CN217751459U

CN217751459U - Live working site robot

Info

Publication number: CN217751459U
Application number: CN202222132529.1U
Authority: CN
Inventors: 衣晓波; 李孟超
Original assignee: Nanjing Hanqi Intelligent Technology Co ltd
Current assignee: Nanjing Hanqi Intelligent Technology Co ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-11-08
Anticipated expiration: 2032-08-12

Abstract

The utility model discloses a live working field robot, which relates to the technical field of mechanical arms for installation, maintenance and test of high-voltage electric lines and equipment, and comprises a linear displacement module, an arm module and a clamping jaw movable module, wherein the linear displacement module comprises a guide rail and a slide block which is slidably arranged on the guide rail; the arm module includes flexible arm subassembly, first articulated subassembly, first electric putter, second articulated subassembly and second electric putter, and clamping jaw activity module sets up the one end of keeping away from the slider at flexible arm subassembly, is provided with the clamping jaw module on the clamping jaw activity module, and the clamping jaw activity module can adjust the angle of clamping jaw module. The utility model discloses a set up linear displacement module, arm module and clamping jaw activity module, the mobile scope of clamping jaw module is big, and the activity degree of freedom is high, and possesses great load and dead weight ratio, can reach 40 kg's load when the dead weight is less than 100kg, satisfies the demand to big line footpath branch line wiring.

Description

Live working site robot

Technical Field

The utility model relates to an installation, maintenance, test of high-voltage electric line and equipment are with arm technical field, in particular to live working site robot.

Background

With the progress of science and technology and the development of society, the requirements of people on the quality of power consumption are increasing day by day. The power distribution network is used as the last kilometer of the power grid construction and is associated with thousands of households. In order to reduce the power failure time of the power distribution network and improve the power supply reliability, live-line work of the power distribution network becomes the most direct and effective method.

The application of the intelligent robot for live working of the power distribution network can overcome the limitation of multiple loops, phase intervals and the like in an insulating glove working method, and improves the adaptability of the working environment, so that the outage rate is reduced, the power supply reliability is improved, and higher social benefits are brought; and the contact between the operator and the electrified body is avoided, the operation safety is improved, and the labor intensity of the operator is reduced.

However, when live-wire connection work is performed, some branch wires with large wire diameters exceed the maximum payload of the existing robot arm. The dead weight of the large-load industrial robot arm is heavier than that of the insulating bucket arm vehicle. Therefore, an auxiliary arm with enough load and small self weight needs to be designed.

SUMMERY OF THE UTILITY MODEL

The utility model provides a live working site robot to the ability of moving of supplementary arm is not enough among the solution above-mentioned prior art, and load is than little problem with the dead weight.

In order to realize the purpose, the utility model discloses a technical scheme be:

a live-wire work field robot comprises a linear displacement module, an arm module and a clamping jaw movable module, wherein the linear displacement module comprises a guide rail and a sliding block which is slidably arranged on the guide rail; the arm module includes flexible arm subassembly, first articulated subassembly, first electric putter, second articulated subassembly and second electric putter, flexible arm subassembly is installed on the slider through first articulated subassembly, first electric putter's both ends articulate respectively on flexible arm subassembly and first articulated subassembly, second articulated subassembly sets up on the slider, second electric putter's both ends articulate respectively on flexible arm subassembly and second articulated subassembly, clamping jaw activity module sets up the one end of keeping away from the slider at flexible arm subassembly, be provided with the clamping jaw module on the clamping jaw activity module, the angle of clamping jaw module can be adjusted to the clamping jaw activity module.

Preferably, the telescopic arm assembly comprises a first telescopic arm, a second telescopic arm movably inserted in the first telescopic arm and a third telescopic arm movably inserted in the second telescopic arm, and a third electric push rod capable of driving the third telescopic arm to move along the second telescopic arm is arranged in the first telescopic arm.

Preferably, first articulated subassembly is including setting up first articulated seat and the mount pad on the slider, and the mount pad articulates on first articulated seat through first articulated shaft, and telescopic arm subassembly articulates on the mount pad through the second articulated shaft, and the one end that telescopic arm subassembly was kept away from to first electric putter articulates on the mount pad through the third articulated shaft, and the second articulated shaft is parallel with the third articulated shaft, and first articulated shaft is perpendicular with the second articulated shaft.

Preferably, one end of the first hinge shaft is provided with a first encoder, and one end of the second hinge shaft is provided with a second encoder.

Preferably, the second hinge assembly comprises a second hinge seat and a connecting plate which are arranged on the sliding block, the connecting plate is hinged to the second hinge seat through a fourth hinge shaft, one end, far away from the telescopic arm assembly, of the second electric push rod is hinged to the connecting plate through a fifth hinge shaft, the fourth hinge shaft is parallel to the second hinge shaft, and the fifth hinge shaft is parallel to the first hinge shaft.

Preferably, the clamping jaw activity module is including setting up the first revolving stage of keeping away from one of slider at telescopic arm subassembly, rotates on the first revolving stage and installs the second revolving stage, rotates on the second revolving stage and installs the third revolving stage, rotates on the third revolving stage and installs the clamping jaw module.

Preferably, the rotation axis of the second rotary table with respect to the first rotary table is perpendicular to the rotation axis of the third rotary table with respect to the second rotary table.

Preferably, the axis of rotation of the gripper modules relative to the third rotary table is perpendicular to the axis of rotation of the third rotary table relative to the second rotary table.

Preferably, the bottom of guide rail is provided with rotating base, is provided with the carousel that can drive the guide rail rotation on the rotating base.

Preferably, one side of the guide rail is provided with a drag chain for wiring.

Compared with the prior art, the beneficial effects of the utility model are that:

by arranging the linear displacement module, the arm module and the clamping jaw movable module, the telescopic arm assembly can move along the guide rail, the telescopic arm assembly can rotate in two directions under the action of the first electric push rod and the second electric push rod, the working angle of the clamping jaw module can be further adjusted through the clamping jaw movable module, the movable range of the clamping jaw module is large, and the movable degree of freedom is high; through setting up first electric putter, second electric putter and third electric putter, first flexible arm, the flexible arm of second and third can possess great load and dead weight ratio, can reach 40 kg's load when the dead weight is less than 100kg, satisfies the demand to big line footpath branch line wiring.

Drawings

Fig. 1 is a schematic view of the overall structure of the front view of the present invention;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

FIG. 3 is an enlarged view of a portion of FIG. 1 at B;

fig. 4 is a schematic view of the overall structure of the rear view angle of the present invention;

fig. 5 is a schematic view of the storage state of the present invention.

In the figure: 1. the rotary base, 2, the carousel, 3, the bottom plate, 4, the guide rail, 5, the slider, 6, linear displacement module motor, 7, the mounting panel, 8, first articulated seat, 9, first articulated shaft, 10, the mount pad, 11, first flexible arm, 12, first electric putter, 13, the second articulated shaft, 14, the third articulated shaft, 15, the second articulated seat, 16, the fourth articulated shaft, 17, the connecting plate, 18, the fifth articulated shaft, 19, the second electric putter, 20, the second flexible arm, 21, the third flexible arm, 22, the third electric putter, 23, first revolving stage, 24, the second revolving stage, 25, first rotating electrical machines, 26, the third revolving stage, 27, the second rotating electrical machines, 28, the clamping jaw module, 29, the third rotating electrical machines, 30, the tow chain, 31, the first encoder, 32, the second encoder.

Detailed Description

The technical solutions in the implementation of the present invention will be clear from the following description and accompanying drawings, and the described embodiments are only some embodiments, not all embodiments, of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1 to 5, the embodiment of the utility model provides a pair of live working site robot, including linear displacement module, arm module and clamping jaw activity module, wherein, linear displacement module includes guide rail 4 and slidable mounting slider 5 on guide rail 4, and guide rail 4's bottom bolted connection has bottom plate 3, and bottom plate 3 below is provided with rotating base 1, and rotating base 1's carousel 2 and 3 fixed connection of bottom plate can drive guide rail 4 when carousel 2 is rotatory consequently rotatory. The bottom plate 3 is provided with a screw rod capable of rotating, the screw rod can be driven to rotate by a linear displacement module motor 6 fixed on the bottom plate 3, the screw rod is parallel to the guide rail 4 and is in threaded fit with the slide block 5, and therefore the linear displacement module motor 6 can drive the slide block 5 to move along the guide rail 4. A drag chain 30 is arranged between the bottom plate 3 and the sliding block 5 on one side of the guide rail 4, a line can be arranged in the drag chain 30, and the drag chain 30 can play a role in protecting the line.

The arm module includes flexible arm subassembly, first articulated subassembly, first electric putter 12, second articulated subassembly and second electric putter 19, wherein, flexible arm subassembly includes flexible arm of three section and third electric putter 22, flexible arm of three section is first flexible arm 11 respectively, flexible arm of second 20 and third 21, flexible arm of second 20 slides and pegs graft in first flexible arm 11, flexible arm of third 21 slides and pegs graft in flexible arm of second 20, third electric putter 22 is installed in first flexible arm 11 and the tip of third electric putter 22 is connected with flexible arm of third 21, when third electric putter 22 during operation, just can drive the flexible arm of three section and stretch out and draw back, because the extending direction of the flexible arm of these three sections is unanimous with the effect direction of third electric putter 22, consequently can bear higher load.

One side that the guide rail 4 was kept away from to slider 5 is fixed mounting with mounting panel 7, and first hinge assembly sets up on mounting panel 7. Specifically, first articulated subassembly includes first articulated seat 8 of fixed connection on mounting panel 7 and articulates mount pad 10 on first articulated seat 8, the articulated shaft between first articulated seat 8 and the mount pad 10 is first articulated shaft 9, first flexible arm 11 articulates on mount pad 10, the articulated shaft between first flexible arm 11 and the mount pad 10 is second articulated shaft 13, the one end of first electric putter 12 is articulated with first flexible arm 11, the other end of first electric putter 12 is articulated with mount pad 10, the articulated shaft between first electric putter 12 and the mount pad 10 is third articulated shaft 14.

The third hinge shaft 14 is parallel to the second hinge shaft 13 and perpendicular to the first hinge shaft 9, so that the first telescopic arm 11 can rotate with the first hinge shaft 9 as a rotation center and also can rotate with the second hinge shaft 13 as a rotation center, and the first telescopic arm 11 has two degrees of freedom of rotation in two directions. For the turned angle of slider 5 and restriction third electric putter 22 release distance for the convenient first flexible arm 11 of detection and control, prevent that third electric putter 22 from promoting the limit distance that the distance surpassed the flexible arm of three section, cause the damage, the utility model discloses set up three encoder, respectively for installing first encoder 31 in first articulated shaft 9 one end, install the second encoder 32 in second articulated shaft 13 one end and install the third encoder in third electric putter 22's motor department, the encoder is current product, its structure and method of use are not repeated.

The second hinge assembly comprises a connecting plate 17 and a second hinge seat 15 fixedly mounted on the mounting plate 7, the connecting plate 17 is hinged to the second hinge seat 15, the hinge shaft of the connecting plate 17 and the hinge shaft of the second hinge seat 15 is a fourth hinge shaft 16, one end of a second electric push rod 19 is hinged to the first telescopic arm 11, the other end of the second electric push rod 19 is hinged to the connecting plate 17, the hinge shaft of the second electric push rod 19 and the hinge shaft of the connecting plate 17 is a fifth hinge shaft 18, the fourth hinge shaft 16 is parallel to the second hinge shaft 13, and the fifth hinge shaft 18 is parallel to the first hinge shaft 9, so that the second electric push rod 19 can drive the first telescopic arm 11 to rotate around the first hinge shaft 9, and the first electric push rod 12 can drive the first telescopic arm 11 to rotate around the second hinge shaft 13.

The jaw moving module is used for driving the jaw module 28 to adjust the angle, and the structure of the jaw moving module is as follows.

The clamping jaw moving module comprises a first rotating platform 23, a second rotating platform 24 and a third rotating platform 26, the first rotating platform 23 is fixedly arranged at the end part of the third telescopic arm 21, the second rotating platform 24 is rotatably arranged on the first rotating platform 23, a first rotating motor 25 is arranged on the first rotating platform 23, and the first rotating motor 25 is used for driving the second rotating platform 24 to rotate relative to the first rotating platform 23; a third turntable 26 rotatably mounted on the second turntable 24 side, the second turntable 24 being provided with a second rotation motor 27 for driving the third turntable 26 to rotate relative to the second turntable 24; the gripper module 28 is rotatably mounted on the third rotating table 26, and a third rotating motor 29 for driving the gripper module 28 to rotate relative to the third rotating table 26 is mounted on the third rotating table 26.

The rotation center line of the second rotating table 24 with respect to the first rotating table 23 is parallel to the extending direction of the third telescopic arm 21, the rotation center line of the third rotating table 26 with respect to the second rotating table 24 is perpendicular to the rotation center line of the second rotating table 24 with respect to the first rotating table 23, and the rotation center line of the gripper module 28 with respect to the third rotating table 26 is parallel to the rotation center line of the second rotating table 24 with respect to the first rotating table 23.

The clamping jaw module 28 is a working module for connecting a lead wire, and the structure of the clamping jaw module can adopt the existing clamping jaw structure, not the content to be protected by the utility model.

When in use: the auxiliary arm can be arranged on an insulating bucket arm vehicle and matched for use. The turntable 2 can drive the guide rail 4 to rotate, the linear displacement module motor 6 can drive the sliding block 5 to move on the guide rail 4, the first telescopic arm 11 can rotate by taking the second articulated shaft 13 as the center under the action of the first electric push rod 12 or rotate by taking the first articulated shaft 9 as the center under the action of the second electric push rod 19, the third electric push rod 22 can drive the third telescopic arm 21, the second telescopic arm 20 and the first telescopic arm 11 to extend and retract, and the first rotary motor 25, the second rotary motor 27 and the third rotary motor 29 can drive the clamping jaw module 28 to rotate in a plurality of directions, so that the clamping jaw module 28 can perform seven-degree-of-freedom position conversion and flexible operation.

Through the setting, the utility model discloses an arm module can be under the condition that the dead weight is less than 100kg, and load capacity reaches 40kg, and the arm exhibition of supplementary arm is 2m, can compensate the not enough defect of hot-line work robot arm load.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that the invention can be implemented in other specific forms without departing from the spirit and essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it will be understood by those skilled in the art that the specification as a whole and the embodiments may be combined as appropriate to form other embodiments as would be understood by those skilled in the art.

Claims

1. The live working field robot is characterized by comprising a linear displacement module, an arm module and a clamping jaw movable module, wherein the linear displacement module comprises a guide rail (4) and a sliding block (5) which is slidably mounted on the guide rail (4); the arm module includes flexible arm subassembly, first articulated subassembly, first electric putter (12), second articulated subassembly and second electric putter (19), flexible arm subassembly is installed on slider (5) through first articulated subassembly, the both ends of first electric putter (12) articulate respectively on flexible arm subassembly and first articulated subassembly, the second articulated subassembly sets up on slider (5), the both ends of second electric putter (19) articulate respectively on flexible arm subassembly and second articulated subassembly, the one end that slider (5) were kept away from at flexible arm subassembly to clamping jaw activity module setting, be provided with clamping jaw module (28) on the clamping jaw activity module, clamping jaw activity module can adjust the angle of clamping jaw module (28).

2. The live working site robot as claimed in claim 1, wherein the telescopic arm assembly comprises a first telescopic arm (11), a second telescopic arm (20) movably inserted into the first telescopic arm (11), and a third telescopic arm (21) movably inserted into the second telescopic arm (20), and a third electric push rod (22) capable of driving the third telescopic arm (21) to move along the second telescopic arm (20) is arranged in the first telescopic arm (11).

3. The live working site robot as claimed in claim 1, wherein the first hinge assembly comprises a first hinge seat (8) and a mounting seat (10) which are arranged on the sliding block (5), the mounting seat (10) is hinged on the first hinge seat (8) through a first hinge shaft (9), the telescopic arm assembly is hinged on the mounting seat (10) through a second hinge shaft (13), one end of the first electric push rod (12) far away from the telescopic arm assembly is hinged on the mounting seat (10) through a third hinge shaft (14), the second hinge shaft (13) is parallel to the third hinge shaft (14), and the first hinge shaft (9) is perpendicular to the second hinge shaft (13).

4. The live-working site robot according to claim 3, wherein one end of the first hinge shaft (9) is provided with a first encoder (31), and one end of the second hinge shaft (13) is provided with a second encoder (32).

5. A robot on the live working site as claimed in claim 3, wherein the second hinge assembly comprises a second hinge seat (15) and a connecting plate (17) arranged on the slide (5), the connecting plate (17) is hinged on the second hinge seat (15) through a fourth hinge axis (16), the end of the second electric push rod (19) far away from the telescopic arm assembly is hinged on the connecting plate (17) through a fifth hinge axis (18), the fourth hinge axis (16) is parallel to the second hinge axis (13), and the fifth hinge axis (18) is parallel to the first hinge axis (9).

6. A live working site robot according to claim 1, characterized in that the gripper movement module comprises a first rotary table (23) arranged at an end of the telescopic arm assembly remote from the slide (5), a second rotary table (24) is rotatably mounted on the first rotary table (23), a third rotary table (26) is rotatably mounted on the second rotary table (24), and a gripper module (28) is rotatably mounted on the third rotary table (26).

7. A live working site robot according to claim 6, characterized in that the axis of rotation of the second rotary table (24) with respect to the first rotary table (23) is perpendicular to the axis of rotation of the third rotary table (26) with respect to the second rotary table (24).

8. A hot line work site robot according to claim 6, characterized in that the axis of rotation of the gripper module (28) relative to the third rotary table (26) is perpendicular to the axis of rotation of the third rotary table (26) relative to the second rotary table (24).

9. The live working site robot as claimed in claim 1, wherein a rotating base (1) is arranged at the bottom of the guide rail (4), and a turntable (2) capable of driving the guide rail (4) to rotate is arranged on the rotating base (1).

10. Live working site robot according to claim 1, characterized in that one side of the guide rail (4) is provided with a tow chain (30) for routing.