CN217992545U - Elastic docking mechanism of live working insulating rod - Google Patents

Abstract

The application relates to the technical field of live working robots, in particular to an elastic butt joint mechanism of a live working insulating rod, which comprises an insulating rod and a butt joint structure in transmission connection with the insulating rod, wherein the insulating rod comprises an inner insulating rod and an outer insulating rod which are mutually sleeved and can relatively rotate, and the end part of the inner insulating rod is provided with an adapter; butt-joint structural includes cup joints each other and can be relative pivoted be located inside the docking sleeve and be located outside terminal docking piece, terminal docking piece and outer insulator spindle fixed connection, and the docking sleeve is provided with the butt-joint groove, and the rotatable setting of adapter is equipped with the elastic component between adapter and the docking sleeve at the butt-joint inslot, and the elastic component makes the adapter be in the middle part position of butt-joint inslot because of receiving the elastic force. This application has effectively solved current arm precision rate and the not high problem of success rate when butt joint with terminal instrument.

Description

Elastic docking mechanism of live working insulating rod

Technical Field

The application relates to the technical field of live working robots, in particular to an elastic docking mechanism of a live working insulating rod.

Background

At present, the demand of the field of live-wire work in the power industry on live-wire operation robots is increasing day by day, the mechanical arm is applied more and more widely in the live-wire work, and the insulation between the mechanical arm and an operation wire is very important under the high-voltage operation environment.

At present, the precision of butt joint of the insulating rod of the mechanical arm on the market and the tail end tool is not high during operation, and the butt joint needs to be calibrated for many times, so that a butt joint mechanism capable of improving the butt joint success rate of the insulating rod of the mechanical arm and the tail end tool needs to be designed.

SUMMERY OF THE UTILITY MODEL

The application provides an elasticity docking mechanism of live working insulator spindle to at least solve among the prior art problem that arm insulator spindle and terminal instrument butt joint precision are low, the success rate is not high.

In order to achieve the purpose, the application provides an elastic butt joint mechanism of an insulating rod for live working, which comprises an insulating rod and a butt joint structure in transmission connection with the insulating rod, wherein the insulating rod comprises an inner insulating rod and an outer insulating rod which are mutually sleeved and can relatively rotate, and the end part of the inner insulating rod is provided with an adapter; butt-joint structural includes cup joint each other and can be relative pivoted be located inside the butt-joint sleeve and be located outside terminal butt-joint piece, terminal butt-joint piece with outer insulator spindle fixed connection, the butt-joint sleeve is provided with the butt-joint groove, the rotatable setting of adapter is in the butt-joint inslot, the adapter with be equipped with the elastic component between the butt-joint sleeve, the elastic component makes the adapter is in because of receiving the elastic force the middle part position in the butt-joint inslot.

In some embodiments, the adapter is provided with elastic members on two sides, the butt joint grooves are provided with butt joint parts on two sides, and one end of each elastic member is abutted against the adapter and the other end of each elastic member is abutted against the butt joint parts.

In some embodiments, the two sides of the adapter are respectively provided with an elastic piece accommodating groove for accommodating the elastic piece, the elastic piece accommodating groove is arranged along the circumferential extension of the adapter, the abutting joint is provided with an abutting joint part extending into the elastic piece accommodating groove, and one end of the elastic piece abuts against the end part of the elastic piece accommodating groove, the other end of the elastic piece abuts against the abutting joint part.

In some embodiments, the elastic members on both sides of the adapter are located on the same side of the two abutting portions.

In some embodiments, the adapter includes a central rotating portion and wing portions disposed on two opposite sides of the central rotating portion, the docking slot includes a central rotating portion engaged with the central rotating portion and sectors disposed on two opposite sides of the central rotating portion for movement of the wing portions, and the wing portions move in the sectors when the adapter rotates.

In some of these embodiments, an end of the docking sleeve remote from the docking slot is provided with a docking portion for docking a tool end.

In some embodiments, the tool end includes a tool end input shaft, the outer side wall of the tool end input shaft is symmetrically provided with a protruding limiting portion, the abutting portion includes a plurality of limiting grooves arranged on the abutting sleeve and distributed along the circumference of the abutting sleeve, when the tool end input shaft is abutted with the abutting sleeve, the limiting portions on two sides of the tool end input shaft are respectively matched with one limiting groove, so that the tool end input shaft and the limiting grooves are circumferentially fixed.

In some of these embodiments, an end of the docking sleeve remote from the docking slot is provided with a central slot for the tool end input shaft coaxial with the docking sleeve to extend into.

In some of these embodiments, the end of the tool end input shaft is a tapered or frustoconical end, and the central groove shape matches the end shape of the tool end input shaft.

In some embodiments, an inclined surface is disposed between each of the limiting grooves, so that the limiting part can slide into the inclined surface.

According to the content, the application has the beneficial effects that: the adapter of the butt joint sleeve and the adapter of the insulating rod are connected in a non-rigid mode through the elastic piece, so that the butt joint sleeve has movement allowance in the clockwise direction and the anticlockwise direction relative to the insulating rod in the circumferential direction, and when the insulating rod is in butt joint with a terminal tool, the success rate of butt joint is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;

FIG. 2 is a cross-sectional view of a driving structure according to an embodiment of the present application;

FIG. 3 is a cross-sectional view of a transmission configuration according to an embodiment of the present application;

FIG. 4 is a cross-sectional view of a docking mechanism according to an embodiment of the present application;

FIG. 5 is an exploded view of the interface between the drive structure and the transmission structure of the embodiment of the present application;

FIG. 6 is an exploded view of the interface between the transmission structure and the docking structure according to the embodiment of the present application;

FIG. 7 is a schematic view of an embodiment of an adapter shaft of the present application;

fig. 8 is a schematic structural diagram of a butt-joint sleeve according to an embodiment of the present application.

Description of reference numerals: 1. a drive structure; 11. a terminal adapter plate; 12. a motor fixing seat; 13. a drive motor; 14. a motor output flange; 141. a hexagonal shaft; 15. a transfer flange; 2. a transmission structure; 211. a driving end fixing flange; 212. a first set screw; 213. a first circlip; 214. a first deep groove ball bearing; 215. an outer insulating rod; 216. an output end fixing flange; 217. a second set screw; 218. a second circlip; 219. a second deep groove ball bearing; 221. a drive end sleeve; 222. a first elastic cylindrical pin; 223. An inner insulating rod; 224. a second elastic cylindrical pin; 225. a transfer shaft; 226. a first pressure spring; 2261. a first pressure spring accommodating groove; 227. a second pressure spring; 2271. a second pressure spring accommodating groove; 228. an adapter; 2281. a central rotating part; 2282. a flank portion; 3. a butt joint structure; 31. a terminal interface; 32. butting sleeves; 321. a butt joint groove; 3211. a central rotation zone; 3212. a sector area; 322. an abutting portion; 323. a limiting groove; 324. a central slot; 33. a tool end input shaft; 34. a drive pin; 341. a limiting part; 35. a third set screw; 36. A third deep groove ball bearing; 37. a third circlip; 38. and (7) bearing pressing blocks.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that such a development effort might be complex and tedious, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, given the benefit of this disclosure, without departing from the scope of this disclosure.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by one of ordinary skill in the art that the embodiments described herein may be combined with other embodiments without conflict.

Unless otherwise defined, technical or scientific terms referred to herein should have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The use of the terms "including," "comprising," "having," and any variations thereof herein, is meant to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but rather can include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

The application provides an elastic butt joint mechanism of a live working insulating rod, which comprises an insulating rod and a butt joint structure in transmission connection with the insulating rod, wherein the insulating rod comprises an inner insulating rod and an outer insulating rod which are mutually sleeved and can relatively rotate, and the end part of the inner insulating rod is provided with an adapter; butt joint structure is including cup jointing each other and the relative pivoted be located inside the butt joint cover with be located outside terminal butt joint spare, terminal butt joint spare with outer insulator spindle fixed connection, the butt joint cover is provided with the butt joint groove, the rotatable setting of adapter is in the butt joint inslot, the adapter with be equipped with the elastic component between the butt joint cover, the elastic component makes the adapter is in because of receiving elastic force the middle part position in the butt joint inslot.

Embodiment as shown in fig. 1 to 8, an insulation rod for live working of a robot arm includes a driving structure 1, a docking structure 3, and a transmission structure 2 for drivingly connecting the driving structure 1 and the docking structure 3.

The driving structure includes: terminal keysets 11, motor fixing base 12, driving motor 13, motor output flange 14 and adapter flange 15.

The transmission structure 2 includes: the driving end fixing flange 211, a first set screw 212, a first elastic retainer ring 213, a first deep groove ball bearing 214, an outer insulating rod 215, an output end fixing flange 216, a second set screw 217, a second elastic retainer ring 218, a second deep groove ball bearing 219, a driving end sleeve 221, a first elastic cylindrical pin 222, an inner insulating rod 223, a second elastic cylindrical pin 224, an adapter shaft 225, a first pressure spring 226 and a second pressure spring 227.

The docking structure 3 includes: the tool end comprises a tail end abutting piece 31, an abutting sleeve 32, a tool end input shaft 33, a transmission pin 34, a third set screw 35, a third deep groove ball bearing 36, a third elastic retainer ring 37 and a bearing pressing block 38.

Wherein, driving motor 13 is fixed to be set up in motor fixing base 12, and terminal keysets 11 is fixed to be set up in motor fixing base 12 keep away from the one end of driving motor 13 output shaft and with the terminal fixed connection of arm, motor output flange 14 and driving motor 13's output shaft fixed connection, adapter flange 15 fixed connection is in the one end that motor fixing base 12 is close to driving motor 13 output shaft.

One end of an outer insulating rod 215 is fixedly connected with the driving end fixing flange 211 through a first set screw 212 and fixedly connected with the adapter flange 15 through the driving end fixing flange 211, and the other end of the outer insulating rod 215 is fixedly connected with an output end fixing flange 216 through a second set screw 217 and fixedly connected with the tail end butt-joint piece 31 through the output end fixing flange 216; the inner insulating rod 223 is rotatably sleeved inside the outer insulating rod 215, one end of the inner insulating rod 223 is fixedly connected with the driving end sleeve 221 through the first elastic cylindrical pin 222 and is in transmission connection with the motor output flange 14 through the driving end sleeve 221, and the other end of the inner insulating rod 223 is fixedly connected with the adapter shaft 225 through the second elastic cylindrical pin 224.

The motor output flange 14 is provided with a hexagonal shaft 141, the driving end sleeve 221 is provided with a hexagonal hole matched with the hexagonal shaft 141, and the hexagonal shaft 141 is sleeved in the hexagonal hole and is in transmission connection with the driving end sleeve 221.

The first deep groove ball bearing 214 is installed in a hole of the driving end fixing flange 211, the first elastic retainer ring 213 fixes the first deep groove ball bearing 214 on the driving end fixing flange 211, and the driving end sleeve 221 passes through the outer insulating rod 215 to be fixedly connected with the first deep groove ball bearing 214, so that the driving end sleeve 221 can rotate relative to the outer insulating rod 215 and the driving end fixing flange 211; a second deep groove ball bearing 219 is mounted in a bore of the output end mounting flange 216 through a swivel shaft 225, and a second circlip 218 secures the second deep groove ball bearing 219 to the output end mounting flange 216.

The third deep groove ball bearing 36 is installed in a hole of the tail end butt joint piece 31, the bearing pressing block 38 presses the outer ring of the third deep groove ball bearing 36 and is fixedly connected with the tail end butt joint piece 31, the butt joint sleeve 32 penetrates through the inner hole of the third deep groove ball bearing 36 and is fixedly connected with the third deep groove ball bearing 36, the butt joint sleeve 32 can rotate relative to the tail end butt joint piece 31, and the third elastic check ring 37 enables the butt joint sleeve 32 and the third deep groove ball bearing 36 to be fixedly arranged relative to each other.

Further, the adapter shaft 225 is provided with a coupling 228 protruding toward the coupling sleeve 32, and the coupling sleeve 32 is provided with a coupling groove 321 which is matched with the coupling 228 and enables the coupling 228 to move inside, so that the coupling sleeve 32 and the coupling shaft 225 are sleeved with each other at a certain relative rotation angle.

The adapter 228 includes the center portion 2281 of rotating and sets up the flank portion 2282 in the center portion 2281 relative both sides that rotates, and the butt joint groove 321 includes the center that rotates district 3211 and the fan-shaped district 3212 that supplies the activity of flank portion 2282 that sets up in center rotation district 3211 with the cooperation of center portion 2281, and flank portion 2282 moves about in fan-shaped district 3212 when adapter 228 rotates.

The two sides of the side wing portion 2282 are respectively provided with an elastic member (in this embodiment, the first pressure spring 226 and the second pressure spring 227) engaged with the docking sleeve 32, and an elastic member receiving groove (in this embodiment, the first pressure spring receiving groove 2261 and the second pressure spring receiving groove 2271) for receiving the first pressure spring 226 and the second pressure spring 227 in the direction of the docking sleeve 32 is oriented toward the docking sleeve 32, the first pressure spring receiving groove 2261 and the second pressure spring receiving groove 2271 are arc-shaped grooves circumferentially arranged along the adapting shaft 225, the docking sleeve 32 is located on the two sides of the docking groove 321 are respectively and correspondingly provided with two abutting portions 322 extending into the first pressure spring receiving groove 2261 and the second pressure spring receiving groove 2271, one end of the first pressure spring 226 abuts against an end of the first pressure spring receiving groove 2261, the other end abuts against the abutting portion 322, one end of the second pressure spring 227 abuts against an end of the second pressure spring 2271, the other end abuts against the abutting portion 322, and an acting force of the abutting portion 322 by the pressure springs on two sides of the docking sleeve 228 makes the adapter 228 at the middle position in the docking groove 321. The pressure spring accommodating groove is an arc-shaped groove arranged along the circumferential direction of the adapter shaft 225, and the first pressure spring 226 and the second pressure spring 227 on the two sides of the adapter 228 are both located on the same side of the two abutting portions 322.

Furthermore, the tool end input shaft 33 is in fit clamping connection with the other end of the butt-joint sleeve 32 and is arranged in an axially movable manner, the transmission pin 34 penetrates through the tool end input shaft 33 and symmetrically forms a protruding limiting part 341 on the outer side wall of the tool end input shaft, and the third set screw 35 is screwed into the end face of the tool end input shaft 33 and abuts against the transmission pin 34.

The middle of one end of the butt joint sleeve 32, which is far away from the butt joint groove 321, is provided with a concave central groove 324, the edge of the butt joint sleeve 32 is circumferentially provided with a circle of spacing grooves 323 which are distributed at intervals and matched with the spacing parts 341, when the tool end input shaft 33 extends into the concave central groove 324, the tool end input shaft 33 is relatively fixed in the circumferential direction through the matching of the spacing parts 341 and the spacing grooves 323, and an inclined plane which is convenient for the spacing parts 341 to slide into is arranged between the spacing grooves 323. The end of the tool end input shaft 33 that mates with the central slot 324 is a tapered or frustoconical end, and the shape of the central slot 324 matches the shape of the end of the tool end input shaft 33.

The working principle is as follows:

when the butt joint is not performed, under the cooperation of the abutting portion 322 on the butt joint sleeve 32, the first pressure spring 226 and the second pressure spring 227, the adapter 228 of the adapter shaft 225 is positioned in the middle of the butt joint groove 321 of the butt joint sleeve 32, at this time, the butt joint sleeve 32 is in a reset state, and the butt joint sleeve 32 can rotate clockwise or counterclockwise by a certain angle in the butt joint groove 321.

During butt joint, the tool end input shaft 33 is coaxial with the butt joint sleeve 32, the tool end input shaft 33 is slowly pressed into the butt joint sleeve 32, the limiting portion 341 of the transmission pin 34 is in contact with the inclined surface of the limiting groove 323 on the butt joint sleeve 32, the tool end input shaft 33 continues to be pressed in, and the limiting portion 341 is in contact with the inclined surface of the limiting groove 323 to drive the butt joint sleeve 32 to rotate anticlockwise or clockwise to compress the first pressure spring 226 or the second pressure spring 227, so that the limiting portion 341 enters the limiting groove 323.

During the transmission, driving motor 13 drives motor output flange 14 and rotates, and motor output flange 14 drives interior insulator spindle 223 through drive end sleeve 221 and rotates to drive adapter shaft 225 and rotate, make the flank portion 2282 of adapter 228 and butt joint inslot 321 inside wall butt joint, thereby drive butt joint cover 32 and rotate, spacing groove 323 on the butt joint cover 32 drives driving pin 34, thereby make instrument end input shaft 33 rotate.

When the driving pin 34 is disengaged from the limiting groove 323 on the docking sleeve 32, the docking sleeve 32 enables the adapter 228 of the adapter shaft 225 to be located in the middle of the docking groove 321 of the docking sleeve 32 under the action of the first pressure spring 226 and the second pressure spring 227, and returns to the reset state.

The embodiment of the application further provides a live working robot, and the robot is provided with a live working insulating rod for realizing the mechanical arm of the embodiment.

It should be understood by those skilled in the art that various technical features of the above-described embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described, however, so long as there is no contradiction between the combinations of the technical features, they should be considered as being within the scope of the present description.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. The utility model provides an elasticity docking mechanism of live working insulator spindle, including the insulator spindle and with the butt joint structure that the insulator spindle transmission is connected, its characterized in that:

the insulating rod comprises an inner insulating rod and an outer insulating rod which are mutually sleeved and can relatively rotate, and an adapter is arranged at the end part of the inner insulating rod;

butt joint structure is including cup jointing each other and the relative pivoted be located inside the butt joint cover with be located outside terminal butt joint spare, terminal butt joint spare with outer insulator spindle fixed connection, the butt joint cover is provided with the butt joint groove, the rotatable setting of adapter is in the butt joint inslot, the adapter with be equipped with the elastic component between the butt joint cover, the elastic component makes the adapter is in because of receiving elastic force the middle part position in the butt joint inslot.

2. The elastic butting mechanism for live working insulating rods according to claim 1, wherein: the adapter both sides all are equipped with the elastic component, butt joint groove both sides are provided with butt portion respectively, elastic component one end with adapter butt, the other end with butt portion butt.

3. The elastic butting mechanism for live working insulating rods according to claim 1, wherein: the adapter both sides are provided with respectively and are used for the holding the elastic component storage tank of elastic component, the elastic component storage tank is followed the circumference of adapter extends the setting, the butt joint cover is equipped with and stretches into butt portion in the elastic component storage tank, elastic component one end with the tip butt of elastic component storage tank, the other end with the butt portion butt.

4. The elastic butting mechanism for the live working insulating rod according to claim 3, wherein: the elastic component of adapter both sides all is located two same one side of butt portion.

5. The elastic butting mechanism for live working insulating rods according to claim 1, wherein: the adapter includes that the center rotates the portion and sets up the flank portion of the relative both sides of portion is rotated at the center, the butt joint groove include with center rotation portion complex center rotates the district and sets up the center rotates the confession of the relative both sides in district the sector of flank portion activity, when the adapter rotates flank portion is in the sector activity.

6. The elastic butting mechanism for live working insulating rods according to claim 1, wherein: and one end of the butt joint sleeve, which is far away from the butt joint groove, is provided with a butt joint part for butting a tool end.

7. The elastic docking mechanism of a live working insulating rod as claimed in claim 6, wherein: the tool end comprises a tool end input shaft, convex limiting parts are symmetrically arranged on the outer side wall of the tool end input shaft, the butting parts comprise a plurality of limiting grooves which are formed in the butting sleeve and distributed along the periphery of the butting sleeve, and when the tool end input shaft is butted with the butting sleeve, the limiting parts on two sides of the tool end input shaft are respectively matched with one limiting groove, so that the tool end input shaft and the limiting grooves are fixed in the circumferential direction.

8. The elastic butting mechanism for live working insulating rods, according to claim 7, is characterized in that: and a central groove for enabling the tool end input shaft coaxial with the butt joint sleeve to extend into is arranged at one end of the butt joint sleeve, which is far away from the butt joint groove.

9. The elastic butting mechanism for live working insulating rods, according to claim 8, is characterized in that: the end part of the tool end input shaft is a conical or frustum-shaped end part, and the shape of the central groove is matched with that of the end part of the tool end input shaft.

10. The elastic butting mechanism for live working insulating rods, according to claim 8, is characterized in that: and an inclined plane which is convenient for the limiting part to slide in is arranged between each limiting groove.

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