CN210307826U - 7-degree-of-freedom high-voltage live working mechanical arm - Google Patents
7-degree-of-freedom high-voltage live working mechanical arm Download PDFInfo
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- CN210307826U CN210307826U CN201920950199.2U CN201920950199U CN210307826U CN 210307826 U CN210307826 U CN 210307826U CN 201920950199 U CN201920950199 U CN 201920950199U CN 210307826 U CN210307826 U CN 210307826U
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Abstract
The utility model discloses a 7-degree-of-freedom high-voltage live working mechanical arm, which comprises 7 motors, a big arm component, a small arm component and a grasping component, wherein the big arm component and the small arm component are connected through N motors; the small arm part is connected with the grasping part through M motors; the rotating axes of any two adjacent motors are vertical to each other; n and M are both positive integers not less than 2, and N + M is 7; 7 motors realize the 7-degree-of-freedom function of the mechanical arm. The utility model has the advantages that: 1. the degree of freedom is high, the movable joint is designed by simulating the motion of the arm of a human body, the motion of the arm can be reproduced, the problem of low degree of freedom of the existing charged mechanical arm is solved, and the operation of any position and any posture is realized; 2. the insulating small arm part is hollow and the outer sides of the insulating small arm parts are covered with insulating shielding covers, so that the insulating property is high; 3. the expandability is good, the grasping part comprises a quick mounting clamp, and various instruments can be mounted according to requirements to carry out specific operation.
Description
Technical Field
The utility model relates to an automatic change mechanical device field, more specifically relates to a 7 degree of freedom high voltage live working arms.
Background
In order to improve the safety, reliability and economy of the operation of the electric network, the live-line first-aid repair and maintenance operation of the electric network must be vigorously carried out. The existing high-voltage live working mechanical arm is usually a product specially used for high-voltage live cleaning equipment and has the defects of low degree of freedom, poor insulating property, poor expandability, poor operability, poor transportability and the like.
In the product of the existing high-voltage live cleaning equipment, a high-freedom light remote control high-voltage live working mechanical arm suitable for high-voltage stations and lines does not exist, and the high-freedom light remote control high-voltage live working mechanical arm only has 2 degrees of freedom, is extremely inconvenient to operate, cannot adapt to complex working environments with many electrical equipment and high installation density, and needs to be powered off.
Secondly, the electrified cleaning of the indoor electrical equipment of the domestic high-voltage transformer substation still stays in a manual handheld cleaning state. The large manned mechanical arm driven by the motor is used in manual live working, the defects of long operation preparation time, high operation cost and the like are overcome, the labor intensity is high, the operation is hard, and personal safety risks exist.
SUMMERY OF THE UTILITY MODEL
The utility model overcomes above-mentioned prior art is not enough, provides a 7 degree of freedom high voltage live working arms. The utility model provides an insulating nature is good, and the operability is high, arm that the degree of freedom is high.
In order to solve the technical problem, the technical scheme of the utility model as follows:
a7-freedom-degree high-voltage live working mechanical arm comprises 7 motors, a large arm component, a small arm component and a grasping component, wherein,
the large arm part and the small arm part are connected through N motors;
the small arm part is connected with the grasping part through M motors;
the rotating axes of any two adjacent motors are vertical to each other;
n and M are positive integers not less than 2, and N + M is 7;
the 7 motors realize the function of 7 degrees of freedom of the mechanical arm
In a preferred embodiment, the 7 motors are defined as a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor and a seventh motor, wherein,
the axis of the first motor is vertical to the ground;
one end of the second motor is connected with the side surface of the first motor, and the second motor is vertical to the first motor;
one end of the large arm component is connected with the side surface of the second motor, and the large arm component is vertical to the second motor;
the other end of the large arm component is connected with the side surface of the third motor, and the large arm component is vertical to the third motor;
one end of the third motor is connected with one end of the fourth motor;
the side surface of the fourth motor is connected with one end of the small arm part, and the fourth motor is vertical to the small arm part;
the other end of the small arm part is connected with the side surface of the fifth motor, and the small arm part is vertical to the fifth motor;
one end of the fifth motor is connected with the side surface of the sixth motor, and the fifth motor is vertical to the sixth motor;
one end of the sixth motor is connected with the side surface of the seventh motor, and the sixth motor is vertical to the seventh motor;
one end of the seventh motor is connected with the bottom end of the grabbing part, and the rotating axis of the seventh motor is collinear with the axis of the grabbing part.
In this preferred scheme, waist gyration function is realized to first motor. The second motor realizes the pitching function of the large arm component; the third motor realizes the pitching function of the small arm part; the fourth motor realizes the rotation function of the existing small arm part; the fifth motor realizes the pitching function of the grasping part; the sixth motor realizes the swinging function of the grasping part; the seventh motor realizes the horizontal rotation function of the grasping part.
In a preferred scheme, the material of the small arm part is an insulating material, and the inside of the small arm part is hollow and provided with a cavity.
In this preferred scheme, through setting up forearm part cavity, realized the problem of no electric connection, guarantee when electrified operation, the part of taking of grabbing of the electrified body of contact can not be electric conduction to big arm part, first motor, second motor, third motor and fourth motor, has improved holistic insulating properties.
In a preferable scheme, the outer sides of the large arm component, the grasping component, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor are all covered with insulating shielding covers, and the insulating shielding covers conform to the GB/T12168 standard.
In the preferred scheme, the size of the insulating shielding cover is consistent with that of the covering component, and the surface of the insulating shielding cover has no defects such as bubbles, scars, damage and the like; after the insulating shielding cover is installed, the movable space of the large arm part and the grabbing part cannot be influenced, and the insulating property is further improved.
In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a base, the base is arranged on the ground, and the top surface of the base is connected with the bottom surface of the first motor.
In a preferred scheme, the base is internally vacuum and is provided with a first control module, and the first control module controls the working states of the first motor, the second motor, the third motor and the fourth motor.
In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a second control module, and the second control module controls the working states of a fifth motor, a sixth motor, a seventh motor and a grasping component.
In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a storage battery, and the storage battery supplies power to the fifth motor, the sixth motor, the seventh motor and the grasping component.
In a preferred scheme, the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a first wireless communication module and a second wireless communication module, wherein,
the first wireless communication module is arranged on the inner side of one end of the small arm part and is connected with the small arm part, and the first wireless communication module is electrically connected with the first control module;
the second wireless communication module is arranged on the inner side of the other end of the small arm part and is connected with the small arm part, and the second wireless communication module is electrically connected with the second control module;
first wireless communication module and second wireless communication module connect through wireless communication's mode, first control module group control the second control module group through first wireless communication module and second wireless communication module.
In this preferred scheme, because there is not electric connection in the forearm part insulation, so first control module group is connected with second control module group wireless communication through first wireless communication module and second wireless communication module, has avoided because under the wired connection mode, and high voltage current flows into the problem of first motor, second motor, third motor, fourth motor and first control module group, has effectively improved insulating properties.
Compared with the prior art, the utility model discloses technical scheme's beneficial effect is:
1. the degree of freedom is high, the motion of the arm can be reproduced by simulating the motion of the human arm to design a movable joint, the seven-degree-of-freedom motion of waist rotation, large arm pitching, small arm rotation, wrist pitching, wrist swinging and wrist rotation can be realized, the problem of low degree of freedom of the existing charged mechanical arm is solved, and the operation of any position and any posture is realized.
2. The insulating properties is strong, because the inside cavity of insulating forearm part sets up and the outside of each part all covers has insulating cover, when guaranteeing hot-line work, high-voltage current can not flow into first motor, second motor, third motor, fourth motor.
3. The expandability is good, the grasping component comprises a quick mounting fixture, the cleaning brush can be mounted for live cleaning, the manipulator can be mounted for live operation, and other instruments can be mounted for specific operation.
Drawings
Fig. 1 is a mechanical structure diagram of embodiment 1.
Fig. 2 is an exploded view of the mechanical mechanism of embodiment 1.
FIG. 3 is a circuit diagram of a C8051F341 chip of the upper end control unit of the arm in accordance with embodiment 2.
FIG. 4 is a circuit diagram of a C8051F340 chip of the lower end control unit of the arm in embodiment 2.
FIG. 5 is a second power supply circuit diagram of the robot lower end control unit according to embodiment 2.
FIG. 6 is a first power supply circuit diagram of the robot upper end control unit according to embodiment 2.
Fig. 7 is a second wireless communication circuit diagram of the robot lower end control unit according to embodiment 2.
Fig. 8 is a first wireless communication circuit diagram of the robot upper end control unit according to embodiment 2.
Fig. 9 is a second steering engine drive circuit diagram of the lower end control unit of the arm according to embodiment 2.
Fig. 10 is a circuit diagram of a second limit switch of the lower end control unit of the arm according to embodiment 2.
Fig. 11 is a first steering engine drive circuit diagram of an upper end control unit of a robot arm according to embodiment 2.
Fig. 12 is a circuit diagram of a first travel limit switch of an upper end control unit of a robot according to embodiment 2.
Fig. 13 is a power driving circuit diagram of a robot upper end control unit according to embodiment 2.
Fig. 14 is a circuit diagram of a C8051F344 chip of the remote control module of embodiment 3.
Fig. 15 is a third wireless communication circuit diagram of the remote control module of embodiment 3.
Fig. 16 is a third power supply circuit diagram of the remote control module of embodiment 3.
1, wrist pitching steering engine; 2. a base; 3. a large arm pitching steering engine; 4. a waist rotation steering engine; 5. an alloy big arm; 6. an insulating arm pitching steering engine; 7. an insulating arm rotating steering engine; 8. a camera; 9. a gripper; 10. a wrist rotary steering engine; 11. an insulating arm; 12. a wrist swinging steering engine; 13. an illuminating lamp; 14. a control line hole; 15. a screw hole; 16. a host communication module; 17. and a slave communication module.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
Example 1
A7-degree-of-freedom high-voltage live-line work mechanical arm is shown in figures 1 and 2 and comprises an upper end portion of the mechanical arm and a lower end portion of the mechanical arm, wherein the lower end portion of the mechanical arm comprises a base 2, a large arm pitching steering engine 3, a waist turning steering engine 4, an alloy large arm 5, an insulating arm pitching steering engine 6, an insulating arm rotating steering engine 7 and an insulating arm 11,
the insulating arm 11 is hollow and provided with a cavity;
the base 2 is arranged on the ground, the top surface of the base is connected with the bottom surface of the waist rotary steering engine 4 through a screw hole 15, the central axis of the base 2 is collinear with the axis of the waist rotary steering engine 4, and the waist rotary steering engine 4 realizes 360-degree rotation;
the large arm pitching steering engine 3 is connected with the side face of the waist turning steering engine 4 through a screw hole 15, the large arm pitching steering engine 3 is perpendicular to the waist turning steering engine 4, and the large arm pitching steering engine 3 realizes 180-degree rotation;
one end of the large alloy arm 5 is connected with the side surface of the large arm pitching steering engine 3 through a screw hole 15, and the large alloy arm 5 is perpendicular to the large arm pitching steering engine 3;
the other end of the alloy large arm 5 is connected with the side face of the insulating arm pitching steering engine 6 through a screw hole 15, the alloy large arm 5 is perpendicular to the insulating arm pitching steering engine 6, and the insulating arm pitching steering engine 6 rotates 360 degrees;
one end of the insulating arm pitching steering engine 6 is connected with one end of the insulating arm rotating steering engine 7 through a screw hole 15, and the insulating arm rotating steering engine 7 realizes 180-degree rotation;
the side face of the insulating arm rotary steering engine 7 is connected with one end of the insulating arm 11 through a screw hole 15, and the insulating arm rotary steering engine 7 is perpendicular to the insulating arm 11.
The upper end part of the mechanical arm comprises a wrist pitching steering engine 1, a camera 8, a mechanical claw 9, a wrist rotating steering engine 10, a wrist swinging steering engine 12, an illuminating lamp 13 and a mechanical claw motor, wherein,
the mechanical claw motor controls the mechanical claw 9 to work;
the other end of the insulating arm 11 is connected with the side face of the wrist pitching steering engine 1 through a screw hole 15, the insulating arm 11 is perpendicular to the wrist pitching steering engine 1, and the wrist pitching steering engine 1 rotates 360 degrees;
one end of the wrist pitching steering engine 1 is connected with the side face of the wrist swinging steering engine 12 through a screw hole 15, the wrist pitching steering engine 1 is perpendicular to the wrist swinging steering engine 12, and the wrist swinging steering engine 12 realizes 360-degree rotation;
one end of the wrist swinging steering engine 12 is connected with the side surface of the wrist rotating steering engine 10 through a screw hole 15, and the wrist swinging steering engine 12 is perpendicular to the wrist rotating steering engine 10;
one end of the wrist rotary steering engine 10 is connected with the bottom end of the mechanical claw 9 through a screw hole 15, and the axes of the wrist rotary steering engine 10 and the mechanical claw 9 are collinear;
the top end of the outer side of the wrist swinging steering engine 12 is provided with a camera 8;
the outer sides of the alloy large arm 5, the mechanical claw 9, the large arm pitching steering engine 3, the waist turning steering engine 4, the insulating arm pitching steering engine 6, the insulating arm rotating steering engine 7, the wrist rotating steering engine 10, the wrist swinging steering engine 12 and the wrist pitching steering engine 1 are all covered with insulating shielding covers meeting the GB/T12168 standard.
In this embodiment 1, the action of 7 degrees of freedom is realized through mechanical structure, and because the lower tip of the arm includes the hollow insulation arm, high-voltage current can't flow into the lower tip of the arm through the upper end of the arm, can change the insulation arm of different insulating properties according to actual demand moreover.
Example 2
The control part comprises an upper mechanical arm control part and a lower mechanical arm control part, and the lower mechanical arm control part controls the upper mechanical arm control part and is in master-slave relation with each other;
the upper end control part of the mechanical arm controls the upper end part of the mechanical arm, the upper end control part of the mechanical arm comprises a C8051F340 chip (U1), a first power supply circuit, a first wireless communication circuit, a first steering engine driving circuit, a first stroke limit switch circuit, a power driving circuit and a 24V storage battery, wherein,
the C8051F340 chip (U1) is electrically connected with the first wireless communication circuit;
the C8051F340 chip (U1) is electrically connected with a first steering engine driving circuit;
the C8051F340 chip (U1) is electrically connected with the first travel limit switch circuit;
the C8051F340 chip (U1) is electrically connected with the power driving circuit;
as shown in fig. 3 and 6, the first power circuit supplies power to the components at the upper end of the robot arm, and includes a capacitor C6, a capacitor C7, a NS6316 chip (x 1), a 1117-3.3 chip (P1), an inductor L1, a resistor R2, a resistor R3, a resistor R10, a capacitor C5, an electrolytic capacitor C3, a capacitor C4, an electrolytic capacitor C1, a capacitor C2, a resistor R1, and a light emitting diode D1, wherein,
one end of the capacitor C6 is electrically connected with the power output end of the 24V storage battery;
the other end of the capacitor C6 is grounded;
one end of the capacitor C7 is electrically connected with the power output end of the 24V storage battery;
the other end of the capacitor C7 is grounded;
the power supply output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip;
pin No. 7 of the NS6316 chip (× 1) is grounded;
the other end of the resistor R3 is electrically connected with one end of the resistor R10;
the other end of the resistor R10 is grounded;
the other end of the capacitor C5 is grounded;
one end of the capacitor C5 is electrically connected with the anode of the electrolytic capacitor C3;
the other end of the capacitor C5 is electrically connected with the cathode of the electrolytic capacitor C3;
one end of the capacitor C5 is electrically connected to one end of the capacitor C4;
the other end of the capacitor C5 is electrically connected with the other end of the capacitor C4;
one end of the capacitor C5 is electrically connected with the No. 1 pin of the 1117-3.3 chip;
pin No. 3 of the 1117-3.3 chip (P1) is electrically connected with the anode of the electrolytic capacitor C1;
the cathode of the electrolytic capacitor C1 is grounded;
the No. 3 pin of the 1117-3.3 chip (P1) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with the No. 10 pin of the C8051F340 chip (U1);
the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of the capacitor C2;
the other end of the capacitor C2 is grounded;
the No. 3 pin of the 1117-3.3 chip (P1) is electrically connected with one end of a resistor R1;
the other end of the resistor R1 is electrically connected with the anode of the light-emitting diode D1;
the cathode of the led D1 is grounded.
As shown in fig. 3 and 8, the first wireless communication circuit includes nRF905 chips (× 4), wherein,
The first steering engine driving circuit drives and controls the wrist pitching steering engine 1, the mechanical claw motor, the wrist rotation steering engine 10 and the wrist swinging steering engine 12, as shown in fig. 3 and 11, the first steering engine driving circuit comprises an L298N chip (U4), an L298N chip (U6), a diode D6, a diode D7, a diode D8, a diode D9, a diode D14, a diode D15, a diode D16, a diode D17, a diode D22, a diode D23, a diode D24, a diode D25, a diode D32, a diode D33, a diode D34, a diode D35, a resistor R19, a resistor R20, a resistor R25 and a resistor R26, wherein,
pin No. 5 of the L298N chip (U4) is electrically connected with pin No. 38 of the C8051F340 chip (U1);
the No. 10 pin of the L298N chip (U4) is electrically connected with the No. 36 pin of the C8051F340 chip (U1);
the No. 4 pin of the L298N chip (U4) is electrically connected with the power supply output end of the 24V storage battery;
a No. 2 pin of an L298N chip (U4) is electrically connected with one end of the wrist pitching steering engine 1;
pin No. 2 of the L298N chip (U4) is electrically connected with the anode of diode D6;
the cathode of the diode D6 is connected with a positive power supply;
pin No. 2 of the L298N chip (U4) is electrically connected to the cathode of diode D14;
the anode of diode D14 is grounded;
a No. 3 pin of an L298N chip (U4) is electrically connected with the other end of the wrist pitching steering engine 1;
the cathode of the diode D7 is connected with a positive power supply;
the anode of diode D15 is grounded;
a No. 13 pin of an L298N chip (U4) is electrically connected with one end of the wrist swinging steering engine 12;
the cathode of the diode D8 is connected with a positive power supply;
the anode of diode D16 is grounded;
a No. 14 pin of an L298N chip (U4) is electrically connected with the other end of the wrist swinging steering engine 12;
the cathode of the diode D9 is connected with a positive power supply;
the anode of diode D17 is grounded;
the No. 15 pin of the L298N chip (U4) is electrically connected with one end of a resistor R19;
the other end of the resistor R20 is electrically connected with the other end of the resistor R19;
the other end of the resistor R20 is grounded;
pin No. 5 of the L298N chip (U6) is electrically connected with pin No. 30 of the C8051F340 chip (U1);
the No. 4 pin of the L298N chip (U6) is electrically connected with the power supply output end of the 24V storage battery;
a No. 2 pin of an L298N chip (U6) is electrically connected with one end of the wrist rotary steering engine 10;
pin No. 2 of the L298N chip (U6) is electrically connected with the anode of diode D22;
the cathode of the diode D22 is connected with a positive power supply;
pin No. 2 of the L298N chip (U6) is electrically connected to the cathode of diode D32;
the anode of diode D32 is grounded;
a No. 3 pin of an L298N chip (U6) is electrically connected with the other end of the wrist rotary steering engine 10;
the cathode of the diode D23 is connected with a positive power supply;
the anode of diode D33 is grounded;
the cathode of the diode D24 is connected with a positive power supply;
the anode of diode D34 is grounded;
the No. 14 pin of the L298N chip (U6) is electrically connected with the other end of the mechanical claw motor;
the cathode of the diode D25 is connected with a positive power supply;
the anode of diode D35 is grounded;
the No. 15 pin of the L298N chip (U4) is electrically connected with one end of a resistor R25;
the other end of the resistor R25 is electrically connected with the other end of the resistor R26;
the other end of the resistor R26 is connected to ground.
The first travel limit switch circuit controls the motion state of the wrist pitching steering engine 1, the wrist rotating steering engine 10 and the wrist swinging steering engine 12, as shown in fig. 3 and 12, the first travel limit switch circuit comprises 3 SW-SPST switches, a resistor R29, a resistor R30, a resistor R39, a resistor R40, a resistor R35, a resistor R36, a photoelectric coupler IC1, a photoelectric coupler IC3 and a photoelectric coupler IC5, wherein,
one end of the resistor R29 is electrically connected with the No. 2 pin of the NS6316 chip (. multidot.1);
one end of the resistor R29 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R29 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 1;
the other end of the emitter of the photocoupler IC1 is grounded;
one end of a receiving stage of the photocoupler IC1 is electrically connected with one end of the resistor R30;
the other end of the resistor R30 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P1);
one end of a receiving stage of the photoelectric coupler IC1 is electrically connected with a No. 47 pin of a C8051F340 chip (U1);
the other end of the receiving stage of the photocoupler IC1 is grounded;
one end of the resistor R99 is electrically connected with the No. 2 pin of the NS6316 chip;
one end of the resistor R39 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R39 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 5;
the other end of the emitter of the photocoupler IC5 is grounded;
one end of a receiving stage of the photocoupler IC5 is electrically connected with one end of the resistor R40;
the other end of the resistor R40 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P1);
one end of a receiving stage of the photocoupler IC5 is electrically connected with a No. 31 pin of a C8051F340 chip (U1);
the other end of the receiving stage of the photocoupler IC5 is grounded;
one end of the resistor R35 is electrically connected with the No. 2 pin of the NS6316 chip (. multidot.1);
one end of the resistor R35 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R35 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 3;
the other end of the emitter of the photocoupler IC3 is grounded;
one end of a receiving stage of the photocoupler IC3 is electrically connected with one end of the resistor R30;
the other end of the resistor R36 is electrically connected with the No. 3 pin of the 1117-3.3 chip;
one end of a receiving stage of the photoelectric coupler IC3 is electrically connected with a No. 39 pin of a C8051F340 chip (U1);
the other end of the receiving stage of the photocoupler IC3 is grounded.
The power driving circuit controls the power supplies of the camera 8, the illuminating lamp 13 and the mechanical claw motor through the relay; as shown in fig. 3 and 13, the power driving circuit includes a light emitting diode D4, a light emitting diode D30, a light emitting diode D40, a resistor R16, a resistor R17, a resistor R18, a resistor R23, a resistor R24, a resistor R33, a resistor R34, a diode D5, a diode D31, a diode D41, a PNP transistor Q1, a PNP transistor Q2, a PNP transistor Q3, and 3 relays, wherein,
the anode of the light-emitting diode D4 is connected with a positive power supply;
the cathode of the light-emitting diode D4 is electrically connected with one end of the resistor R16;
the other end of the resistor R16 is electrically connected with the anode of the diode D5;
the cathode of the diode D5 is connected with a positive power supply;
the cathode of the diode D5 is electrically connected with one end of the control stage of the relay;
the anode of the diode D5 is electrically connected with the other end of the control stage of the relay;
the anode of the diode D5 is electrically connected with the emitter of the PNP triode Q1;
the collector of the PNP triode Q1 is grounded;
the base electrode of the PNP triode Q1 is electrically connected with one end of the resistor R17;
the other end of the resistor R17 is electrically connected with the No. 23 pin of the C8051F340 chip (U1);
one end of the switch level of the relay is electrically connected with the power output end of the 24V storage battery;
the other end of the switch stage of the relay is electrically connected with one end of the illuminating lamp 13;
the other end of the illuminating lamp 13 is electrically connected with one end of a resistor R18;
the other end of the resistor R18 is grounded;
the anode of the light-emitting diode D30 is connected with a positive power supply;
the cathode of the light-emitting diode D30 is electrically connected with one end of the resistor R23;
the other end of the resistor R23 is electrically connected with the anode of the diode D31;
the cathode of the diode D31 is connected with a positive power supply;
the cathode of the diode D31 is electrically connected with one end of the control stage of the relay;
the anode of the diode D31 is electrically connected with the other end of the control stage of the relay;
the anode of the diode D31 is electrically connected with the emitter of the PNP triode Q2;
the collector of the PNP triode Q2 is grounded;
the base electrode of the PNP triode Q2 is electrically connected with one end of the resistor R24;
the other end of the resistor R24 is electrically connected with a No. 16 pin of a C8051F340 chip (U1);
the switch stage of the relay controls the power supply of the camera 8;
the anode of the light-emitting diode D40 is connected with a positive power supply;
the cathode of the light-emitting diode D40 is electrically connected with one end of the resistor R33;
the other end of the resistor R33 is electrically connected with the anode of the diode D41;
the cathode of the diode D41 is connected with a positive power supply;
the cathode of the diode D41 is electrically connected with one end of the control stage of the relay;
the anode of the diode D41 is electrically connected with the other end of the control stage of the relay;
the anode of the diode D41 is electrically connected with the emitter of the PNP triode Q3;
the collector of the PNP triode Q3 is grounded;
the base electrode of the PNP triode Q3 is electrically connected with one end of the resistor R34;
the other end of the resistor R34 is electrically connected with a No. 15 pin of a C8051F340 chip (U1);
the switching stage of the relay controls the power supply of the gripper motor.
The lower end control part of the mechanical arm controls the lower end part of the mechanical arm, the lower end control part of the mechanical arm comprises a C8051F340 chip (U2), a second power circuit, a second wireless communication circuit, a second steering engine driving circuit, a second travel limit switch circuit and a 24V storage battery, wherein,
the C8051F340 chip (U2) is electrically connected with the second wireless communication circuit;
the C8051F340 chip (U2) is electrically connected with a second steering engine driving circuit;
the C8051F340 chip (U2) is electrically connected with the second travel limit switch circuit.
As shown in fig. 4 and 5, the second power circuit supplies power to the components at the lower end of the robot arm, and includes a capacitor C17, a capacitor C19, a NS6316 chip (× 2), a 1117-3.3 chip (P2), an inductor L2, a resistor R6, a resistor R7, a resistor R11, a capacitor C14, an electrolytic capacitor C12, a capacitor C13, an electrolytic capacitor C8, a capacitor C9, a resistor R4, and a light emitting diode D2, wherein,
one end of the capacitor C17 is electrically connected with the power output end of the 24V storage battery;
the other end of the capacitor C17 is grounded;
one end of the capacitor C19 is electrically connected with the power output end of the 24V storage battery;
the other end of the capacitor C19 is grounded;
the power supply output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip (× 2);
pin No. 7 of the NS6316 chip (× 2) is grounded;
the other end of the resistor R7 is electrically connected with one end of the resistor R11;
the other end of the resistor R11 is grounded;
the other end of the capacitor C14 is grounded;
one end of the capacitor C14 is electrically connected with the anode of the electrolytic capacitor C12;
the other end of the capacitor C14 is electrically connected with the cathode of the electrolytic capacitor C12;
one end of the capacitor C14 is electrically connected to one end of the capacitor C13;
the other end of the capacitor C14 is electrically connected with the other end of the capacitor C13;
one end of the capacitor C14 is electrically connected with the No. 1 pin of the 1117-3.3 chip (P2);
pin No. 3 of the 1117-3.3 chip (P2) is electrically connected with the anode of the electrolytic capacitor C8;
the cathode of the electrolytic capacitor C8 is grounded;
the No. 3 pin of the 1117-3.3 chip (P2) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with the No. 10 pin of the C8051F340 chip (U2);
the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with one end of the capacitor C9;
the other end of the capacitor C9 is grounded;
the No. 3 pin of the 1117-3.3 chip (P2) is electrically connected with one end of a resistor R4;
the other end of the resistor R4 is electrically connected with the anode of the light-emitting diode D2;
the cathode of the led D2 is grounded.
As shown in fig. 4 and 7, the second wireless communication circuit includes nRF905 chips (× 5),
The second steering engine driving circuit drives and controls the large arm pitch steering engine 3, the waist turning steering engine 4, the insulating arm pitch steering engine 6 and the insulating arm rotation steering engine 7, as shown in fig. 4 and 9, the second steering engine driving circuit comprises an L298N chip (U5), an L298N chip (U7), a diode D10, a diode D11, a diode D12, a diode D13, a diode D18, a diode D19, a diode D20, a diode D21, a diode D26, a diode D27, a diode D28, a diode D29, a diode D36, a diode D37, a diode D38, a diode D39, a resistor R21, a resistor R22, a resistor R27 and a resistor R28, wherein,
the No. 10 pin of the L298N chip (U5) is electrically connected with the No. 5 pin of the C8051F340 chip (U2);
the No. 4 pin of the L298N chip (U5) is electrically connected with the power supply output end of the 24V storage battery;
a No. 2 pin of an L298N chip (U5) is electrically connected with one end of the waist rotary steering engine 4;
pin No. 2 of the L298N chip (U5) is electrically connected with the anode of diode D10;
the cathode of the diode D11 is connected with a positive power supply;
pin No. 2 of the L298N chip (U5) is electrically connected to the cathode of diode D18;
the anode of diode D18 is grounded;
a No. 3 pin of an L298N chip (U5) is electrically connected with the other end of the waist rotary steering engine 4;
the cathode of the diode D11 is connected with a positive power supply;
the anode of diode D19 is grounded;
a No. 13 pin of an L298N chip (U5) is electrically connected with one end of the large-arm pitch steering engine 3;
the cathode of the diode D12 is connected with a positive power supply;
the anode of diode D20 is grounded;
a No. 14 pin of an L298N chip (U5) is electrically connected with the other end of the large-arm pitch steering engine 3;
the cathode of the diode D13 is connected with a positive power supply;
the anode of diode D21 is grounded;
the No. 15 pin of the L298N chip (U5) is electrically connected with one end of a resistor R22;
the other end of the resistor R21 is electrically connected with the other end of the resistor R22;
the other end of the resistor R22 is grounded;
pin No. 5 of the L298N chip (U7) is electrically connected with pin No. 46 of the C8051F340 chip (U2);
the No. 4 pin of the L298N chip (U7) is electrically connected with the power supply output end of the 24V storage battery;
a No. 2 pin of an L298N chip (U7) is electrically connected with one end of an insulating arm pitching steering engine 6;
pin No. 2 of the L298N chip (U7) is electrically connected with the anode of diode D26;
the cathode of the diode D26 is connected with a positive power supply;
pin No. 2 of the L298N chip (U7) is electrically connected to the cathode of diode D36;
the anode of diode D36 is grounded;
a No. 3 pin of an L298N chip (U7) is electrically connected with the other end of the insulating arm pitching steering engine 6;
the cathode of the diode D27 is connected with a positive power supply;
the anode of diode D37 is grounded;
a No. 13 pin of an L298N chip (U7) is electrically connected with one end of an insulating arm rotary steering engine 7;
the cathode of the diode D28 is connected with a positive power supply;
the anode of diode D38 is grounded;
a No. 14 pin of an L298N chip (U7) is electrically connected with the other end of the insulating arm rotary steering engine 7;
the cathode of the diode D29 is connected with a positive power supply;
the anode of diode D39 is grounded;
the No. 15 pin of the L298N chip (U5) is electrically connected with one end of a resistor R28;
the other end of the resistor R27 is electrically connected with the other end of the resistor R28;
the other end of the resistor R27 is connected to ground.
The second travel limit switch circuit controls the motion states of the large arm pitching steering engine 3, the waist turning steering engine 4, the insulating arm pitching steering engine 6 and the insulating arm rotating steering engine 7, as shown in fig. 4 and fig. 10, the travel limit switch circuit comprises 4 SW-SPST switches, a resistor R31, a resistor R32, a resistor R37, a resistor R38, a resistor R41, a resistor R42, a resistor R43, a resistor R44, a photocoupler IC2, a photocoupler IC4, a photocoupler IC6 and a photocoupler IC7, wherein,
one end of the resistor R31 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);
one end of the resistor R31 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R31 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 2;
the other end of the emitter of the photocoupler IC2 is grounded;
one end of a receiving stage of the photocoupler IC2 is electrically connected with one end of the resistor R32;
the other end of the resistor R32 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);
one end of a receiving stage of the photoelectric coupler IC2 is electrically connected with a No. 48 pin of a C8051F340 chip (U2);
the other end of the receiving stage of the photocoupler IC2 is grounded;
one end of the resistor R32 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);
one end of the resistor R41 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R41 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 6;
the other end of the emitter of the photocoupler IC6 is grounded;
one end of a receiving stage of the photocoupler IC6 is electrically connected with one end of the resistor R42;
the other end of the resistor R42 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);
one end of a receiving stage of the photoelectric coupler IC6 is electrically connected with a No. 32 pin of a C8051F340 chip (U2);
the other end of the receiving stage of the photocoupler IC6 is grounded;
one end of the resistor R37 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);
one end of the resistor R37 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R37 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 4;
the other end of the emitter of the photocoupler IC4 is grounded;
one end of a receiving stage of the photocoupler IC4 is electrically connected with one end of the resistor R38;
the other end of the resistor R38 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);
one end of a receiving stage of the photoelectric coupler IC4 is electrically connected with a No. 40 pin of a C8051F340 chip (U2);
the other end of the receiving stage of the photocoupler IC4 is grounded;
one end of the resistor R43 is electrically connected with the No. 2 pin of the NS6316 chip (× 2);
one end of the resistor R43 is electrically connected with one end of the SW-SPST switch;
the other end of the SW-SPST switch is grounded;
one end of the resistor R43 is electrically connected with one end of the emitting stage of the photoelectric coupler IC 47;
the other end of the emitter of the photocoupler IC7 is grounded;
one end of a receiving stage of the photocoupler IC7 is electrically connected with one end of the resistor R44;
the other end of the resistor R44 is electrically connected with the No. 3 pin of the 1117-3.3 chip (P2);
one end of a receiving stage of the photoelectric coupler IC7 is electrically connected with a No. 24 pin of a C8051F340 chip (U2);
the other end of the receiving stage of the photocoupler IC7 is grounded.
In embodiment 2, the upper end of the mechanical arm is controlled by the upper end control part of the mechanical arm, and the lower end of the mechanical arm is controlled by the lower end control part of the mechanical arm, because the insulating arm is hollow, the upper end control part of the mechanical arm and the lower end control part of the mechanical arm communicate with each other through the first wireless communication circuit and the second wireless communication circuit block, and the upper end control part of the mechanical arm is a slave, and the lower end control part of the mechanical arm controls the upper end control part of the mechanical arm. In addition, the movement of the entire 7-degree-of-freedom robot can be set by the C8051F340 chip (U2) of the robot lower end control unit.
Example 3
The remote control module comprises a C8051F340 chip (U3), an operation key, a touch screen, a third wireless communication circuit, a 24V storage battery and a third power supply circuit, wherein,
the C8051F340 chip (U3) is electrically connected with the operation keys;
the C8051F340 chip (U3) is electrically connected with the touch screen;
the C8051F340 chip (U3) is electrically connected to the third wireless communication circuit.
As shown in fig. 13 and 15, the third power circuit supplies power to the remote control module, and the third power circuit includes a capacitor C20, a capacitor C21, a NS6316 chip (x 3), a chip 1117-3.3 (P3), an inductor L3, a resistor R8, a resistor R9, a resistor R12, a capacitor C18, an electrolytic capacitor C15, a capacitor C16, an electrolytic capacitor C10, a capacitor C11, a resistor R5, and a light emitting diode D3, wherein,
one end of the capacitor C20 is electrically connected with the power output end of the 24V storage battery;
the other end of the capacitor C20 is grounded;
one end of the capacitor C21 is electrically connected with the power output end of the 24V storage battery;
the other end of the capacitor C21 is grounded;
the power supply output end of the 24V storage battery is electrically connected with the No. 4 pin of the NS6316 chip (× 3);
pin No. 7 of the NS6316 chip (× 3) is grounded;
the other end of the resistor R9 is electrically connected with one end of the resistor R12;
the other end of the resistor R12 is grounded;
the other end of the capacitor C18 is grounded;
one end of the capacitor C18 is electrically connected with the anode of the electrolytic capacitor C15;
the other end of the capacitor C18 is electrically connected with the cathode of the electrolytic capacitor C15;
one end of the capacitor C18 is electrically connected to one end of the capacitor C16;
the other end of the capacitor C18 is electrically connected with the other end of the capacitor C16;
one end of the capacitor C18 is electrically connected with the No. 1 pin of the 1117-3.3 chip (P3);
pin No. 3 of the 1117-3.3 chip (P3) is electrically connected with the anode of the electrolytic capacitor C10;
the cathode of the electrolytic capacitor C10 is grounded;
the No. 3 pin of the 1117-3.3 chip (P3) is used as a 3.3V output power supply end, and the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with the No. 10 pin of the C8051F340 chip (U3);
the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with one end of the capacitor C11;
the other end of the capacitor C11 is grounded;
the No. 3 pin of the 1117-3.3 chip (P3) is electrically connected with one end of a resistor R5;
the other end of the resistor R5 is electrically connected with the anode of the light-emitting diode D3;
the cathode of the led D3 is grounded.
As shown in fig. 14 and 15, the third wireless communication circuit includes nRF905 chips (× 6),
In this embodiment 3, the embodiment 2 is controlled by the remote control module, so that the embodiment 2 is remotely controlled. The working personnel remotely input control instructions to the lower end control part of the mechanical arm through the remote control module, the lower end control part of the mechanical arm operates the action of the lower end part of the mechanical arm according to the control instructions and sends control signals to the upper end control part of the mechanical arm, and the upper end control part of the mechanical arm operates the action of the upper end part of the mechanical arm according to the control instructions.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent; the above expansion still belongs to the protection scope of this patent, and not only the embodiment is used as the limitation of this patent.
Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A7-freedom-degree high-voltage live working mechanical arm is characterized by comprising 7 motors, a large arm component, a small arm component and a grasping component, wherein,
the large arm part and the small arm part are connected through N motors;
the small arm part is connected with the grasping part through M motors;
the rotating axes of any two adjacent motors are vertical to each other;
n and M are positive integers not less than 2, and N + M is 7;
the 7 motors realize the function of 7 degrees of freedom of the mechanical arm.
2. The 7 degree-of-freedom high-voltage live-working robot arm of claim 1, wherein the 7 motors are defined as a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor and a seventh motor, wherein,
the axis of the first motor is vertical to the ground;
one end of the second motor is connected with the side surface of the first motor, and the second motor is vertical to the first motor;
one end of the large arm component is connected with the side surface of the second motor, and the large arm component is vertical to the second motor;
the other end of the large arm component is connected with the side surface of the third motor, and the large arm component is vertical to the third motor;
one end of the third motor is connected with one end of the fourth motor;
the side surface of the fourth motor is connected with one end of the small arm part, and the fourth motor is vertical to the small arm part;
the other end of the small arm part is connected with the side surface of the fifth motor, and the small arm part is vertical to the fifth motor;
one end of the fifth motor is connected with the side surface of the sixth motor, and the fifth motor is vertical to the sixth motor;
one end of the sixth motor is connected with the side surface of the seventh motor, and the sixth motor is vertical to the seventh motor;
one end of the seventh motor is connected with the bottom end of the grabbing part, and the rotating axis of the seventh motor is collinear with the axis of the grabbing part.
3. The 7-degree-of-freedom high-voltage live working mechanical arm according to claim 2, wherein the arm member is made of an insulating material, and a cavity is formed in the arm member.
4. The 7-degree-of-freedom high-voltage live working mechanical arm according to claim 3, wherein the outer sides of the large arm component, the grasping component, the first motor, the second motor, the third motor, the fourth motor, the fifth motor, the sixth motor and the seventh motor are covered with insulating shielding covers, and the insulating shielding covers conform to GB/T12168 standard.
5. The 7-degree-of-freedom high-voltage live working mechanical arm according to any one of claims 2 to 4, wherein the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a base, the base is arranged on the ground, and the top surface of the base is connected with the bottom surface of the first motor.
6. The 7-degree-of-freedom high-voltage hot-line work mechanical arm according to claim 5, wherein the base is vacuum and is provided with a first control module, and the first control module controls the working states of the first motor, the second motor, the third motor and the fourth motor.
7. A7-DOF high voltage live working robot according to claim 2, 3, 4 or 6, further comprising a second control module for controlling the operation of the fifth motor, the sixth motor, the seventh motor and the grasping element.
8. The 7-degree-of-freedom high-voltage live working mechanical arm according to claim 2, 3, 4 or 6, wherein the 7-degree-of-freedom high-voltage live working mechanical arm further comprises a storage battery, and the storage battery supplies power to the fifth motor, the sixth motor, the seventh motor and the grasping part.
9. The 7-degree-of-freedom high-voltage live working mechanical arm according to claim 7, further comprising a storage battery, wherein the storage battery supplies power to the fifth motor, the sixth motor, the seventh motor and the grasping part.
10. The 7 degree-of-freedom high-voltage live working robot arm of claim 9, further comprising a first wireless communication module and a second wireless communication module, wherein,
the first wireless communication module is arranged on the inner side of one end of the small arm part and is connected with the small arm part, and the first wireless communication module is electrically connected with the first control module;
the second wireless communication module is arranged on the inner side of the other end of the small arm part and is connected with the small arm part, and the second wireless communication module is electrically connected with the second control module;
first wireless communication module and second wireless communication module connect through wireless communication's mode, first control module group control the second control module group through first wireless communication module and second wireless communication module.
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| CN201920950199.2U CN210307826U (en) | 2019-06-21 | 2019-06-21 | 7-degree-of-freedom high-voltage live working mechanical arm |
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| CN201920950199.2U CN210307826U (en) | 2019-06-21 | 2019-06-21 | 7-degree-of-freedom high-voltage live working mechanical arm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193822A (en) * | 2019-06-21 | 2019-09-03 | 广东电网有限责任公司 | A kind of 7 freedom degree high-voltage hot-line work mechanical arms |
| CN111645105A (en) * | 2020-08-10 | 2020-09-11 | 天津滨电电力工程有限公司 | Full-insulation electric mechanical arm suitable for distribution live working |
| CN111761573A (en) * | 2020-07-20 | 2020-10-13 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydro-electric hybrid seven-degree-of-freedom mechanical arm |
-
2019
- 2019-06-21 CN CN201920950199.2U patent/CN210307826U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110193822A (en) * | 2019-06-21 | 2019-09-03 | 广东电网有限责任公司 | A kind of 7 freedom degree high-voltage hot-line work mechanical arms |
| CN110193822B (en) * | 2019-06-21 | 2024-05-03 | 广东电网有限责任公司 | 7-Degree-of-freedom high-voltage live working mechanical arm |
| CN111761573A (en) * | 2020-07-20 | 2020-10-13 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydro-electric hybrid seven-degree-of-freedom mechanical arm |
| CN111761573B (en) * | 2020-07-20 | 2022-02-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Hydro-electric hybrid seven-degree-of-freedom mechanical arm |
| CN111645105A (en) * | 2020-08-10 | 2020-09-11 | 天津滨电电力工程有限公司 | Full-insulation electric mechanical arm suitable for distribution live working |
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