CN204304315U - A kind of many cam control type three arm high-voltage maintenance Bi Zhang robots - Google Patents
A kind of many cam control type three arm high-voltage maintenance Bi Zhang robots Download PDFInfo
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- CN204304315U CN204304315U CN201420848367.4U CN201420848367U CN204304315U CN 204304315 U CN204304315 U CN 204304315U CN 201420848367 U CN201420848367 U CN 201420848367U CN 204304315 U CN204304315 U CN 204304315U
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Abstract
The utility model relates to a kind of many cam control types three arm high-voltage maintenance Bi Zhang robot, comprises the first mechanical arm being fixedly mounted on the left side of support by left support arm and right support arm, and is positioned at the dead astern of the crossbeam of support.Second mechanical arm is fixedly mounted on the middle part of support by left support arm and right support arm, and is positioned at the dead ahead of the crossbeam of support, and three-mechanical arm is fixedly mounted on the right side of support by left support arm and right support arm, and is positioned at the dead astern of the crossbeam of support.Disc cam and vertical bevel gear are all equipped with in three mechanical arm bottoms, and the turning cylinder that oscillating motor is equipped with in front end is fixedly mounted on frame bottom, and disc cam and the concentric fixed installation of vertical bevel gear are on the rotating shaft.Its advantage is: by the motion of camming movement controller mechanical arm, and running into barrier can avoid, and clamping of can keeping in the center; A kind of cam driven formula, number of motors is few, grade climbing performance is good high-voltage maintenance robot.
Description
Technical field
The utility model relates to high-voltage maintenance robot technical field, specifically a kind of many cam control types three arm high-voltage maintenance Bi Zhang robot.
Background technology
Ultra-high-tension power transmission line is the major way of long distance powedr transmission, polling transmission line is the requisite measure ensureing that ultra-high-tension power transmission line normally runs, inspection robot is applied to patrolling and examining of high-tension line, with certain speed along track creeping, and can stockbridge damper be crossed over, strain clamp, suspension clamp, the barriers such as shaft tower.Utilize the instrument carried to shaft tower, wire and lightning conducter, insulator, line clamp, wait examinations, not only can alleviate the labor force of workman, reduces and patrol and examine operating cost, and can improve quality and the dynamics of line walking.High-voltage maintenance robot has the strong market demand and vast potential for future development, thus receives the concern of domestic and international scientific and technical personnel.
The inspection robot of current use, adopts wheeled robotic arm of creeping, and motor drives realization to creep.Lack clamp system and motor overcharge, fuselage weight is large, causes driven by motor to creep climbing capacity difference, creeps slow, complex structure and wayward.This patent controls camming movement by an oscillating motor, thus the motion of controller mechanical arm, running into barrier can avoid, and clamping of can keeping in the center; A kind of cam driven formula, number of motors is few, grade climbing performance is good high-voltage maintenance robot.
Utility model content
The purpose of this utility model is the defect existed for prior art, proposes a kind of cam driven formula, number of motors is few, structure is simple, grade climbing performance is good, walking is stable, high-voltage maintenance robot that control accuracy is high.
A kind of many cam control type three arm high-voltage maintenance Bi Zhang robots, is characterized in that: comprise support, the first mechanical arm being arranged on support successively, the second mechanical arm, the 3rd mechanical arm; Described support is provided with right side support support, middle bracket supports, left side brackets supports; Support is fixed an oscillating motor, one end of the output shaft of described oscillating motor and a turning cylinder connects; First mechanical arm, the second mechanical arm, the 3rd bottom of mechanical arm be connected with the axis body of turning cylinder thus the first mechanical arm, the second mechanical arm can be driven, the 3rd mechanical arm swing;
Described first mechanical arm, the second mechanical arm are all identical with three-mechanical arm structure: comprise principal arm support rail and main swing arm arm; Principal arm support rail is become 90 degree with main swing arm arm and is connected by pin; Main swing arm arm and support are fixedly mounted by left support arm and right support arm; Main swing arm arm connects a clamp system by pin bar; Round roller on the roller transverse arm of clamp system bottom is embedded in the track groove on cylindrical cam; The crossbeam of cylindrical cam axle upper end and support fixedly mounts, and cylindrical cam and a cylindrical cam axle fixedly mount;
Cylindrical cam axle lower end on first mechanical arm and left side brackets support and fixedly mount, and the cylindrical cam axle lower end on the second mechanical arm and middle bracket support and fixedly mount, and the cylindrical cam axle lower end on three-mechanical arm and right side support support and fixedly mount; The cylindrical cam axle of three mechanical arms is all bolted to connection with horizontal type bevel gear, horizontal type bevel gear and the external toothing of vertical bevel gear; Vertical bevel gear is concentricity is fixed on the left side of turning cylinder, middle part and right side;
Described first mechanical arm is fixedly mounted on the left part of support by left support arm and right support arm, and be positioned at the dead astern of the crossbeam of support, bottom first mechanical arm, disc cam is housed, the principal arm support rail installation site of the first mechanical arm bottom overlaps with the starting point of the motion angle for actuating travel a of disc cam; Disc cam is fixedly mounted on the left side of turning cylinder concentrically;
Described second mechanical arm is fixedly mounted on the middle part of support by left support arm and right support arm, and is positioned at the dead ahead of the crossbeam of support, bottom the second mechanical arm, disc cam is housed; The principal arm support rail installation site of the second mechanical arm bottom is positioned at disc cam near angle of repose b scope, and overlaps with the location point place that the initiating terminal of motion angle for actuating travel a is 120 degree; Disc cam is fixedly mounted on the middle part of turning cylinder concentrically;
Described three-mechanical arm is fixedly mounted on the right part of support by left support arm and right support arm, and be positioned at the dead astern of the crossbeam of support, disc cam is housed bottom three-mechanical arm, and the installation site of the principal arm support rail of three-mechanical arm bottom overlaps with the starting point of disc cam motion angle for actuating travel a; Disc cam is fixedly mounted on the right side of turning cylinder concentrically, and the disc cam of three-mechanical arm lower end is oppositely installed relative to the disc cam of the first mechanical arm and the second mechanical arm;
Turning cylinder front end connects oscillating motor, be fixedly mounted on frame bottom, oscillating motor drives turning cylinder to rotate, and turning cylinder drives disc cam and the vertical bevel gear movement of the first mechanical arm bottom, thus drives main swing arm arm and the cylindrical cam motion on the first mechanical arm top; Turning cylinder drives disc cam and the vertical bevel gear movement of the second mechanical arm bottom simultaneously, thus drives main swing arm arm and the cylindrical cam motion on the second mechanical arm top; Turning cylinder drives disc cam and the vertical bevel gear movement of three-mechanical arm bottom simultaneously, thus drives main swing arm arm and the cylindrical cam motion on three-mechanical arm top;
Described main swing arm arm, comprises the circular road wheel being arranged on main swing arm arm one end, and main swing arm arm is provided with round hole slot, left diagonal chute and right diagonal chute; Described circular road wheel is concentricity to be fixedly mounted on main swing arm arm top nose projecting shaft, and compress high-voltage line, movable motor is concentricity to be fixedly mounted on the top rear projecting shaft of main swing arm arm, and band mobile robot travels forward; Left diagonal chute and right diagonal chute are the downward gyro wheeling concrete chuting of diagonal, and left diagonal chute is opened in middle and lower part on the left of main swing arm arm, and right diagonal chute is opened in middle and lower part on the right side of main swing arm arm; Circular hole slot is opened in the top of main swing arm arm, and pin bar is embedded in circular hole slot; Principal arm support rail is become 90 degree with main swing arm arm and is connected by pin; Principal arm support rail carries out limited support by support.
In above-mentioned one many cam control types three arm high-voltage maintenance Bi Zhang robot, described clamp system comprises pin bar, semicircular gib, rectangle connecting rod, round roller, roller transverse arm; In the concentric circular hole slot be embedded on main swing arm arm of pin bar, clamp system is connected by pin bar with main swing arm arm, and clamp system can around pin bar relative to main swing arm arm swing; Semicircular gib is concentricity to be fixedly mounted on the projecting shaft of clamp system top nose, and the high tension lead that matches with road wheel travels forward; Rectangle connecting rod is fixedly mounted on the middle part of clamp system and stretches out downwards, is inclined to set, together with rectangle connecting rod bottom is bolted to connection with roller transverse arm with vertical direction; Round roller is concentricity to be fixedly mounted on the projecting shaft of roller transverse arm front end, and is embedded in the track groove of cylindrical cam.
In above-mentioned one many cam control types three arm high-voltage maintenance Bi Zhang robot, described cylindrical cam is the cylindrical cam component of track groove around cylinder; Cylindrical cam is concentricity is fixedly mounted on the middle part of cylindrical cam axle, and the track groove that cylindrical cam is offered is divided into four parts one, two, three and four; The cam rottion angle of track one correspondence is motion angle for actuating travel a is 60 degree; The cam rottion angle of track two correspondence is far angle of repose b is 0 degree; Now cylindrical cam does not rotate, and track is 0; The cam rottion angle of track three correspondence is 120 degree for pushing away motion angle for return travel c; The cam rottion angle of track four correspondence is near angle of repose d is 180 degree; Each angle of rotation of cylindrical cam is corresponding consistent with the disc cam angle of rotation size in corresponding orientation; Clamp system bottom round roller is embedded in the track groove of cylindrical cam, and along with cylindrical cam rotates, round roller can move up and down in track groove, thus drives clamp system to move up and down.
In above-mentioned one many cam control types three arm high-voltage maintenance Bi Zhang robot, described left support arm and right support arm front end are fixed on the crossbeam of support, left support arm roller is equipped with in left support arm rear end, right support arm roller is equipped with in right support arm rear end, left support arm roller is inlayed and is arranged in left diagonal chute, and right support arm roller is inlayed and is arranged in right diagonal chute; When main swing arm arm is subject to active force upwards, left support arm roller can roll in left diagonal chute, and right support arm roller can roll in right diagonal chute, and main swing arm arm moves obliquely upward, and road wheel departs from high-voltage line.
In above-mentioned one many cam control types three arm high-voltage maintenance Bi Zhang robot, self axle top of described horizontal type bevel gear has bolt hole, have bolt hole bottom cylindrical cam axle, the horizontal horizontal type of horizontal type bevel gear is placed, together with being bolted to connection with cylindrical cam axle; Simultaneously horizontal type bevel gear becomes 90 to be outside one's consideration with the vertical bevel gear fixed on the rotating shaft to engage; Oscillating motor drives turning cylinder to rotate, thus drives horizontal type bevel gear to rotate, thus drives cylindrical cam axle to rotate.
In above-mentioned one many cam control types three arm high-voltage maintenance Bi Zhang robot, described disc cam is can rotate and the disk-shaped member of the diameter that changes around fixed axis, disc cam has keyway, keyway has screw hole, and three disc cams are fixedly connected with by flat key and screw are vertical with turning cylinder is all concentricity, and be separately fixed at the left side of turning cylinder, middle part and right side.
In above-mentioned one many cam control types three arm high-voltage maintenance Bi Zhang robot, analytic method and movement locus are divided into movement locus one, movement locus two, movement locus three and movement locus four; The corresponding cam rottion angle of movement locus one is motion angle for actuating travel a is 60 degree, and the corresponding cam rottion angle of movement locus two is far angle of repose b is 0 degree; Now disc cam does not rotate, and movement locus two is 0; The corresponding cam rottion angle of movement locus three is motion angle for return travel c is 120 degree; The corresponding cam rottion angle of movement locus four is near angle of repose d is 180 degree.
Oscillating motor drives turning cylinder to rotate, and then drives fixing disc cam on the rotating shaft to rotate.Oscillating motor drives turning cylinder to rotate 60 degree, the disc cam be fixed on the left of turning cylinder rotates, drive the main swing arm arm of the first mechanical arm upwards diagonal move to top, road wheel departs from high-voltage line, oscillating motor drives the vertical bevel pinion rotation 60 degree in left side simultaneously, due to horizontal type bevel gear and the external toothing of vertical bevel gear of the first mechanical arm, and then drive the cylindrical cam of the first mechanical arm to rotate 60 degree, the clamp system bottom round roller of the first mechanical arm is forced to roll in track groove, arrive the bottom of track groove, clamp system moves downward, pinch wheels departs from high-voltage line.Now, be fixed on the vertical bevel gear at disc cam in the middle part of turning cylinder and middle part under the drive of oscillating motor, when turning over 60 degree, the main swing arm arm of the second mechanical arm is up and down without motion, and clamp system is up and down without motion; The vertical bevel gear being fixed on disc cam on the right side of turning cylinder and right side turns over 60 degree under the drive of oscillating motor, and the main swing arm arm of three-mechanical arm is up and down without motion, and clamp system is up and down without motion.Movable motor band mobile robot moves ahead, the first mechanical arm cut-through thing.When oscillating motor is rotated further 120 degree, the first mechanical arm is under the drive of disc cam and vertical bevel gear, and main swing arm arm is descending, and road wheel is high tension lead again, and clamp system is up, pinch wheels high tension lead.Now the second mechanical arm is under the drive of disc cam and vertical bevel gear, main swing arm arm upwards diagonal arrives peak, and clamp system bottom round roller rolls in track groove, arrives the bottom of track groove, clamp system moves downward, and pinch wheels departs from high-voltage line.Now the main swing arm arm of three-mechanical arm and clamp system are up and down without motion, keep high tension lead.Movable motor band mobile robot moves ahead, the second mechanical arm cut-through thing.When oscillating motor is rotated further 120 degree, the first mechanical arm is up and down without motion, and main swing arm arm and clamp system continue high tension lead.Now the second mechanical arm is under the drive of disc cam and vertical bevel gear, and main swing arm arm moves downward, road wheel high tension lead, and clamp system is up, pinch wheels high tension lead.Simultaneously three-mechanical arm is under the drive of disc cam and vertical bevel gear, main swing arm arm upwards diagonal arrival arrives a little most, and clamp system bottom round roller rolls in track groove, arrives the bottom of track groove, clamp system moves downward, and pinch wheels departs from high-voltage line.Movable motor band mobile robot moves ahead, three-mechanical arm cut-through thing.Oscillating motor is rotated further 60 degree, and the main swing arm arm of the first mechanical arm is up and down without motion, and clamp system is up and down without motion, and the main swing arm arm of the second mechanical arm is up and down without motion, and clamp system is up and down without motion.Three-mechanical arm is under the drive of disc cam and vertical bevel gear, and main swing arm arm moves downward, road wheel high tension lead, and clamp system is up, pinch wheels high tension lead.The now overall cut-through thing of robot, a work period completes, and each parts all return to initial position.
The utility model tool has the following advantages: 1, turning cylinder of the present utility model has three disc cams, design cam base circle, motion angle for actuating travel, near angle of repose, far angle of repose, motion angle for return travel, by lifting and the maintenance of camming movement controller mechanical arm main swing arm arm, mechanical arm runs into barrier and can avoid, and can keep in the center, 2 cams rotate to drive on principal arm support rail and move, and because left and right supporting arms and crossbeam are fixed, roller can only roll in chute, and main swing arm arm is swung by pin, departs from high-voltage line, structure is ingenious, and design of part is also fairly simple, and be easy to processing, therefore the machining accuracy of part easily ensures, 3, cylindrical cam of the present utility model, cylindrical cam is fixed on cylindrical cam axle, and by two bevel gear engagements, turning cylinder drives cylindrical cam to rotate, cylindrical cam design motion angle for actuating travel, near angle of repose, far angle of repose, motion angle for return travel, and all angles are all identical with disc cam, therefore disc cam is consistent with the movement travel of cylindrical cam, namely when disc cam turns an angle principal arm rising, cylindrical cam rotates equal angular and ensures that clamp system declines simultaneously, ensure the simultaneity that principal arm and clamp system move, when disc cam turns an angle principal arm decline, cylindrical cam rotates equal angular and ensures that clamp system rises, when when disc cam basic circle rotates, principal arm does not have a displacement, cylindrical cam rotates equal angular and ensures that clamp system does not move, ensure that principal arm and clamp system depart from high-voltage line, simultaneously high tension lead simultaneously, ensure simultaneity, the uniformity of motion.4, on the utility model, three disc cams are different from corresponding mechanical arm setting angle, clamp system installation site in track groove is different, same oscillating motor drives turning cylinder to rotate, thus drive three disc cams and the motion of the first mechanical arm, the second mechanical arm and three-mechanical arm, work in coordination, some mechanical arms run into barrier and can circumvent, remain two mechanical arms to keep high tension lead and can be driven by movable motor travelling forward simultaneously, mechanical arm is at turning cylinder reasonable layout, coordinate ingenious, sport join is stablized.
Accompanying drawing explanation
Fig. 1 is the front view schematic diagram of utility model.
Fig. 2 is the left TV structure schematic diagram of Fig. 1.
Fig. 3 is the plan structure schematic diagram of Fig. 1.
Fig. 4 is the A-A generalized section of Fig. 2.
Fig. 5 is first, second, and third mechanical arm front view enlarged diagram.
Fig. 6 is the A-A generalized section of Fig. 5.
Fig. 7 is the front view structural representation of main swing arm arm and principal arm support rail.
Fig. 8 is the top view structural representation of Fig. 7.
Fig. 9 is the right view structural representation of Fig. 7.
Figure 10 is clamp system front view structural representation.
Figure 11 is the left view structural representation of Figure 10.
Figure 12 is the upward view structural representation of Figure 10.
Figure 13 is the front view structural representation of cylindrical cam and cylindrical cam axle.
Figure 14 is the right view structural representation of Figure 13.
Figure 15 is the left view structural representation of Figure 13.
Figure 16 is the top view structural representation of Figure 13.
Figure 17 is the front view structural representation of outer support arm and inner support arm.
Figure 18 is the left view structural representation of Figure 17.
Figure 19 is horizontal type bevel gear front view structural representation.
Figure 20 is the right view structural representation of Figure 19.
Figure 21 is the left view structural representation of Figure 19.
Figure 22 is the top view structural representation of Figure 19.
Figure 23 is disc cam front view schematic diagram.
Figure 24 is the left view schematic diagram of Figure 23.
Figure 25 is the right view schematic diagram of Figure 23.
Figure 26 is the top view schematic diagram of Figure 23.
Detailed description of the invention
Below by embodiment, and by reference to the accompanying drawings, the technical solution of the utility model is described in further detail.In figure, 1 is the first mechanical arm, 2 is the second mechanical arm, 3 is three-mechanical arm, 4 is the support of right side support, 5 is middle bracket support, 6 is left side brackets support, 7 is oscillating motor, 8 is turning cylinder, 9 is upper bearing, 10 is track groove, 11 bolts, 12 is right side bearing (ball) cover, 13 is right bearing, 14 is left bearing, 15 is movable motor, 16 is clamp system, 17 is pin bar, 18 is rectangle connecting rod, 19 is main swing arm arm, 20 is left support arm, 21 is left diagonal chute, 22 is principal arm support rail, 23 is support, 24 is lower bearing end cap, 25 is lower bearing, 26 is cylindrical cam, 27 is cylindrical cam axle, 28 is pinch wheels, 29 is road wheel, 30 is upper bearing end cap, 31 is horizontal type bevel gear, 32 is vertical bevel gear, 33 is disc cam, 34 is left side bearing (ball) cover, 35 is circular hole slot, 36 is roller transverse arm, 37 is round roller, 38 is cylindrical cam axle bolt hole, 39 is right support arm, 40 is left support arm roller, 41 is right support arm roller.42 is horizontal type bevel gear bolt hole, and 43 is keyway, and 44 is screw hole, and 45 is right diagonal chute.
The utility model comprises the first mechanical arm 1, second mechanical arm 2, the 3rd mechanical arm 3, right side support support 4, middle bracket support 5, left side brackets support 6, oscillating motor 7, turning cylinder 8 and support 23 form, and three mechanical arms are from left to right evenly arranged on support 23 successively.
First mechanical arm 1, second mechanical arm 2 is identical with three-mechanical arm 3 structure: comprise movable motor 15, clamp system 16, main swing arm arm 19, principal arm support rail 22, left support arm 20, right support arm 39, disc cam 33, cylindrical cam 26, cylindrical cam axle 27, horizontal type bevel gear 31 and vertical bevel gear 32.Principal arm support rail 22 is with 19 one-tenth 90 degree, main swing arm arm and be connected by pin.Main swing arm arm 19 is fixedly mounted by left support arm 20 and right support arm 39 with support 23.Clamp system 16 is connected by pin bar 17 with main swing arm arm 19, round roller 37 on the roller transverse arm 36 of clamp system 16 bottom is embedded in the track groove 10 on cylindrical cam 26, cylindrical cam 26 and cylindrical cam axle 27 fixedly mount, the crossbeam of cylindrical cam axle 27 upper end and support 23 fixedly mounts, cylindrical cam axle 27 lower end on first mechanical arm 1 and left side brackets support 6 and fixedly mount, cylindrical cam axle 27 lower end on second mechanical arm 2 and middle bracket support 5 and fixedly mount, cylindrical cam axle 27 lower end on three-mechanical arm 3 and right side support support 4 and fixedly mount.Cylindrical cam axle 27 is fixedly connected with by bolt 11 with horizontal type bevel gear 31, horizontal type bevel gear 31 and vertical bevel gear 32 external toothing.Vertical bevel gear 32 is concentricity is fixed on the left side of turning cylinder 8, middle part and right side.
First mechanical arm 1 is fixedly mounted on the left part of support 23 by left support arm 20 and right support arm 39, and be positioned at the dead astern of the crossbeam of support 23, bottom first mechanical arm 1, disc cam 33 is housed, and installation site overlaps with the starting point of the motion angle for actuating travel a of disc cam 33.Disc cam 33 is fixedly mounted on the left side of turning cylinder 8 concentrically.Second mechanical arm 2 is fixedly mounted on the middle part of support 23 by left support arm 20 and right support arm 39, and be positioned at the dead ahead of the crossbeam of support 23, bottom second mechanical arm 2, disc cam 33 is housed, the principal arm support rail installation site of the second mechanical arm bottom is positioned at disc cam near angle of repose b scope, and the location point place being 120 degree with the initiating terminal of motion angle for actuating travel a overlaps, and disc cam 33 is fixedly mounted on the middle part of turning cylinder 8 concentrically.Three-mechanical arm 3 is fixedly mounted on the right part of support 23 by left support arm 20 and right support arm 39, and be positioned at the dead astern of the crossbeam of support 23, disc cam 33 is housed bottom three-mechanical arm 3, and installation site overlaps with the starting point of disc cam 33 motion angle for actuating travel a, the disc cam of three-mechanical arm 3 lower end is oppositely installed relative to the disc cam of the first mechanical arm 1 and the second mechanical arm 2, and disc cam 33 is fixedly mounted on the right side of turning cylinder 8 concentrically.
Oscillating motor 7 is equipped with in turning cylinder 8 front end, be fixedly mounted on bottom support 23, oscillating motor 7 drives turning cylinder 8 to rotate, turning cylinder 8 drives the disc cam 33 of the first mechanical arm 1 bottom and vertical bevel gear 32 to move, thus drives the main swing arm arm 19 on the first mechanical arm 1 top and cylindrical cam 26 to move; Turning cylinder 8 drives the disc cam 33 of the second mechanical arm 2 bottom and vertical bevel gear 32 to move simultaneously, thus drives the main swing arm arm 19 on the second mechanical arm 2 top and cylindrical cam 26 to move; Turning cylinder 8 drives the disc cam 33 of three-mechanical arm 3 bottom and vertical bevel gear 32 to move simultaneously, thus drives the main swing arm arm 19 on three-mechanical arm 3 top and cylindrical cam 26 to move;
Main swing arm arm 19 and principal arm support rail 22, comprise circular road wheel 29, round hole slot 35, left diagonal chute 21 and right diagonal chute 45.Circular road wheel 29 is concentricity is fixedly mounted on main swing arm arm 19 top nose projecting shaft, and compress high-voltage line, movable motor 15 is concentricity to be fixedly mounted on the top rear projecting shaft of main swing arm arm 19, and band mobile robot travels forward.Left diagonal chute 21 is the downward gyro wheeling concrete chuting of diagonal with right diagonal chute 45, and left diagonal chute 21 is opened in middle and lower part on the left of main swing arm arm 19, and right diagonal chute 45 is opened in middle and lower part on the right side of main swing arm arm 19.Circular hole slot 35 is opened in the top of main swing arm arm 19, and pin bar 17 is embedded in circular hole slot 35.Principal arm support rail 22 is with 19 one-tenth 90 degree, main swing arm arm and be connected by pin.Principal arm support rail 22 carries out limited support by support 23.
Clamp system 16, comprises pin bar 17, semicircular gib 28, rectangle connecting rod 18, round roller 37, roller transverse arm 36.In the concentric circular hole slot 35 be embedded on main swing arm arm 19 of pin bar 17, clamp system 16 is connected by pin bar 17 with main swing arm arm 19, and clamp system 16 can swing around pin bar 17 relative to main swing arm arm 19.Semicircular gib 28 is concentricity to be fixedly mounted on the projecting shaft of clamp system 16 top nose, and the high tension lead that matches with road wheel 28 travels forward.Rectangle connecting rod 18 is fixedly mounted on the middle part of clamp system 16 and stretches out downwards, is inclined to set, together with rectangle connecting rod 18 bottom is bolted to connection with roller transverse arm 37 with vertical direction.Round roller 37 is concentricity to be fixedly mounted on the projecting shaft of roller transverse arm 36 front end, and is embedded in the track groove 10 of cylindrical cam 26.
Cylindrical cam 26 and cylindrical cam axle 27, cylindrical cam is the cylindrical cam component of track groove around cylinder.Cylindrical cam 26 is concentricity is fixedly mounted on the middle part of cylindrical cam axle 27, and the track groove that cylindrical cam 26 is offered is divided into four parts one, two, three and four.The cam rottion angle of track one correspondence is motion angle for actuating travel a is 60 degree, and the cam rottion angle of track two correspondence is far angle of repose b is 0 degree, and now cylindrical cam does not rotate, and track is 0; The cam rottion angle of track three correspondence is 120 degree for pushing away motion angle for return travel c, and the cam rottion angle of track four correspondence is near angle of repose d is 180 degree.Each angle of rotation of cylindrical cam is corresponding consistent with the disc cam angle of rotation size in corresponding orientation.Clamp system 16 bottom round roller 37 is embedded in the track groove 10 of cylindrical cam 26, and along with cylindrical cam 26 rotates, round roller 37 can move up and down in track groove 10, thus drives clamp system 16 to move up and down.
Left support arm 20 and right support arm 39, left support arm 20 and right support arm 39 front end are fixed on the crossbeam of support 23, left support arm roller 40 is equipped with in left support arm 20 rear end, right support arm roller 41 is equipped with in right support arm 39 rear end, left support arm roller 40 is inlayed and is arranged in left diagonal chute 21, and right support arm roller 41 is inlayed and is arranged in right diagonal chute 45.When main swing arm arm 19 is subject to active force upwards, left support arm roller 40 can roll in left diagonal chute 21, and right support arm roller 41 can roll in right diagonal chute 45. and main swing arm arm 19 moves obliquely upward, and road wheel 29 departs from high-voltage line.
Horizontal type bevel gear 31, horizontal type bevel gear 31 self axle top has bolt hole 42, has bolt hole 38 bottom cylindrical cam axle 27, and the horizontal horizontal type of horizontal type bevel gear 31 is placed, and is fixed together by bolt 11 with cylindrical cam axle 27.Horizontal type bevel gear 31 is outside one's consideration for 32 one-tenth 90 with the vertical bevel gear be fixed on turning cylinder 8 and engages simultaneously.Oscillating motor 7 drives turning cylinder 8 to rotate, thus drives horizontal type bevel gear 31 to rotate, thus drives cylindrical cam axle 27 to rotate.
Disc cam 33, for rotating and the disk-shaped member of the diameter that changes around fixed axis, disc cam has keyway 43, keyway 43 has screw hole 44, disc cam 33 is all concentricity with turning cylinder 8 and be fixedly connected with by flat key and screw are vertical, and is separately fixed at the left side of turning cylinder 8, middle part and right side.Disc cam 33 profile and movement locus are divided into four parts one, two, three and four.The corresponding cam rottion angle of movement locus one is motion angle for actuating travel a is 60 degree, the corresponding cam rottion angle of movement locus two is far angle of repose b is 0 degree, now disc cam does not rotate, movement locus two is the corresponding cam rottion angle of 0. movement locus three be motion angle for return travel c is 120 degree, and the corresponding cam rottion angle of movement locus four is near angle of repose d is 180 degree.
Therefore, this detailed description of the invention has stable movement, reconfigurability is good, structure is simple, stress balance and feature easy to process.
During work, oscillating motor drives turning cylinder to rotate, and then drives fixing disc cam on the rotating shaft to rotate.Oscillating motor drives turning cylinder to rotate 60 degree, the disc cam be fixed on the left of turning cylinder rotates, drive the main swing arm arm of the first mechanical arm upwards diagonal move to top, road wheel departs from high-voltage line, oscillating motor drives the vertical bevel pinion rotation 60 degree in left side simultaneously, due to horizontal type bevel gear and the external toothing of vertical bevel gear of the first mechanical arm, and then drive the cylindrical cam of the first mechanical arm to rotate 60 degree, the clamp system bottom round roller of the first mechanical arm is forced to roll in track groove, arrive the bottom of track groove, clamp system moves downward, pinch wheels departs from high-voltage line.Now, the vertical bevel gear being fixed on disc cam in the middle part of turning cylinder and middle part, under the drive of oscillating motor, turns over 60
When spending, the main swing arm arm of the second mechanical arm is up and down without motion, clamp system is up and down without motion, the vertical bevel gear being fixed on disc cam on the right side of turning cylinder and right side turns over 60 degree under the drive of oscillating motor, the main swing arm arm of three-mechanical arm is up and down without motion, and clamp system is up and down without motion.Movable motor band mobile robot moves ahead, the first mechanical arm cut-through thing.When oscillating motor is rotated further 120 degree, the first mechanical arm is under the drive of disc cam and vertical bevel gear, and main swing arm arm is descending, and road wheel is high tension lead again, and clamp system is up, pinch wheels high tension lead.Now the second mechanical arm is under the drive of disc cam and vertical bevel gear, main swing arm arm upwards diagonal arrives peak, and clamp system bottom round roller rolls in track groove, arrives the bottom of track groove, clamp system moves downward, and pinch wheels departs from high-voltage line.Now the main swing arm arm of three-mechanical arm and clamp system are up and down without motion, keep high tension lead.Movable motor band mobile robot moves ahead, the second mechanical arm cut-through thing.When oscillating motor is rotated further 120 degree, the first mechanical arm is up and down without motion, and main swing arm arm and clamp system continue high tension lead.Now the second mechanical arm is under the drive of disc cam and vertical bevel gear, and main swing arm arm moves downward, road wheel high tension lead, and clamp system is up, pinch wheels high tension lead.Simultaneously three-mechanical arm is under the drive of disc cam and vertical bevel gear, main swing arm arm upwards diagonal arrival arrives a little most, and clamp system bottom round roller rolls in track groove, arrives the bottom of track groove, clamp system moves downward, and pinch wheels departs from high-voltage line.Movable motor band mobile robot moves ahead, three-mechanical arm cut-through thing.Oscillating motor is rotated further 60 degree, and the main swing arm arm of the first mechanical arm is up and down without motion, and clamp system is up and down without motion, and the main swing arm arm of the second mechanical arm is up and down without motion, and clamp system is up and down without motion.Three-mechanical arm is under the drive of disc cam and vertical bevel gear, and main swing arm arm moves downward, road wheel high tension lead, and clamp system is up, pinch wheels high tension lead.The now overall cut-through thing of robot, a work period completes, and each parts all return to initial position.
Specific embodiment described herein is only to the explanation for example of the utility model spirit.The utility model person of ordinary skill in the field can make various amendment or supplements or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present utility model or surmount the scope that appended claims defines.
Although more employ 1 first mechanical arm herein, 2 second mechanical arms, 3 three-mechanical arms, on the right side of in the of 4, support supports, 5 middle bracket support, 6 left side brackets support, 7 oscillating motors, 8 turning cylinders, 9 upper bearings, 10 track groove, 11 bolts, bearing (ball) cover on the right side of in the of 12, 13 right bearings, 14 left bearings, 15 movable motors, 16 clamp systems, 17 pin bars, 18 rectangle connecting rods, 19 main swing arm arms, 20 left support arms, 21 left diagonal chutes, 22 principal arm support rails, 23 supports, 24 lower bearing end caps, 25 lower bearings, 26 cylindrical cams, 27 cylindrical cam axles, 28 pinch wheels, 29 road wheels, 30 upper bearing end caps, 31 horizontal type bevel gears, 32 vertical bevel gears, 33 disc cams, bearing (ball) cover on the left of in the of 34, 35 circular hole slots, 36 roller transverse arms, 37 round rollers, 38 cylindrical cam axle bolt holes, 39 right support arms, 40 left support arm rollers, 41 right support arm rollers.42 horizontal type bevel gear bolts hole, 43 keyways, 44 screw holes, the terms such as 45 right diagonal chutes, but do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present utility model more easily; The restriction that they are construed to any one additional is all contrary with the utility model spirit.
Claims (7)
1. cam control type more than a three arm high-voltage maintenance Bi Zhang robot, is characterized in that: comprise support (23), be arranged on first mechanical arm (1) of support (23) successively, the second mechanical arm (2), the 3rd mechanical arm (3); Described support (23) is provided with right side support and supports (4), middle bracket support (5), left side brackets support (6); Support (23) is fixed an oscillating motor (7), the output shaft of described oscillating motor (7) and one end of a turning cylinder (8) connect; The bottom of the first mechanical arm (1), the second mechanical arm (2), the 3rd mechanical arm (3) be connected with the axis body of turning cylinder (8) thus the first mechanical arm (1), the second mechanical arm (2) can be driven, the 3rd mechanical arm (3) swing;
Described first mechanical arm (1), the second mechanical arm (2) are all identical with three-mechanical arm (3) structure: comprise principal arm support rail (22) and main swing arm arm (19); Principal arm support rail (22) is become 90 degree with main swing arm arm (19) and is connected by pin; Main swing arm arm (19) is fixedly mounted by left support arm (20) and right support arm (39) with support (23); Main swing arm arm (19) connects a clamp system (16) by pin bar (17); Round roller (37) on the roller transverse arm (36) of clamp system (16) bottom is embedded in the track groove (10) on cylindrical cam (26); The crossbeam of cylindrical cam axle (27) upper end and support (23) fixedly mounts, and cylindrical cam (26) and a cylindrical cam axle (27) fixedly mount;
On first mechanical arm, cylindrical cam axle (27) lower end of (1) and left side brackets support (6) and fixedly mount, on second mechanical arm, cylindrical cam axle (27) lower end of (2) and middle bracket support (5) and fixedly mount, and on three-mechanical arm, cylindrical cam axle (27) lower end of (3) and right side support support (4) and fixedly mount; The cylindrical cam axle (27) of three mechanical arms is all fixedly connected with by bolt (11) with horizontal type bevel gear (31), horizontal type bevel gear (31) and vertical bevel gear (32) external toothing; Vertical bevel gear (32) is concentricity is fixed on the left side of turning cylinder (8), middle part and right side; Described first mechanical arm (1) is fixedly mounted on the left part of support (23) by left support arm (20) and right support arm (39), and be positioned at the dead astern of the crossbeam of support (23), disc cam (33) is equipped with in first mechanical arm (1) bottom, and the principal arm support rail installation site of the first mechanical arm (1) bottom overlaps with the starting point of the motion angle for actuating travel a of disc cam (33); Disc cam (33) is fixedly mounted on the left side of turning cylinder (8) concentrically;
Described second mechanical arm (2) is fixedly mounted on the middle part of support (23) by left support arm (20) and right support arm (39), and is positioned at the dead ahead of the crossbeam of support (23), and disc cam (33) is equipped with in the second mechanical arm (2) bottom; The principal arm support rail installation site of the second mechanical arm (2) bottom is positioned at disc cam (33) near angle of repose b scope, and overlaps with the location point place that the initiating terminal of motion angle for actuating travel a is 120 degree; Disc cam (33) is fixedly mounted on the middle part of turning cylinder (8) concentrically;
Described three-mechanical arm (3) is fixedly mounted on the right part of support (23) by left support arm (20) and right support arm (39), and be positioned at the dead astern of the crossbeam of support (23), disc cam (33) is equipped with in three-mechanical arm (3) bottom, and the installation site of the principal arm support rail of three-mechanical arm (3) bottom overlaps with the starting point of disc cam (33) motion angle for actuating travel a; Disc cam (33) is fixedly mounted on the right side of turning cylinder (8) concentrically, and the disc cam of three-mechanical arm lower end is oppositely installed relative to the disc cam of the first mechanical arm (1) and the second mechanical arm (2);
Turning cylinder (8) front end connects oscillating motor (7), be fixedly mounted on support (23) bottom, oscillating motor (7) drives turning cylinder (8) to rotate, turning cylinder (8) drives disc cam (33) and vertical bevel gear (32) motion of the first mechanical arm (1) bottom, thus drives main swing arm arm (19) and cylindrical cam (26) motion on the first mechanical arm (1) top; Turning cylinder (8) drives disc cam (33) and vertical bevel gear (32) motion of the second mechanical arm (2) bottom simultaneously, thus drives main swing arm arm (19) and cylindrical cam (26) motion on the second mechanical arm (2) top; Turning cylinder (8) drives disc cam (33) and vertical bevel gear (32) motion of three-mechanical arm (3) bottom simultaneously, thus drives main swing arm arm (19) and cylindrical cam (26) motion on three-mechanical arm (3) top;
Described main swing arm arm (19), comprises the circular road wheel (29) being arranged on main swing arm arm (19) one end, and main swing arm arm (19) is provided with round hole slot (35), left diagonal chute (21) and right diagonal chute (45); Described circular road wheel (29) is concentricity to be fixedly mounted on main swing arm arm (19) top nose projecting shaft, compress high-voltage line, movable motor (15) is concentricity to be fixedly mounted on the top rear projecting shaft of main swing arm arm (19), and band mobile robot travels forward; Left diagonal chute (21) and right diagonal chute (45) are the downward gyro wheeling concrete chuting of diagonal, and left diagonal chute (21) is opened in middle and lower part, main swing arm arm (19) left side, and right diagonal chute (45) is opened in middle and lower part, main swing arm arm (19) right side; Circular hole slot (35) is opened in the top of main swing arm arm (19), and pin bar (17) is embedded in circular hole slot (35); Principal arm support rail (22) is become 90 degree with main swing arm arm (19) and is connected by pin; Principal arm support rail (22) carries out limited support by support (23).
2. one according to claim 1 many cam control types three arm high-voltage maintenance Bi Zhang robot, is characterized in that: described clamp system (16) comprises pin bar (17), semicircular gib (28), rectangle connecting rod (18), round roller (37), roller transverse arm (36); In the concentric circular hole slot (35) be embedded on main swing arm arm (19) of pin bar (17), clamp system (16) is connected by pin bar (17) with main swing arm arm (19), and clamp system (16) can swing around pin bar (17) relative to main swing arm arm (19); Semicircular gib (28) is concentricity to be fixedly mounted on the projecting shaft of clamp system (16) top nose, and the high tension lead that matches with road wheel (28) travels forward; Rectangle connecting rod (18) is fixedly mounted on the middle part of clamp system (16) and stretches out downwards, is inclined to set, together with rectangle connecting rod (18) bottom is bolted to connection with roller transverse arm (36) with vertical direction; Round roller (37) is concentricity to be fixedly mounted on the projecting shaft of roller transverse arm (36) front end, and is embedded in the track groove (10) of cylindrical cam (26).
3. one according to claim 1 many cam control types three arm high-voltage maintenance Bi Zhang robot, is characterized in that: described cylindrical cam (26) is for track groove is around the cylindrical cam component of cylinder; Cylindrical cam (26) the is concentricity middle part being fixedly mounted on cylindrical cam axle (27), the track groove that cylindrical cam (26) is offered is divided into four parts one, two, three and four; The cam rottion angle of track one correspondence is motion angle for actuating travel a is 60 degree; The cam rottion angle of track two correspondence is far angle of repose b is 0 degree; Now cylindrical cam does not rotate, and track is 0; The cam rottion angle of track three correspondence is 120 degree for pushing away motion angle for return travel c; The cam rottion angle of track four correspondence is near angle of repose d is 180 degree; Each angle of rotation of cylindrical cam is corresponding consistent with the disc cam angle of rotation size in corresponding orientation; Clamp system (16) bottom round roller (37) is embedded in the track groove (10) of cylindrical cam (26), along with cylindrical cam (26) rotates, round roller (37) can move up and down in track groove (10), thus drives clamp system (16) to move up and down.
4. one according to claim 1 many cam control types three arm high-voltage maintenance Bi Zhang robot, it is characterized in that: described left support arm (20) and right support arm (39) front end are fixed on the crossbeam of support (23), left support arm roller (40) is equipped with in left support arm (20) rear end, right support arm roller (41) is equipped with in right support arm (39) rear end, left support arm roller (40) is inlayed and is arranged in left diagonal chute (21), and right support arm roller (41) is inlayed and is arranged in right diagonal chute (45); When main swing arm arm (19) is subject to active force upwards, left support arm roller (40) can roll in left diagonal chute (21), right support arm roller (41) can roll in right diagonal chute (45), main swing arm arm (19) moves obliquely upward, and road wheel (29) departs from high-voltage line.
5. one according to claim 1 many cam control types three arm high-voltage maintenance Bi Zhang robot, it is characterized in that: described self axle top of horizontal type bevel gear (31) has bolt hole (42), cylindrical cam axle (27) bottom has bolt hole (38), the horizontal horizontal type of horizontal type bevel gear (31) is placed, and is fixed together by bolt (11) with cylindrical cam axle (27); Simultaneously horizontal type bevel gear (31) becomes 90 to be outside one's consideration with the vertical bevel gear (32) be fixed on turning cylinder (8) to engage; Oscillating motor (7) drives turning cylinder (8) to rotate, thus drives horizontal type bevel gear (31) to rotate, thus drives cylindrical cam axle (27) to rotate.
6. one according to claim 1 many cam control types three arm high-voltage maintenance Bi Zhang robot, it is characterized in that: described disc cam (33) is for rotating and the disk-shaped member of the diameter that changes around fixed axis, disc cam has keyway (43), keyway (43) has screw hole (44), and three disc cams (33) are fixedly connected with by flat key and screw are vertical with turning cylinder (8) is all concentricity, and be separately fixed at the left side of turning cylinder (8), middle part and right side.
7. one according to claim 6 many cam control types three arm high-voltage maintenance Bi Zhang robot, is characterized in that: disc cam (33) profile and movement locus are divided into movement locus one, movement locus two, movement locus three and movement locus four; The corresponding cam rottion angle of movement locus one is motion angle for actuating travel a is 60 degree, and the corresponding cam rottion angle of movement locus two is far angle of repose b is 0 degree; Now disc cam does not rotate, and movement locus two is 0; The corresponding cam rottion angle of movement locus three is motion angle for return travel c is 120 degree; The corresponding cam rottion angle of movement locus four is near angle of repose d is 180 degree.
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| CN201420848367.4U CN204304315U (en) | 2014-12-29 | 2014-12-29 | A kind of many cam control type three arm high-voltage maintenance Bi Zhang robots |
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| CN201420848367.4U CN204304315U (en) | 2014-12-29 | 2014-12-29 | A kind of many cam control type three arm high-voltage maintenance Bi Zhang robots |
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| CN204304315U true CN204304315U (en) | 2015-04-29 |
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| CN104485607A (en) * | 2014-12-29 | 2015-04-01 | 武汉科技大学 | High voltage line patrol robot with single motor to control movement of three arms |
| CN104882839A (en) * | 2015-05-04 | 2015-09-02 | 桂林电子科技大学 | Barrier-crossing mechanism of transmission line deicing robot |
| CN105014394A (en) * | 2015-06-24 | 2015-11-04 | 广州大学 | Groove wheel turnover device with auxiliary positioning function |
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| CN105846352A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Line patrol robot mechanical structure suitable for single conducting wire and obstacle surmounting method therefor |
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- 2014-12-29 CN CN201420848367.4U patent/CN204304315U/en not_active Withdrawn - After Issue
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104485607B (en) * | 2014-12-29 | 2017-03-15 | 武汉科技大学 | A kind of high-voltage maintenance robot with the three arms motion of single motor control |
| CN104485607A (en) * | 2014-12-29 | 2015-04-01 | 武汉科技大学 | High voltage line patrol robot with single motor to control movement of three arms |
| CN104882839A (en) * | 2015-05-04 | 2015-09-02 | 桂林电子科技大学 | Barrier-crossing mechanism of transmission line deicing robot |
| CN105014394A (en) * | 2015-06-24 | 2015-11-04 | 广州大学 | Groove wheel turnover device with auxiliary positioning function |
| CN105014394B (en) * | 2015-06-24 | 2017-04-19 | 广州大学 | Groove wheel turnover device with auxiliary positioning function |
| CN105406389B (en) * | 2015-10-23 | 2017-11-07 | 国网江苏省电力公司无锡供电公司 | Multi-thread inspection electric aerodyne |
| CN105406389A (en) * | 2015-10-23 | 2016-03-16 | 江苏省电力公司无锡供电公司 | Multi-line inspection electric coaster |
| CN105244808B (en) * | 2015-10-27 | 2017-05-24 | 山东科技大学 | Cable climbing robot for power transmission line to perform on-line monitoring |
| CN105244808A (en) * | 2015-10-27 | 2016-01-13 | 山东科技大学 | Cable climbing robot for power transmission line to perform on-line monitoring |
| CN105846352A (en) * | 2016-05-12 | 2016-08-10 | 山东大学 | Line patrol robot mechanical structure suitable for single conducting wire and obstacle surmounting method therefor |
| CN107448583A (en) * | 2017-07-31 | 2017-12-08 | 苏州元有讯电子科技有限公司 | A kind of driven gear for robot |
| CN109879044A (en) * | 2019-03-14 | 2019-06-14 | 三峡大学 | Continuous intermittent-rotation lifting work arm mechanism and application method |
| CN109879044B (en) * | 2019-03-14 | 2023-09-19 | 三峡大学 | Continuous intermittent rotary lifting working arm mechanism and use method thereof |
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