CN208305040U - A kind of mechanical arm hangs and takes secure latch structure - Google Patents
A kind of mechanical arm hangs and takes secure latch structure Download PDFInfo
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- CN208305040U CN208305040U CN201820604070.1U CN201820604070U CN208305040U CN 208305040 U CN208305040 U CN 208305040U CN 201820604070 U CN201820604070 U CN 201820604070U CN 208305040 U CN208305040 U CN 208305040U
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- secure latch
- mechanical arm
- plate
- fixed plate
- hangs
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Abstract
The utility model discloses a kind of mechanical arms to hang and take secure latch structure, belongs to robotic technology field.A kind of mechanical arm hangs and takes secure latch structure, comprising: sequentially connected large arm driving motor, mechanical arm large arm, forearm driving motor, mechanical arm forearm, end effector component and secure latch；End effector component is connect by electromagnet with secure latch, is completed system and is hung operation；End effector component is linked together secure latch and end effector by hitting, and operation is won in completion.The utility model provides the structure of a kind of mechanical arm and secure latch cooperation, replacing artificial climbing to electric power tower designated position to carry out by climbing robot is to hang or win secure latch work, the danger for avoiding power worker from voluntarily climbing electric power tower and occurring improves the safety of electric operating.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of mechanical arm hangs and takes secure latch structure.
Background technique
Currently, high voltage transmission line and high pressure pylon are the key projects concerning our national livelihood issues, in order to guarantee electricity
Power steel tower works normally, and needs long-term constantly to the progress inspection of steel tower situation.In power worker's master worker's operation process, in order to anti-
The danger of falling from high altitude only occurs, electrician master worker can wear safe fall-proof rope during climbing electric power tower, but in day
In Chang Zuoye, artificial system is hung and to win the secure latch with safety rope abnormally dangerous.
Currently, there are various electric power tower climbing robots in the power system, artificial progress secure latch can replace
System hangs and wins, but it is the ability for hanging and winning secure latch that the mechanical arm of existing robot, which does not have,.
Utility model content
The purpose of this utility model is to provide a kind of mechanical arms to hang and take secure latch structure, to solve existing electric power tower
It is the problem of hanging and win secure latch ability that climbing robot, which does not have,.
The technical solution that the utility model solves above-mentioned technical problem is as follows:
A kind of mechanical arm hangs and takes secure latch structure, comprising: sequentially connected large arm driving motor, mechanical arm large arm, small
Arm driving motor, mechanical arm forearm, end effector component and secure latch；
End effector component includes connecting plate, fixed plate and rotor plate；Connecting plate includes fixing end and free end, Gu
Fixed end is connect with mechanical arm forearm, and free end is freely placed；The plate face of the fixed plate and plate face of connecting plate is opposite and fixed plate
It is fixedly connected with connecting plate；Rotor plate is rotated by the edge of rotary shaft and fixed plate to be connected, and the rotation direction of rotor plate is court
To the direction where the middle part of fixed plate, rotor plate passes through rebound part and rotation axis connection；Connecting plate, fixed plate and rotor plate shape
At open-ended cavity；
Secure latch includes secure latch ontology and the annular lance that is arranged on secure latch ontology, secure latch sheet
Body is connect by electromagnet with the connecting plate.
The large arm driving motor of the utility model can drive mechanical arm large arm do around itself rotary motion or surround
The rotary motion of large arm driving motor；Forearm driving motor can drive mechanical arm forearm do around itself rotary motion or enclose
Around the rotary motion of forearm driving motor.Large arm driving motor, mechanical arm large arm, forearm driving motor and machinery interconnected
Arm forearm can make the end effector component of mechanical arm have multiple freedom degrees, and end effector can be made to be in each position
It sets, in addition, driving motor can also provide the power of shock for end effector.
The connecting plate of end effector is linked together by electromagnet and secure latch ontology, and end effector is being climbed
The drive of robot is moved to the eminence of electric power tower, is to have the secure latch of safety rope to take steel tower to by end effector
Crossbeam at, secure latch system is hung at crossbeam, complete secure latch be hang operation.
Connecting plate, fixed plate and the rotor plate of end effector form open-ended cavity, and the rotation direction of rotor plate is direction
Direction where the middle part of rotor plate, the i.e. rotation direction of rotor plate are to be gone towards the direction where open-ended cavity with rotor plate
Cross bar is hit, after rotor plate rotation, a part of cross bar can be placed in open-ended cavity, and then rotor plate is under the action of springing back part
Initial position is returned to, the rotor plate after rebound is placed in the lumen of cross bar, end effector and secure latch and connects each other by buckle
It is connected together, then secure latch is removed from crossbeam, then drop to ground with climbing robot, complete plucking for secure latch
Extract operation.
The safety rope of secure latch suspention is longer, and the secure latch with safety lock has very big weight, at this time can be with
Increase prevents secure latch from falling by the electric current of electromagnet to increase attraction.Simultaneously as having the peace of safety rope
Full lock has very big weight, and when hitting lance with rotor plate, secure latch is not in biggish biasing or rolling, energy
Enough guarantee going on smoothly for hitting operation.Due to the blocking of secure latch ontology, when rotating member is placed in annular lance, annular is hit
Bar will not will not rush open rotor plate again under gravity, and end effector is made to link together with secure latch always,
Without departing from until climbing robot returns to ground.
Secure latch system can be hung on designated position by the energization and power-off of electromagnet by the utility model, realize that system hangs
Operation drives rotor plate to hit lance, end effector component and secure latch can link together by mechanical arm, real
Operation is now won, easy to operate, can fast implement secure latch is to hang or win operation.
Further, above-mentioned fixed plate and the rotor plate position connected are opposite with free end.
The rotor plate of the utility model is in the free end of connecting plate, when carrying out hitting operation, facilitates hitting for connecting plate
Hit operation.
Further, above-mentioned fixed plate includes the limit for limiting rotor plate and rotating to the middle part direction far from fixed plate
Block, limited block are fixedly connected with rotary shaft.
Further, the limit that the direction where above-mentioned free end is equipped with limitation rotor plate to the middle part far from fixed plate rotates
Position hole.
The limited block and limit hole of the utility model can limit rotor plate and rotate to the direction far from open-ended cavity, limit
Position block and limit hole collective effect improve bearing capacity of the rotor plate when bearing safety latches.
Further, above-mentioned rebound part is torque spring.
Further, a magnetic pole of above-mentioned electromagnet is fixedly connected with the plate face of connecting plate, another magnetic of electromagnet
Pole is connect through fixed plate and with secure latch ontology.
Secure latch is sucked in electromagnet through fixed plate connection secure latch and connecting plate in the electromagnet of the utility model
When ramping up, the power of vertical direction can be transmitted in fixed plate, reduce the load for being fixedly connected with position with connecting plate to electromagnet,
Electromagnet and connecting plate is prevented to be detached from.
Further, above-mentioned secure latch ontology is equipped with the limiting slot to match with electromagnet.
The limiting slot of the utility model can prevent electromagnet from sliding from secure latch ontology under gravity.
Further, above-mentioned secure latch ontology is equipped with the block of annular, and free end is placed in the lumen of block.
The connecting plate of the utility model is placed in the lumen of block, and electromagnet powers off suddenly or electromagnet is from secure latch
When landing, the block of secure latch can cover in connecting plate, prevent secure latch from falling suddenly.
Further, above-mentioned secure latch further includes that signal receiving module, controller, setting are intrinsic in secure latch
Solenoid valve and the lock tongue being connect with solenoid valve；Controller is electrically connected with signal receiving module and solenoid valve respectively.
The controller of the utility model controls the switch of solenoid valve by the signal that signal receiving module transmits, to control
Stretching for lock tongue, reaches the function of the auto-open-close of secure latch.
The utility model has the following beneficial effects:
The utility model provides the structure of a kind of mechanical arm and secure latch cooperation, replaces manually climbing by climbing robot
Climb to electric power tower designated position and carry out being to hang or win secure latch work, avoid power worker voluntarily climb electric power tower and
The danger of appearance improves the safety of electric operating.
Detailed description of the invention
Fig. 1 is that the mechanical arm of the utility model hangs and takes the structural schematic diagram of secure latch structure；
Fig. 2 is the end effector component of the utility model and the combining structure schematic diagram of electromagnet；
Fig. 3 is the end effector component of the utility model and the explosive view of electromagnet；
Fig. 4 is the structural schematic diagram of the secure latch of the utility model.
In figure: 10- large arm driving motor；20- mechanical arm large arm；30- forearm driving motor；40- mechanical arm forearm；50-
End effector component；51- connecting plate；52- fixed plate；53- rotor plate；54- open-ended cavity；55- limited block；56- limit hole；
57- fixing end；The free end 58-；60- secure latch；61- secure latch ontology；62- lance；63- limiting slot；64- block；65-
Lockhole；66- lock tongue；67- rope fastening hole；70- electromagnet；80- positioning column.
Specific embodiment
The principles of the present invention and feature are described below in conjunction with attached drawing, example is served only for explaining that this is practical
It is novel, it is not intended to limit the scope of the utility model.
Embodiment
Fig. 1 is please referred to, mechanical arm hangs and takes secure latch structure by sequentially connected large arm driving motor 10, mechanical arm large arm
20, forearm driving motor 30, mechanical arm forearm 40, end effector component 50, electromagnet 70 and secure latch 60 form.Large arm
Driving motor 10 is mounted on climbing robot, and there is safety rope in the end system of secure latch 60.Electromagnet 70 connects end after being powered
Actuator assembly 50 and secure latch 60 are held, end effector component 50 and secure latch 60 separate after power-off.
It is made of referring to figure 2. with Fig. 3, end effector component 50 connecting plate 51, fixed plate 52 and rotor plate 53.Connection
One end of plate 51 is fixedly connected by screw with mechanical arm forearm 40, and the other end of connecting plate 51 is freely placed.Connecting plate 51 with
One end that mechanical arm forearm 40 connects is fixing end 57, and the one end freely placed is free end 58.The free end 58 of connecting plate 51
Equipped with a rectangular limit hole 56.
Two maximum faces of area of connecting plate 51 are the plate face of connecting plate 51, two maximum faces of area of fixed plate 52
For the plate face of fixed plate 52.The plate face of fixed plate 52 and the plate face of connecting plate 51 be opposite and parallel, fixed plate 52 and connecting plate
There is gap, the extending direction of fixed plate 52 is identical with the extending direction of connecting plate 51 between 51.One end of fixed plate 52 passes through
Positioning column 80 is connect with connecting plate 51, then is distinguished fixed plate 52 and positioning column 80, connecting plate 51 and positioning column 80 by screw
It is fixed together, fixed plate 52 and connecting plate 51 is made to be fixedly connected and have between fixed plate 52 and connecting plate 51 certain
Gap, the size in gap is the height of positioning column 80.The other end of fixed plate 52 and the free end 58 of connecting plate 51 are in the same direction
And it is equipped with 2 mutual corresponding limited blocks, 55,2 limited blocks 55 to link together by rotary shaft, the extension side of rotary shaft
It is mutually perpendicular to the extending direction with fixed plate 52.
Rotor plate 53 is placed between connecting plate 51 and fixed plate 52, the initial position of rotor plate 53 perpendicular to fixed plate 52 simultaneously
And the position that rotor plate 53 is connect with fixed plate 52 is opposite with the free end 58 of connecting plate 51.In other implementations of the utility model
In example, rotor plate 53 can also be connect with other edges of fixed plate 52, as rotating plate 53 is connect with the side edge of fixed plate 52.
One end of rotor plate 53 is connected by rotary shaft and the rotation of fixed plate 52, passes through torsion between rotor plate 53 and rotary shaft
The connection of power spring, rotor plate 53 can return to initial position after rotating under the action of torque spring, the other end of rotor plate 53 with
One side of rectangular limit hole 56 cooperates, and limitation rotor plate 53 is rotated to the direction far from 52 middle part of fixed plate, and due to
The blocking of limit hole 56, can be improved the lifting capacity of rotor plate 53, and the size of limit hole 56 will not stop rotor plate 53 to rotate.
In addition, rotor plate 53 is also matched with limited block 55, limited block 55 can equally limit rotor plate 53 to far from 52 middle part of fixed plate
Direction rotates.
Connecting plate 51, fixed plate 52 and rotor plate 53 form an open-ended cavity 54.Limit hole 56 and limited block 55 are equal
Rotor plate 53 can be stopped from its initial position to rotating far from 54 direction of open-ended cavity, i.e., rotor plate 53 in initial position only
It can be to 54 direction single direction rotation of open-ended cavity.In the other embodiments of the utility model, limited block 55 or limit can be only set
Realize the single direction rotation of rotor plate 53 in position hole 56.
Referring to figure 4., secure latch 60 includes secure latch ontology 61, and the same side of secure latch ontology 61 is equipped with limit
Slot 63 and block 64.The shapes and sizes of limiting slot 63 match with electromagnet 70, prevent in secure latch 60 and safety rope
There is opposite sliding when carrying out is to hang secure latch 60, between secure latch 60 and electromagnet 70 in gravity, thus not
Can be normally carried out is to hang operation or secure latch 60 from falling from high altitude.In a ring, lumen can accommodate connecting plate 51 to block 64
Free end 58, block 64 is vertically set on secure latch ontology 61.
Secure latch 60 further includes the lance 62 that 64 top of block is arranged in, and the position that lance 62 is impacted is able to enter
In open-ended cavity 54, the lumen of lance 62 can accommodate rotor plate 53.Obviously, lance 62 can also be set up directly on secure latch sheet
The other positions such as the side of body 61 facilitate force to carry out crash direction to match mechanical arm.
There is lockhole 65, lock tongue 66 and rope fastening hole 67 on secure latch ontology 61.Lock tongue 66 can stretch, to complete to lock
The opening and closing in hole 65 operate.It is to have safety rope on rope fastening hole 67.
Secure latch 60 further includes signal receiving module, controller and solenoid valve.Controller receives mould with signal respectively
Block and solenoid valve electrical connection.Signal receiving module is by the wireless signal transfer received to controller, and controller is by receiving
Signal control solenoid valve switch operation.Solenoid valve setting is connect in secure latch ontology 61, and with lock tongue 66, electromagnetism
The switch of valve drives the flexible of lock tongue 66, to complete the opening and closing of lockhole 65.In the present embodiment, the master control of controller
The model STM32F103C8 of chip.
Please refer to FIG. 1 to FIG. 4, in the state that electromagnet 70 is powered, a magnetic pole of electromagnet 70 by screw with
The plate face of connecting plate 51 links together, another magnetic pole of electromagnet 70 passes through fixed plate 52 and is placed in limiting slot 63,
Secure latch 60 links together under the attraction effect of electromagnet 70 with connecting plate 51.
Step is hung by secure latch system: (1) free end 58 of connecting plate 51 being placed in the lumen of block 64, by electromagnet 70
It is placed in limiting slot 63；(2) electromagnet 70 is powered, and end effector component 50 links together with secure latch 60；(3) system has
Safety rope and secure latch 60 in the open state reach the crossbeam position of specified steel tower with climbing robot, and by lockhole 65
Entangle crossbeam；(4) long-range closed safe lock 60,60 system of secure latch hangs on crossbeam；(5) electromagnet 70 powers off, electromagnet
70 separate with secure latch 60, and complete secure latch 60 is to hang operation.
Secure latch wins step: (1) rotor plate 53 of end effector component 50 being directed at lance 62；(2) long-range behaviour
Make mechanical arm, and rotor plate 53 is made to hit lance 62,62 part of lance enters in open-ended cavity 54, and rotor plate 53 is sprung back, and returns to
Initial position, rotor plate 53 is in the lumen of annular lance 62 at this time；(3) Remote Open secure latch 60, secure latch 60
It is suspended in end effector component 50 by lance 62；(4) control climbing robot returns to ground, completes secure latch 60
Win operation.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (9)
1. a kind of mechanical arm hangs and takes secure latch structure characterized by comprising sequentially connected large arm driving motor (10),
Mechanical arm large arm (20), forearm driving motor (30), mechanical arm forearm (40), end effector component (50) and secure latch
(60)；
The end effector component (50) includes connecting plate (51), fixed plate (52) and rotor plate (53)；The connecting plate
(51) include fixing end (57) and free end (58), the fixing end (57) connect with the mechanical arm forearm (40), it is described from
By holding (58) freely to place；The plate face of the fixed plate (52) fixed plate opposite and described with the plate face of the connecting plate (51)
(52) it is fixedly connected with the connecting plate (51)；The rotor plate (53) is revolved by the edge of rotary shaft and the fixed plate (52)
Turn connection, the rotation direction of the rotor plate (53) is towards the direction where the middle part of the fixed plate (52), the rotation
Plate (53) passes through rebound part and the rotation axis connection；The connecting plate (51), the fixed plate (52) and the rotor plate
(53) open-ended cavity (54) are formed；
The secure latch (60) includes the ring of secure latch ontology (61) and setting on the secure latch ontology (61)
Shape lance (62), the secure latch ontology (61) are connect by electromagnet (70) with the connecting plate (51).
2. mechanical arm according to claim 1 hangs and takes secure latch structure, which is characterized in that the fixed plate (52) and institute
Position and the free end (58) for stating rotor plate (53) connection are opposite.
3. mechanical arm according to claim 2 hangs and takes secure latch structure, which is characterized in that the fixed plate (52) includes
The limited block (55) that direction where limiting from the rotor plate (53) to the middle part far from the fixed plate (52) rotates, the limit
Position block (55) is fixedly connected with the rotary shaft.
4. mechanical arm according to claim 3 hangs and takes secure latch structure, which is characterized in that the free end (58) is equipped with
The limit hole (56) that direction where limiting from the rotor plate (53) to the middle part far from the fixed plate (52) rotates.
5. mechanical arm according to any one of claims 1 to 4 hangs and takes secure latch structure, which is characterized in that the rebound
Part is torque spring.
6. mechanical arm according to claim 1 hangs and takes secure latch structure, which is characterized in that a magnetic of the electromagnet
Pole is fixedly connected with the plate face of the connecting plate (51), another magnetic pole of the electromagnet (70) runs through the fixed plate (52)
And it is connect with the secure latch ontology (61).
7. mechanical arm according to claim 6 hangs and takes secure latch structure, which is characterized in that the secure latch ontology
(61) it is equipped with the limiting slot (63) to match with the electromagnet (70).
8. mechanical arm according to claim 7 hangs and takes secure latch structure, which is characterized in that the secure latch ontology
(61) it is equipped with the block (64) of annular, the free end (58) is placed in the lumen of the block (64).
9. mechanical arm according to claim 8 hangs and takes secure latch structure, which is characterized in that the secure latch (60) is also
Including solenoid valve in the secure latch ontology (61) of signal receiving module, controller, setting and with the solenoid valve
The lock tongue (66) of connection；The controller is electrically connected with the signal receiving module and the solenoid valve respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820604070.1U CN208305040U (en) | 2018-04-25 | 2018-04-25 | A kind of mechanical arm hangs and takes secure latch structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820604070.1U CN208305040U (en) | 2018-04-25 | 2018-04-25 | A kind of mechanical arm hangs and takes secure latch structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208305040U true CN208305040U (en) | 2019-01-01 |
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ID=64712923
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820604070.1U Active CN208305040U (en) | 2018-04-25 | 2018-04-25 | A kind of mechanical arm hangs and takes secure latch structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208305040U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312133A (en) * | 2018-04-25 | 2018-07-24 | 贵州电网有限责任公司 | A kind of mechanical arm hangs and takes secure latch structure |
-
2018
- 2018-04-25 CN CN201820604070.1U patent/CN208305040U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108312133A (en) * | 2018-04-25 | 2018-07-24 | 贵州电网有限责任公司 | A kind of mechanical arm hangs and takes secure latch structure |
| CN108312133B (en) * | 2018-04-25 | 2024-02-23 | 贵州电网有限责任公司 | Mechanical arm hanging and taking safety lock catch structure |
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