CN208051936U - Mechanical main and auxiliary arm structure of live working robot - Google Patents

Abstract

The utility model discloses a live working robot machinery owner assists arm structure, it includes main arm and assists the arm, it includes the bottom plate to assist the arm, the main shaft, the xarm, telescopic link and gripper, the main shaft is rotationally vertical to be set up on the bottom plate, the main shaft can be around its axis circumferential direction, the xarm is rotationally horizontal to be set up on the periphery wall of main shaft and can be around its axis circumferential direction, telescopic link's lower part outer wall rigid coupling can realize telescopic motion from top to bottom at the tip of xarm, the gripper can set up the top at the telescopic link with opening and shutting, still be equipped with a visual sensor at the top of gripper. The structure of the main and auxiliary arms reduces the load of the robot, and the weight of the robot is only 70% of that of the double arms. The cost of the mechanical arm is reduced by 40%, the power of a motor of the whole set of equipment is reduced by 35%, the auxiliary arm only plays a role in fixing and assisting the main arm in positioning and observing, the operation steps are simplified, and the operation is convenient in actual production.

Description

Mechanical main and auxiliary arm structure of live working robot

technical field

The utility model relates to an auxiliary device of a power circuit, in particular to a mechanical main and auxiliary arm structure of a live working robot.

Background technique

In recent years, the number of live work of State Grid Corporation has been increasing year by year. Taking Binhai Company as an example, the number of live operations per year is about 500, among which live fire operations account for the largest proportion, accounting for more than 70%. The current live-fire work mainly adopts the insulating glove operation method, and the operator needs to stand on the insulated bucket arm truck to operate the wire. The labor intensity is high, the operator's technical level is high, and the operator needs to directly contact the electrified body, which poses a safety hazard. , so many power supply companies have begun to develop live working robots. However, single-arm, double-arm or three-arm structures are generally used in the design of robotic arms. The single-arm structure is light in weight but poor in stability. The problem of inaccurate positioning; while the double-arm structure consists of two mechanical arms with basically the same function and the same weight and volume, while the three-arm structure uses the two mechanical arms to fix the wires and the middle arm to complete the operation. These two structures all lead to the complex structure of the live working robot equipment, the load is too heavy, and it is not easy to operate in actual use.

Contents of the invention

The purpose of the utility model is to solve the above-mentioned technical problems and provide a mechanical main and auxiliary arm structure of a live working robot with light load, simple operation and reliable work.

In order to solve the above technical problems, the utility model adopts the following technical solutions:

A mechanical main and auxiliary arm structure of a live working robot, including a main arm and an auxiliary arm installed on a base plate, the auxiliary arm is made of insulating material, and the auxiliary arm includes a base plate, a main shaft, a cross arm, a telescopic rod and a mechanical claw, The base plate is horizontally fixed on the base plate, the main shaft is rotatably arranged vertically on the base plate, and the main shaft rotates around its axis under the drive of the main shaft motor, and the cross arm is rotatably arranged laterally on the main shaft On the outer peripheral wall of the cross arm, and the cross arm rotates around its axis under the drive of the cross arm motor, the lower outer wall of the telescopic rod is fixed on the end of the cross arm, and the telescopic rod can realize up and down telescopic movement, so The mechanical claw can be opened and closed on the top of the telescopic rod, and a visual sensor is also arranged on the top of the mechanical claw, and the visual sensor is connected to the visual system of the live working robot.

A plurality of insulating columns are arranged between the bottom plate and the base plate.

The telescopic rod includes a fixed rod and a moving rod. The moving rod is movably inserted into the inner hole of the fixed rod. A driving gear is fixedly connected to the inner hole of the fixed rod. A rack is formed at the lower part of the moving rod, and the rack and the driving gear are meshed together. Driven by the motor of the telescopic rod, the moving rod can perform telescopic movement relative to the fixed rod. ;

The fixed rod is fixed on the cross arm, the top of the moving rod is provided with a mechanical claw, and the top of the moving rod is also provided with a cylinder, and the output end of the cylinder is connected with the mechanical claw through a connecting rod to realize the opening and closing of the mechanical claw. action.

The main arm is made of aluminum alloy, and the surface of the main arm is covered by insulating material.

The beneficial effects of the utility model are:

1. The main and auxiliary mechanical arms are designed to reduce the load on the equipment. On the basis of ensuring safety, economy, flexibility and the compatibility of existing live working vehicles, the arm structure is redesigned, and the two mechanical arms commonly used by domestic live working robots are changed to one main mechanical arm And an auxiliary insulating mechanical arm, which can cooperate with each other to complete live work while reducing the weight of the equipment and simplifying the operation process.

2. The auxiliary mechanical arm (auxiliary arm) can play auxiliary functions such as fixing and supporting, and adopts a long insulating telescopic structure.

3. Through the fixed support of the auxiliary arm, it overcomes the weak steel environment of live work, and the main and auxiliary arms form a relatively static working environment (the wire is made of weak steel material, and the insulated bucket truck has wind deflection and swing, which are both in weak steel material environment).

4. Through the fixing of the auxiliary arm, it plays a positioning role and guides the main mechanical arm (main arm) to work.

5. Through the camera device (visual sensor) installed on the auxiliary arm, it assists in guiding the work of the main mechanical arm and facilitates the safe observation of the operator on the ground.

Description of drawings

Fig. 1 is the structural schematic diagram of the mechanical main and auxiliary arm structure of the live working robot of the present invention;

Fig. 2 is a structural schematic diagram of the auxiliary arm in the utility model.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment, the utility model is described in further detail:

Referring to FIG. 1 and FIG. 2 , the utility model includes a main arm 2 and an auxiliary arm 3 installed on a base plate 1 . Wherein the base plate 1 is arranged on an insulating bucket truck. The main arm 2 is made of aluminum alloy, and the surface of the main arm 2 is covered by insulating material.

The auxiliary arm 3 is made of insulating material, and the auxiliary arm 3 includes a bottom plate 301 , a main shaft 302 , a cross arm 303 , a telescopic rod 304 and a mechanical claw 305 .

The bottom plate 301 is fixed horizontally on the base plate 1 , and a plurality of insulating columns 308 are arranged between the base plate 301 and the base plate 1 .

The main shaft 302 is rotatably arranged vertically on the bottom plate 301 , and the main shaft 302 is driven by the main shaft motor 306 to rotate around its axis.

The cross arm 303 is rotatably arranged laterally on the outer peripheral wall of the main shaft 302 , and the cross arm 303 is driven by the cross arm motor 307 to rotate around its axis.

The lower outer wall of the telescopic rod 304 is fixedly connected to the end of the cross arm 303, and the telescopic rod 304 can realize telescopic movement up and down. The telescoping rod 304 includes a fixed rod and a moving rod, the moving rod is movably inserted in the inner hole of the fixed rod, and a telescopic rod motor 309 is affixed to the outside of the fixed rod, and the output end of the telescopic rod motor 309 It extends into the inner hole of the fixed rod and is fixedly connected with a driving gear. A rack is formed on the lower part of the moving rod, and the rack and the driving gear are meshed together. Driven by the telescopic rod motor 309, the moving rod can be relatively fixed. The rod performs telescopic movement. In addition, the telescopic rod 304 can also choose an oil cylinder or an air cylinder as power to realize its telescopic action.

The fixed rod is fixed on the cross arm 303, and the mechanical claw 305 can be opened and closed on the top of the telescopic rod 304. Specifically, the top of the moving rod is provided with a mechanical claw 305, and the top of the moving rod is also provided with a cylinder. 310 , the output end of the cylinder 310 is connected to the mechanical claw 305 through a connecting rod to realize the opening and closing action of the mechanical claw 305 .

A visual sensor 4 is also provided on the top of the mechanical claw 305, and the visual sensor 4 is connected to the visual system of the live working robot.

The structure of the mechanical main and auxiliary arms of the live working robot of the utility model subverts the traditional live working mode. Through theoretical calculation and experimental verification, the two or three mechanical arms of the existing domestic live working robot are changed to one main mechanical arm (main arm) and one auxiliary mechanical arm (auxiliary arm).

The main arm is covered with aluminum alloy and insulating material. Combined with the robot vision system, it automatically grabs the fire tool carried by the robot for operation. It has a self-weight of about 70kg, a load of about 20kg, and a working radius of 2m. The auxiliary arm is made of insulating material, drives the telescopic rod through gear transmission and has a mechanical claw on the top of the telescopic rod, with a self-weight of 20kg and a working radius of 2.5m. Beneficial effects: 1. The structure of the main and auxiliary arms reduces the load of the robot, and the weight is only 70% of the double arms. The cost of the mechanical arm is reduced by 40%, and the motor power of the whole set of equipment is reduced by 35%. 2. The functions of the main and auxiliary arms are different. The auxiliary arm only serves to fix and assist the positioning and observation of the main arm, which simplifies the operation steps and facilitates operation in actual production.

Under the control of the remote control device, the computer vision system is used to calculate the three-dimensional position. After planning the trajectory of the robot arm, the auxiliary arm is stretched out to grab the wire, which can fix the wire and assist the main arm to locate the cutting point. The main arm completes the peeling and lapping work of the firing operation. Through the simplification of the mechanical arm, the cost of the mechanical arm can be greatly reduced, the motor power of the whole set of equipment can be reduced, and the overall weight of the equipment can be reduced.

Operation process:

1. Arrange the work site;

2. Start the robot operating system;

3. Extend the auxiliary arm to reach the vicinity of the operation point and fix the wire;

4. The main arm is positioned according to the auxiliary arm, and arrives at the operating point to carry out the firing operation. The main arm automatically changes the tool, and completes the work of stripping the wire insulation, lapping the wires and installing the insulation cover in sequence;

5. After the operation is completed, the robot resets.

In summary, the content of the present utility model is not limited to the above-mentioned embodiments, and those skilled in the art can propose other embodiments within the technical guidance of the present utility model, but these embodiments are all included in this disclosure. within the scope of utility models.

Claims (4)

1. a kind of major-minor arm configuration of hot line robot machinery, it is characterised in that：Including the principal arm being mounted on substrate (1) (2) it is made of insulating materials with auxiliary arm (3), the auxiliary arm (3), which includes bottom plate (301), main shaft (302), transverse arm (303), telescopic rod (304) and gripper (305), bottom plate (301) level are fixed on substrate (1), the main shaft (302) It is rotationally vertically arranged on bottom plate (301), and the main shaft (302) is all around its axis under the driving of spindle motor (306) To rotation, the transverse arm (303) is rotationally horizontally installed on the periphery wall of main shaft (302), and the transverse arm (303) is in transverse arm It is circumferentially rotated around its axis under the driving of motor (307), the lower part outer wall of the telescopic rod (304) is fixed in transverse arm (303) End, and the telescopic rod (304) can realize that stretching motion up and down, the gripper (305) can be opened and closed to be arranged in telescopic rod (304) top, is additionally provided with a visual sensor (4) at the top of gripper (305), and the visual sensor (4) is linked into The vision system of hot line robot.

2. the major-minor arm configuration of hot line robot machinery described in accordance with the claim 1, it is characterised in that：The bottom plate (301) multiple insulation columns (308) are equipped between substrate (1).

3. the major-minor arm configuration of hot line robot machinery described in accordance with the claim 1, it is characterised in that：The telescopic rod (304) include fixed link and mobile bar, the mobile bar is movably inserted into the endoporus of fixed link, outside the fixed link It is connected with telescopic rod motor (309), the output end of the telescopic rod motor (309) extend into the endoporus of fixed link and is connected with one Gear is driven, the mobile bar lower part is formed with rack, and rack meshes together with driving gear, in telescopic rod motor (309) under driving, mobile bar can be relatively fixed bar and carry out stretching motion；

The fixed link is fixed on transverse arm (303), gripper (305) is equipped at the top of the mobile bar, at the top of mobile bar It is additionally provided with cylinder (310), the output end of the cylinder (310) is connect with gripper (305) to realize gripper by connecting rod (305) opening and closing movement.

4. according to the major-minor arm configuration of hot line robot machinery described in any one of claims 1 to 3, it is characterised in that： The principal arm (2) is made of aluminum alloy materials, and the surface of the principal arm (2) is covered by insulating materials.