CN204913926U - Join in marriage net and overhaul robotic arm - Google Patents
Join in marriage net and overhaul robotic arm Download PDFInfo
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- CN204913926U CN204913926U CN201520493033.4U CN201520493033U CN204913926U CN 204913926 U CN204913926 U CN 204913926U CN 201520493033 U CN201520493033 U CN 201520493033U CN 204913926 U CN204913926 U CN 204913926U
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- 210000000078 claw Anatomy 0.000 claims description 22
- 238000012423 maintenance Methods 0.000 claims description 16
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000004804 winding Methods 0.000 description 4
- 230000000875 corresponding effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The utility model discloses a join in marriage net and overhaul robotic arm, robotic arm includes arm body, handle, switch, control module, camera, the variable bolt locking mechanism of self -adaptation and control panel, the handle is located the below of arm body, sets up the switch on the handle, and the front end of arm body sets up variable bolt locking mechanism of self -adaptation and camera, the camera is located one side of the variable bolt locking mechanism of self -adaptation, and control module is located the middle part of arm body, and control panel is located the afterbody of arm body. The utility model discloses a joining in marriage net robotic arm device for tighten simple structure, being convenient for implement, the commonality is strong, can large -scalely use widely.
Description
Technical field
The utility model belongs to distribution maintenance field, particularly a kind of distribution maintenance manipulator arm.
Background technology
In the distribution network failure origin cause of formation, the fault of about 50% comes across device junction place, and concrete reason is that device junction terminal operation technique does not meet the demands.Various manipulators (abbreviation spanner) major part of at present both at home and abroad power distribution network maintenance is mechanical, and force production is based on manually.Mechanical torque spanner has the features such as price is low, sturdy and durable, but precision is low, is difficult to be applicable to complicated site environment, and operation effectiveness is difficult to ensure.
At erection of elevated power lines, when operating personnel and terminal operation point be not at same vertical line, operating personnel is difficult to accurately mechanical arm be aimed at restraint location; Become in cabinet in community and construct, or during cable duct construction, because scope of operation shelter is more, also exist and rely on naked eyes cannot select spanner according to the actual conditions of setting.So just bring a lot of inconvenience to operating personnel, greatly reduce the efficiency of work.
Some company have developed electric wrench at present, such as, Beijing Niu Lide limited company development and production YJN series high-precision digital-display determines torque spanner, this torque spanner primary instrument adopts high performance sensor, add secondary meter multistage linear matching kinetic energy, substantially increase the accuracy grade of torque spanner.The 850 serial Digital Electronic Torque Wrench that Dijite Electronic Co., Ltd., Guilin produces adopt advanced programming technique, and indicating value is accurate.But above-mentioned electric wrench complicated structure, easily breaks down, not easy-maintaining when breaking down, brings a lot of inconvenience to user.And the image identification function that they are not correlated with, staff, when sight line is blocked, cannot judge the situation of setting, cannot select suitable spanner.
The patent No. be 201310513593.7 Chinese patent disclose a kind of electric wrench, this spanner comprises motor, shell, inner sleeve, outer sleeve, planetary gear mechanism, harmonic gear drive mechanism and handle, this two transmission mechanism is located in shell, and wherein the wave producer of harmonic gear drive mechanism, flexible gear and rigid gear divide and to be all connected with motor-driven, to be connected with the sun gear of planetary gear mechanism and gear ring; Inner sleeve is located in the centre bore of outer sleeve, and is connected with the planet carrier transmission of planetary gear mechanism by spring; Inner sleeve can move axially in the centre bore of outer sleeve, and the other end and the outer sleeve of gear ring are connected.Advantage is: electric wrench harmonic gear drive mechanism being applied to the tightening operation for torsional shear type bolt, is conducive to reducing the size of electric wrench and alleviating the weight of electric wrench, improves the operating characteristics of electric wrench.But this spanner does not possess relevant image measuring ability, staff, when sight line is blocked, cannot judge the situation of setting, and this spanner cannot be utilized to carry out operation.
Utility model content
The technical problem that the utility model solves is to provide a kind of distribution maintenance manipulator arm.
The technical solution realizing the utility model object is: a kind of distribution maintenance manipulator arm, comprise arm body, handle, switch, control module, camera, self-adapting changeable screw bolt locking mechanism and control panel, described handle is positioned at the below of arm body, handle arranges switch, the front end of arm body arranges self-adapting changeable screw bolt locking mechanism and camera, described camera is positioned at the side of self-adapting changeable screw bolt locking mechanism, control module is positioned at the middle part of arm body, and control panel is positioned at the afterbody of arm body.
The utility model compared with prior art, its remarkable advantage is: 1) in distribution mechanical arm of the present utility model, the nut claw of self-adapting changeable screw bolt locking mechanism can regulate according to the size of nut, be applicable to the bolt of the distribution head connection point of various model, versatility is very strong, do not need when using to change gripping mechanism, direct control motor can realize regulating, and greatly saves the muscle power of time and user, very convenient; 2) the nut claw end of self-adapting changeable screw bolt locking mechanism of the present utility model is provided with pressure sensor, detection claw that can be real-time and the direct pressure of nut, when the two is adjacent to time, pressure signal is just transferred to controller by pressure sensor, controller just can control motor stop motion, avoids because pressure is excessive and damaged by nut; 3) distribution mechanical arm winding device structure of the present utility model is simple, is convenient to implement, and highly versatile, can promote the use of on a large scale.
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is distribution maintenance manipulator arm configuration schematic diagram of the present utility model.
Fig. 2 is self-adapting changeable screw bolt locking mechanism structural representation in distribution maintenance manipulator arm of the present utility model.
Fig. 3 is the circuit diagram of electric machine controller module.
Detailed description of the invention
Composition graphs 1, a kind of distribution maintenance manipulator arm of the present utility model, comprise arm body 7, handle 2, switch 3, control module 4, camera 5, self-adapting changeable screw bolt locking mechanism 6 and control panel 1, described handle 2 is positioned at the below of arm body 7, handle 2 is arranged switch 3, the front end of arm body 7 arranges self-adapting changeable screw bolt locking mechanism 6 and camera 5, described camera 5 is positioned at the side of self-adapting changeable screw bolt locking mechanism 6, control module 4 is positioned at the middle part of arm body 7, and control panel 1 is positioned at the afterbody of arm body 7.Switch on handle is used for power on/off, and running into emergency can power-off at any time.
Composition graphs 2, described self-adapting changeable screw bolt locking mechanism 6 comprises wrench body, nut claw, baffle plate, revolute pair coupling compoonent, pressure sensor and servomotor, the working face of described wrench body is regular hexagon structure, each limit of hexagonal wrench main body all arranges baffle plate, each baffle plate is all equipped with nut claw, the front end of described nut claw arranges pressure sensor, the rear end of nut claw arranges revolute pair coupling compoonent, each revolute pair coupling compoonent all connects with corresponding servomotor, promotes nut claw motion under the drive of servomotor.
Described control module is dsp chip or FPGA.Specifically can select as required.
Composition graphs 3, described motor control module comprises SA60 chip, first resistance R1, second resistance R, first electric capacity C1, second electric capacity C2, 3rd electric capacity CT, the 3rd electric capacity CT is connected between 1st pin of described SA60 chip and the 2nd pin, the 1st pin ground connection simultaneously of SA60 chip, 10th pin of SA60 chip also connects the first electric capacity C1 and the second electric capacity C2, the other end ground connection respectively of the first electric capacity C1 and the second electric capacity C2, motor is connected between 9th pin of SA60 chip and the 10th pin, 12nd pin of SA60 chip meets the first resistance R1, the other end ground connection of the first resistance R1, 8th pin of SA60 chip meets the second resistance R, the other end ground connection of the second resistance R, 6th pin ground connection of SA60 chip.
Described control panel 1 is touch-screen.Control panel can demonstrate the information such as figure, size of operating point to be detected bolt, and the information such as relative dimensions, model, rotation torque corresponding in database can be demonstrated; And control panel can accept extraneous input, by the Bolt sizes information of input stored in database, and can control mechanical arm in real time.
The nut claw end of self-adapting changeable screw bolt locking mechanism of the present utility model is provided with pressure sensor, detection claw that can be real-time and the direct pressure of nut, when the two is adjacent to time, pressure signal is just transferred to controller by pressure sensor, controller just can control motor stop motion, avoids because pressure is excessive and damaged by nut; Distribution mechanical arm winding device structure of the present utility model is simple, is convenient to implement, and highly versatile, can promote the use of on a large scale.
Below in conjunction with embodiment, further detailed description is done to the utility model:
Embodiment 1
A kind of distribution maintenance manipulator arm, comprise arm body 7, handle 2, switch 3, control module 4, camera 5, self-adapting changeable screw bolt locking mechanism 6 and control panel 1, described handle 2 is positioned at the below of arm body 7, handle 2 is arranged switch 3, the front end of arm body 7 arranges self-adapting changeable screw bolt locking mechanism 6 and camera 5, described camera 5 is positioned at the side of self-adapting changeable screw bolt locking mechanism 6, control module 4 is positioned at the middle part of arm body 7, and control panel 1 is positioned at the afterbody of arm body 7.Switch on handle is used for power on/off, and running into emergency can power-off at any time.
Described self-adapting changeable screw bolt locking mechanism 6 comprises wrench body, nut claw, baffle plate, revolute pair coupling compoonent, pressure sensor and servomotor, the working face of described wrench body is regular hexagon structure, each limit of hexagonal wrench main body all arranges baffle plate, each baffle plate is all equipped with nut claw, the front end of described nut claw arranges pressure sensor, the rear end of nut claw arranges revolute pair coupling compoonent, each revolute pair coupling compoonent all connects with corresponding servomotor, promotes nut claw motion under the drive of servomotor.Described control module is dsp chip.
The nut claw end of self-adapting changeable screw bolt locking mechanism of the present utility model is provided with pressure sensor, detection claw that can be real-time and the direct pressure of nut, when the two is adjacent to time, pressure signal is just transferred to controller by pressure sensor, controller just can control motor stop motion, avoids because pressure is excessive and damaged by nut; Distribution mechanical arm winding device structure of the present utility model is simple, is convenient to implement, and highly versatile, can promote the use of on a large scale.
Embodiment 2
A kind of distribution maintenance manipulator arm, comprise arm body 7, handle 2, switch 3, control module 4, camera 5, self-adapting changeable screw bolt locking mechanism 6 and control panel 1, described handle 2 is positioned at the below of arm body 7, handle 2 is arranged switch 3, the front end of arm body 7 arranges self-adapting changeable screw bolt locking mechanism 6 and camera 5, described camera 5 is positioned at the side of self-adapting changeable screw bolt locking mechanism 6, control module 4 is positioned at the middle part of arm body 7, and control panel 1 is positioned at the afterbody of arm body 7.Switch on handle is used for power on/off, and running into emergency can power-off at any time.
Described motor control module comprises SA60 chip, first resistance R1, second resistance R, first electric capacity C1, second electric capacity C2, 3rd electric capacity CT, the 3rd electric capacity CT is connected between 1st pin of described SA60 chip and the 2nd pin, the 1st pin ground connection simultaneously of SA60 chip, 10th pin of SA60 chip also connects the first electric capacity C1 and the second electric capacity C2, the other end ground connection respectively of the first electric capacity C1 and the second electric capacity C2, motor is connected between 9th pin of SA60 chip and the 10th pin, 12nd pin of SA60 chip meets the first resistance R1, the other end ground connection of the first resistance R1, 8th pin of SA60 chip meets the second resistance R, the other end ground connection of the second resistance R, 6th pin ground connection of SA60 chip.Described control panel 1 is touch-screen.
Distribution mechanical arm winding device structure of the present utility model is simple, is convenient to implement, and highly versatile, can promote the use of on a large scale.
Claims (5)
1. a distribution maintenance manipulator arm, it is characterized in that, comprise arm body (7), handle (2), switch (3), control module (4), camera (5), self-adapting changeable screw bolt locking mechanism (6) and control panel (1), described handle (2) is positioned at the below of arm body (7), handle (2) is arranged switch (3), the front end of arm body (7) arranges self-adapting changeable screw bolt locking mechanism (6) and camera (5), described camera (5) is positioned at the side of self-adapting changeable screw bolt locking mechanism (6), control module (4) is positioned at the middle part of arm body (7), control panel (1) is positioned at the afterbody of arm body (7).
2. distribution maintenance manipulator arm according to claim 1, it is characterized in that, described self-adapting changeable screw bolt locking mechanism (6) comprises wrench body, nut claw, baffle plate, revolute pair coupling compoonent, pressure sensor and servomotor, the working face of described wrench body is regular hexagon structure, each limit of hexagonal wrench main body all arranges baffle plate, each baffle plate is all equipped with nut claw, the front end of described nut claw arranges pressure sensor, the rear end of nut claw arranges revolute pair coupling compoonent, each revolute pair coupling compoonent all connects with corresponding servomotor, nut claw motion is promoted under the drive of servomotor.
3. distribution maintenance manipulator arm according to claim 1, is characterized in that, described control module is dsp chip or FPGA.
4. distribution maintenance manipulator arm according to claim 1, it is characterized in that, described control module comprises SA60 chip, first resistance (R1), second resistance (R), first electric capacity (C1), second electric capacity (C2), 3rd electric capacity (CT), the 3rd electric capacity (CT) is connected between 1st pin of described SA60 chip and the 2nd pin, the 1st pin ground connection simultaneously of SA60 chip, 10th pin of SA60 chip also connects the first electric capacity (C1) and the second electric capacity (C2), the other end ground connection respectively of the first electric capacity (C1) and the second electric capacity (C2), motor is connected between 9th pin of SA60 chip and the 10th pin, 12nd pin of SA60 chip connects the first resistance (R1), the other end ground connection of the first resistance (R1), 8th pin of SA60 chip connects the second resistance (R), the other end ground connection of the second resistance (R), 6th pin ground connection of SA60 chip.
5. distribution maintenance manipulator arm according to claim 1, is characterized in that, described control panel (1) is touch-screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520493033.4U CN204913926U (en) | 2015-07-09 | 2015-07-09 | Join in marriage net and overhaul robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520493033.4U CN204913926U (en) | 2015-07-09 | 2015-07-09 | Join in marriage net and overhaul robotic arm |
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| Publication Number | Publication Date |
|---|---|
| CN204913926U true CN204913926U (en) | 2015-12-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520493033.4U Expired - Fee Related CN204913926U (en) | 2015-07-09 | 2015-07-09 | Join in marriage net and overhaul robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204913926U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959990A (en) * | 2015-07-09 | 2015-10-07 | 江苏省电力公司连云港供电公司 | Distribution network overhaul mechanical arm and method thereof |
-
2015
- 2015-07-09 CN CN201520493033.4U patent/CN204913926U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104959990A (en) * | 2015-07-09 | 2015-10-07 | 江苏省电力公司连云港供电公司 | Distribution network overhaul mechanical arm and method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151230 Termination date: 20180709 |
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| CF01 | Termination of patent right due to non-payment of annual fee |