is connected with a stability augmentation plate, the inner side of the stability augmentation plate is hinged with the stability augmentation linkage rod, and the other end of the stability augmentation linkage rod is hinged on the offset fixed block;
the outer part of the second offset connecting shaft is connected with an offset fixing block, the offset fixing block is hinged with a stability increasing linkage rod, the offset fixing block is connected with an offset connecting plate, and the offset connecting plate is fixedly arranged on the horizontal connecting piece;
the horizontal moving mechanism comprises a horizontal moving motor, a horizontal moving screw rod and a horizontal moving nut, the horizontal moving motor is arranged on the frame, the output end of the horizontal moving motor is connected with the horizontal moving screw rod, the horizontal moving screw rod is connected with the horizontal moving nut, the horizontal moving nut is provided with a horizontal moving connecting seat, and the horizontal moving connecting seat is connected with an offset mechanism;
the mechanical arm is provided with a tool quick-change assembly, the tool quick-change assembly comprises a mechanical arm signal module arranged on the mechanical arm and a rolling door opening and closing core signal module arranged on a rolling door opening and closing mechanism, and the power of the mechanical arm is transmitted to the rolling door opening and closing mechanism through quick-change matching of the mechanical arm signal module and the rolling door opening and closing core signal module;
the tool quick-change assembly further comprises an offset core signal module arranged on the offset mechanism, and the power of the mechanical arm is transmitted to the offset mechanism through quick-change matching of the mechanical arm signal module and the offset core signal module.
2. The door structure of a robot arm driven operation for a power distribution cabinet according to claim 1, wherein: the lower end of the first offset connecting shaft is connected with an output shaft of the offset speed reducer, and the outer side of the stability augmentation plate is fixed on a fixed seat of the offset speed reducer.
3. The door structure of a robot arm driven operation for a power distribution cabinet according to claim 1, wherein: the upper portion of the stability augmentation plate is connected with a stability augmentation slide block, and the stability augmentation slide block is connected with a stability augmentation slide rail.
4. The door structure of a robot arm driven operation for a power distribution cabinet according to claim 1, wherein: the lower part of the horizontal moving nut is provided with a horizontal sliding block, the horizontal sliding block is connected with a horizontal sliding rail, and the horizontal sliding rail is fixedly arranged on the frame.
5. The door structure of a robot arm driven operation for a power distribution cabinet according to claim 1, wherein: the horizontal moving mechanism is provided with two groups, a first group of horizontal moving mechanisms is arranged on the left side of the frame, a second group of horizontal moving mechanisms is arranged on the right side of the frame, a linkage mechanism is arranged between the two groups of horizontal moving mechanisms, the linkage mechanism comprises a linkage synchronous belt, a first linkage synchronous belt wheel and a second linkage synchronous belt wheel, the first linkage synchronous belt wheel is arranged on a first group of horizontal moving screw rods of the horizontal moving mechanisms, the second linkage synchronous belt wheel is arranged on a second group of horizontal moving screw rods of the horizontal moving mechanisms, and the linkage synchronous belt is arranged between the first linkage synchronous belt wheel and the second linkage synchronous belt wheel.
6. The door structure of a robot arm driven operation for a power distribution cabinet according to claim 1, wherein: the rolling door opening and closing mechanism comprises a rolling door shaft and rolling door gears, the output end of the rolling door opening and closing core signal module is connected with a rolling door opening and closing speed reducer, the rolling door opening and closing speed reducer is connected with the rolling door shaft, the rolling door opening and closing core signal module is located in the middle of the rolling door shaft, the rolling door gears are installed at two ends of the rolling door shaft, and rolling door tooth grooves matched with the rolling door gears are formed in the top rolling door assembly.
7. The door structure of a robot arm driven operation for a power distribution cabinet according to any one of claims 1 to 6, wherein: the automatic lifting device comprises a front side sliding door assembly, and is characterized by further comprising a front side sliding door assembly and a vertical moving mechanism for driving the front side sliding door assembly to open and close, wherein the vertical moving mechanism comprises a telescopic motor, a telescopic shaft, a scissor type support, a lifting moving seat and a lifting moving block, the telescopic motor is connected with the telescopic shaft, the other end of the telescopic shaft is connected to the side part of the scissor type support, the upper part of the scissor type support is connected with the lifting moving seat, the lifting moving seat is connected with the lifting moving block, and the lifting moving block is connected with the front side sliding door assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311807102.XA CN117444944B (en) | 2023-12-26 | 2023-12-26 | Door structure of mechanical arm driving operation robot for power distribution cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311807102.XA CN117444944B (en) | 2023-12-26 | 2023-12-26 | Door structure of mechanical arm driving operation robot for power distribution cabinet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117444944A CN117444944A (en) | 2024-01-26 |
| CN117444944B true CN117444944B (en) | 2024-03-12 |
Family
ID=89582278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311807102.XA Active CN117444944B (en) | 2023-12-26 | 2023-12-26 | Door structure of mechanical arm driving operation robot for power distribution cabinet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117444944B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016161465A (en) * | 2015-03-04 | 2016-09-05 | トヨタ自動車九州株式会社 | Vehicle durability testing device |
| KR20160003443U (en) * | 2015-03-28 | 2016-10-06 | 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. | A two-way transfer robot with two rods by parallel principle |
| CN107591895A (en) * | 2017-10-26 | 2018-01-16 | 国网宁夏电力公司银川供电公司 | System is dispatched by heavier-duty transformer station |
| CN212170426U (en) * | 2020-05-29 | 2020-12-18 | 杭州瑞尚网络科技有限公司 | Intelligent delivery robot with display screen structure |
| CN112917490A (en) * | 2021-01-22 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Robot tail end clamp adaptive to door opening deviation and device thereof |
| CN115246117A (en) * | 2022-08-30 | 2022-10-28 | 广东亿嘉和科技有限公司 | Composite robot with openable and closable sealing door mechanism and control method thereof |
| CN116032015A (en) * | 2023-02-17 | 2023-04-28 | 青岛华欧集团四海自动化控制工程有限公司 | Power distribution cabinet operation and maintenance state inspection device |
| CN116197875A (en) * | 2022-12-30 | 2023-06-02 | 新疆工程学院 | Electric power inspection robot |
| CN116940024A (en) * | 2023-07-26 | 2023-10-24 | 柳州益丰科技有限公司 | System integrated control device |
| CN219925574U (en) * | 2022-12-08 | 2023-10-31 | 常州泰翔自动化设备科技有限公司 | Automatic polishing platform of modularized robot |
| WO2023216480A1 (en) * | 2022-05-08 | 2023-11-16 | 岳秀兰 | Supply system for electric energy supply and supplied vehicles of service base by means of internet of things architecture |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11839040B2 (en) * | 2021-06-04 | 2023-12-05 | Eaton Intelligent Power Limited | Interlock mechanism for a distribution cabinet |
-
2023
- 2023-12-26 CN CN202311807102.XA patent/CN117444944B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016161465A (en) * | 2015-03-04 | 2016-09-05 | トヨタ自動車九州株式会社 | Vehicle durability testing device |
| KR20160003443U (en) * | 2015-03-28 | 2016-10-06 | 쑤저우 롱웨이 인더스트리 & 트레이드 씨오., 엘티디. | A two-way transfer robot with two rods by parallel principle |
| CN107591895A (en) * | 2017-10-26 | 2018-01-16 | 国网宁夏电力公司银川供电公司 | System is dispatched by heavier-duty transformer station |
| CN212170426U (en) * | 2020-05-29 | 2020-12-18 | 杭州瑞尚网络科技有限公司 | Intelligent delivery robot with display screen structure |
| CN112917490A (en) * | 2021-01-22 | 2021-06-08 | 广东电网有限责任公司广州供电局 | Robot tail end clamp adaptive to door opening deviation and device thereof |
| WO2023216480A1 (en) * | 2022-05-08 | 2023-11-16 | 岳秀兰 | Supply system for electric energy supply and supplied vehicles of service base by means of internet of things architecture |
| CN115246117A (en) * | 2022-08-30 | 2022-10-28 | 广东亿嘉和科技有限公司 | Composite robot with openable and closable sealing door mechanism and control method thereof |
| CN219925574U (en) * | 2022-12-08 | 2023-10-31 | 常州泰翔自动化设备科技有限公司 | Automatic polishing platform of modularized robot |
| CN116197875A (en) * | 2022-12-30 | 2023-06-02 | 新疆工程学院 | Electric power inspection robot |
| CN116032015A (en) * | 2023-02-17 | 2023-04-28 | 青岛华欧集团四海自动化控制工程有限公司 | Power distribution cabinet operation and maintenance state inspection device |
| CN116940024A (en) * | 2023-07-26 | 2023-10-24 | 柳州益丰科技有限公司 | System integrated control device |
Non-Patent Citations (4)
| Title |
|---|
| John Edwards.Signal Processing Supports Robotic Innovation: Robots are on a roll as new designs and capabilities open the door to fresh applications.《IEEE Signal Processing Magzine》.2022,全文. * |
| 变电站机器人智能巡检技术及应用效果;彭向阳;金亮;王锐;易琳;陈国强;;高压电器;20190416(第04期);全文 * |
| 基于BYEC-1820运动控制器的中置柜检修智能小车控制系统;周维明;《制造业自动化》;20161025;全文 * |
| 王颖.一种基于线性模型的机器人手眼标定新方法.《模式识别与人工智能》.2005,全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117444944A (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108312134B (en) | Six-axis robot | |
| CN111691782B (en) | Electric folding door capable of being opened and closed quickly | |
| CN117444944B (en) | Door structure of mechanical arm driving operation robot for power distribution cabinet | |
| CN212136923U (en) | Electric control cabinet convenient to maintenance | |
| CN117569715B (en) | Door structure of operation robot | |
| CN113922235A (en) | Outward-extending push type switch distribution box for smart grid user side and using method of outward-extending push type switch distribution box | |
| CN207656343U (en) | Straight-line tool magazine and its protective door structure | |
| CN116079670A (en) | Multi-gesture equipment operation tool | |
| CN219394086U (en) | Electric power cabinet convenient to overhaul | |
| CN210414610U (en) | High-stability supporting mounting plate for robot | |
| CN220481096U (en) | Numerical control machining center for machining mechanical parts | |
| CN219672438U (en) | Full-automatic push-out sliding door system | |
| CN219075681U (en) | Multi-shaft reciprocating mechanism and multi-shaft manipulator | |
| CN219034447U (en) | Door opening and closing mechanism based on connecting rod | |
| CN111089262A (en) | Solar street lamp capable of protecting solar panel | |
| CN220427389U (en) | Cage type welding positioner | |
| CN218927814U (en) | Mechanical arm | |
| CN218698772U (en) | Mechanical arm convenient to install | |
| CN214835659U (en) | Fixed belt driving device of electric side sliding door | |
| CN215185311U (en) | Ring main unit is aerifyd to environment-friendly with moving mechanism | |
| CN110877022A (en) | Synchronous vertical lifting device for brush of cleaning robot | |
| CN213703448U (en) | Translation mechanism is used in robot loading and unloading | |
| CN219856956U (en) | Expansion mechanism and car as a house thereof | |
| CN215968712U (en) | Multi-shaft driving platform for robot walking | |
| CN215148934U (en) | Power grid equipment overhauls auxiliary device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |