CN104384118A - Mechanical arm with function of electrically cleaning up foreign matters - Google Patents
Mechanical arm with function of electrically cleaning up foreign matters Download PDFInfo
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- CN104384118A CN104384118A CN201410470525.1A CN201410470525A CN104384118A CN 104384118 A CN104384118 A CN 104384118A CN 201410470525 A CN201410470525 A CN 201410470525A CN 104384118 A CN104384118 A CN 104384118A
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- 238000004140 cleaning Methods 0.000 title abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000009471 action Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000005520 cutting process Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A mechanical arm with the function of electrically cleaning up foreign matters comprises a supporting rod; a cylindrical fixing rod is horizontally mounted at the upper end of the supporting rod; a plurality of sleeve groups uniformly sleeve the fixing rod; each sleeve group comprises two adjacent sleeves; the sleeves can rotate relative to the fixing rod; an arc-shaped mechanical arm is mounted on the sleeve; the arc surface of the mechanical arm faces outwards; the lower end of the mechanical arm is connected with a swing device mounted on the supporting rod; hooks are mounted at the upper end of the mechanical arm; and blades are mounted on the hooks. A remote control chip is connected with the swing device, so that an operator can control the repeated swing of the mechanical arm through the remote control chip on the ground, and a guide wire can be cleaned up in a rainy day. The mechanical arm has the advantages of compact structure and stability in operation.
Description
Technical field
The present invention relates to a kind of maintenance tool being applied to electric power overhaul industry, be specifically with electrical clean-up foreign matter mechanical arm hand.
Background technology
Overhead transmission line especially supertension line is among wild environment for a long time, the foreign matter that kite, hot house tarpaulin, plastic film etc. jeopardize transmission line of electricity security of operation is often suspended on supertension line, as cleared up not in time, then very easily affect electric power and normally carry.The method of existing cleaning wire foreign matter mainly adopts cleaning manually and unmanned plane cleaning.The method of clearing up manually is, use insulation ropes to be directly wound around and pull or rub foreign matter on wire, the method in use also exists following two problems: one is very large to the wearing and tearing of rope, and a large amount of rope of annual consumption, increases the spending of equipment and materials.Two is some of complex situations, as rainy day, for preventing wire from being leaked electricity by rainwater, avoids operating personnel to get an electric shock, and adopts this kind of method of operating to carry out on-line treatment, needs to carry out power failure operation, impact user power utilization.Also there is the defect that labour intensity is large and efficiency is lower in this manual method for cleaning, is difficult to do the trick.Therefore, labor cleaning has gradually by the trend of unmanned plane cleaning replacement.But unmanned plane removes obstacles to face does not have the matching used problem of suitable manipulator.The inefficiency of the existing manipulator supporting with unmanned plane, cleaning quality is not high, so unmanned plane coordinates the mode of clearing up foreign matter to apply speed with manipulator is comparatively slow.
Summary of the invention
For solving the problem, the object of this invention is to provide a kind of band electrical clean-up foreign matter mechanical arm hand.
The present invention for achieving the above object, be achieved through the following technical solutions: band electrical clean-up foreign matter mechanical arm hand, comprise they sup-port bar, columned fixed bar is laterally installed in the upper end of they sup-port bar, fixed bar is evenly set with several sleeve pipe group, each sleeve pipe group is made up of two adjacent sleeve pipes, sleeve pipe can rotate relative to fixed bar, each sleeve pipe is installed the mechanical arm of arc, the cambered surface of mechanical arm is outside, the lower end of mechanical arm connects pendulous device, pendulous device is arranged on they sup-port bar, crotch is installed in the upper end of mechanical arm, blade installed by crotch.
For realizing object of the present invention further, can also by the following technical solutions: described mechanical arm offers several groove.Evenly several connecting rod is installed between described two equidirectional adjacent mechanical arms.Described pendulous device has fixed cover, fixed cover is slidably mounted on they sup-port bar, servomotor installed by they sup-port bar, the output shaft of servomotor is connected with screw rod by shaft coupling, screw rod coordinates mounting nuts, nut is fixedly connected with fixed cover, one end of hinged first connecting plate first connecting plate of fixed cover both sides difference, hinged second connecting plate second connecting plate of the other end of the first connecting plate first connecting plate, two the second connecting plate second connecting plates are hinged with the lower end of the mechanical arm of corresponding side respectively.Described they sup-port bar cross section is rectangle, and described fixed cover is straight-flanked ring, and they sup-port bar matches with fixed cover.The outside of described first connecting plate is provided with location-plate, and location-plate is positioned at the first connecting plate and the second connecting plate hinged place, and location-plate plays position-limiting action to the second connecting plate.Inner chamber is provided with in described support bar, jacking block chute is offered on the right side of support bar, shifting block chute is offered in the left side of support bar, and inner chamber internal fixtion mounting base, offers intermediate cavity in the middle part of pedestal, in intermediate cavity, guide pillar seat and push-and-pull pipe are installed, guide pillar seat is fixedly connected with pedestal, and guide pillar seat installs guide pillar, and guide pillar coordinates with the tube chamber grafting in push-and-pull pipe, push-and-pull pipe spring is installed in the periphery of guide pillar, and push-and-pull pipe spring is between guide pillar seat and push-and-pull pipe, sliding cavity is offered in the left side of pedestal, guide pipe sliding cavity is offered on the right side of pedestal, guide pipe sliding cavity communicates with jacking block chute, on guide pillar, level offers through hole, the right side of push-and-pull pipe is horizontally disposed with guide pipe, guide pipe is positioned at guide pipe sliding cavity, push-and-pull pipe chute is offered in the left side of push-and-pull pipe, in guide pipe, positioning pipe is installed, in the backstay chamber of positioning pipe, push rod is installed, the right-hand member of positioning pipe stretches out guide pipe and installs jacking block outward, jacking block can move horizontally along positioning pipe, jacking block is positioned at jacking block chute, the right-hand member of jacking block is spherical, the right-hand member of jacking block is positioned at outside support bar, jacking block chamber is offered in jacking block, convex annular edge is provided with in jacking block chamber, mounting limit block cover in jacking block chamber, limited block cover is fixedly connected with positioning pipe, pull bar cover is installed on limited block cover right side, be that center line symmetry installs two limited blocks with push rod in limited block cover, the outer end of each limited block passes outside limited block cover and coordinates with convex annular edge, the outer end of limited block is provided with inclined-plane, inclined-plane is towards positioning pipe, pull bar chute is provided with between limited block cover and pull bar cover, the right-hand member of push rod is positioned at pull bar cover and is connected with pull bar cover by push rod return spring, a pull bar is respectively installed in the right-hand member both sides of push rod, two pull bars and two limited block one_to_one corresponding, one end and the push rod right-hand member of pull bar are hinged, the other end and the limited block of pull bar are hinged, the right-hand member of pull bar cover installs guide pad, in jacking block chamber, guide pad stage clip is installed, jacking block chamber coordinates with guide pad stage clip, guide pad stage clip applies pretightning force left by guide pad to pull bar cover, vertically slide bar is installed in sliding cavity, sliding sleeve installed by slide bar, sliding sleeve can along sliding bar, sliding sleeve spring is installed in the upper end of sliding sleeve, projection is installed on the right side of sliding sleeve, shifting block is installed in the left side of sliding sleeve, shifting block is positioned at shifting block chute, the left end of shifting block stretches out outside support bar, slip lumenal levels offers lateral aperture, button installation in lateral aperture, the left end of button is spherical, the right-hand member of button installs push rod, positioning pipe spring is installed in push rod periphery, push rod and positioning pipe spring are all positioned at push-and-pull pipe chute and corresponding with through hole, a locating piece groove is respectively offered in the both sides of support bar, two locating piece grooves lay respectively at the below of shifting block chute and jacking block chute, a locating piece is respectively installed at each locating piece groove place, locating piece is respectively provided with a locating piece axle, locating piece by locating piece axle and support bar hinged, each locating piece is respectively provided with a driving lever, each driving lever is respectively provided with a pin, the lower end of push-and-pull pipe is provided with push-and-pull seat, on push-and-pull seat, a horizontal concrete chute is respectively offered in left and right, pin on the driving lever of left side coordinates with the horizontal concrete chute on right side, pin on the driving lever of right side coordinates with the horizontal concrete chute in left side, the length of driving lever is at least that a positioning runner is respectively offered in the both sides of locating piece axle fixed cover.
The invention has the advantages that: it installs mutually corresponding mechanical arm on fixed bar, mechanical arm just can be swung by fixed bar relatively by sleeve pipe, thus, realize gripping or cutting foreign matter.Mechanical arm upper end arranges crotch and blade, both conveniently catches foreign matter in mechanical arm swing process, can also by foreign matter cutting and elimination.Long-distance Control chip is connected with pendulous device, makes operating personnel can on the ground by the swing repeatedly of Long-distance Control chip controls mechanical arm, even if also can clear up wire rainy day.The present invention also has compact conformation, stable advantage.
Accompanying drawing explanation
Fig. 1 is the structural representation of band electrical clean-up foreign matter mechanical arm hand of the present invention; Fig. 2 be the A of Fig. 1 to structural representation, eliminate pendulous device in figure; Fig. 3 is that the B-B of Fig. 1 analyses and observe structure for amplifying schematic diagram; Fig. 4 be the C of Fig. 1 to structure for amplifying schematic diagram, eliminate the first connecting plate in figure; Fig. 5 is after the fixed cover in Fig. 4 moves down, the structural representation that locating piece resets; Fig. 6 is the I partial enlargement structural representation of Fig. 5.
Reference: 1 2 fixed support bar rod 3 casing 4 5 hook 6 link rod mechanical arm 9 8 servo motor coupling 10 first connecting plate screw nut 11 12 13 the second connecting plate within 15 fixed set of 16 through 17 blade slot 18 19 base 20 middle cavity 21 push drawn tube 22 23 24 guide pin guide pillar seat 25 lumen push drawn tube spring 26 push laguan chute 27 28 pipe run 29 positioning hole tube 30 push rod top 31 32 top spring blocks of 33 top piece of 35 positioning pipe chute 34 plunger spring 36 button 37 positioning plate 38 slider 39 dial chute dial 40 blocks of 41 sliding sleeve spring sliding sleeve 42 and 43 convex block orientation of 44 chute 45 block groove 46 positioning block 47 positioning block 48 50 level shifter lever 49 pin shaft 51 push-pull seat 52 sliding chute 53 locating rod cavity 54 55 cant 56 annular convex set blocks along the rod cover 57 58 59 guide block top 60 guide block block cavity pressure spring 61 rod chute limit 62 sets of 62 tie 63 putter reset spring 65 pipe run sliding cavity 66 level hole.
Detailed description of the invention
Band electrical clean-up foreign matter mechanical arm hand of the present invention, comprises support bar 1 as shown in Figure 1, and columned fixed bar 2 is laterally installed in the upper end of support bar 1.As shown in Figure 2, the even several sleeve pipe group of suit on fixed bar 2, each sleeve pipe group is made up of two adjacent sleeve pipes 3, and sleeve pipe 3 can rotate relative to fixed bar 2, the mechanical arm 4 of each installation arc on each sleeve pipe 3.As shown in Figure 1, the cambered surface of mechanical arm 4 is outside.The lower end of mechanical arm 4 connects pendulous device, and pendulous device is arranged on support bar 1.The upper end of every root mechanical arm 4 all arranges crotch 5, crotch 5 is installed blade 17.Because sleeve pipe 3 can rotate relative to fixed bar 2, and mutually corresponding mechanical arm 4 installed by sleeve pipe 3, and therefore, mechanical arm 4 can be swung repeatedly by pendulous device, can realize the action capturing, decontrol.Can catch foreign matter by crotch 5, re-using blade 17 can by foreign matter cutting and elimination.
Because the present invention is suspended on wire, own wt is larger, also large to wire burden, for weight reduction, reduce the burden to wire, described mechanical arm 4 offers several groove 16, this structure had both avoided the entity destroying mechanical arm 4, ensure original intensity of mechanical arm 4, can own wt be alleviated again, reduce the burden to wire.
During in order to avoid mechanical arm 4 action, because the mechanical arm 4 of homonymy produces relative movement, and produce when making mechanical arm 4 capture and cut foreign matter and rock, thus cause adjacent machine arm 4 action asynchronous, not easily capture the situation of foreign matter, as shown in Figure 2, evenly several connecting rod 6 is installed between described two equidirectional adjacent mechanical arms 4.Such a structure increases the fastness between equidirectional two adjacent mechanical arms 4, also make homonymy mechanical arm 4 action synchronous, conveniently capture and cutting foreign matter, especially facilitate and capture and cut larger foreign matter.
Described pendulous device can be cylinder, and cylinder is hinged on support bar 1, the piston of cylinder and the lower end of mechanical arm 4 hinged, the swing of mechanical arm 4 is realized by the piston movement of cylinder.Pendulous device also can be made up of servomotor 8 and hinge connecting rod, and as shown in Figure 1, preferred described pendulous device has fixed cover 15, and fixed cover 15 is slidably mounted on support bar 1.Support bar 1 fixedly mounts servomotor 8, servomotor 8 can be connected with the control device on unmanned plane, and staff is manipulated pendulous device by Long-distance Control unmanned plane.The output shaft of servomotor 8 is connected with screw rod 10 by shaft coupling 9, screw rod 10 coordinates mounting nuts 11, and nut 11 is fixedly connected with fixed cover 15.One end of hinged first connecting plate 12 of fixed cover 15 both sides difference, the upper end of hinged second connecting plate of the other end 13, two second connecting plates 13 of the first connecting plate 12 is hinged with the lower end of two mechanical arms 4 of same sleeve pipe group respectively.Servomotor 8 drives screw rod 10 to rotate by the positive and negative rotation of output shaft, and nut 11 is vertically moved back and forth on screw rod 10, thus, fixed cover 15 is slided up and down along support bar 1.Fixed cover 15 is swung by the first connecting plate 12 and the second connecting plate 13 driving mechanical arm 4, thus, realize opening or closing of two mechanical arms of same sleeve pipe group.This structural volume is little, lightweight, can also pass through the displaced position that servomotor 8, screw rod 10 and nut 11 accurately control fixed cover 15, thus the anglec of rotation of accurate controller mechanical arm 4, convenient crawl cutting foreign matter, avoids injuring wire.The pendulous device of air-cylinder type cannot the anglec of rotation of accurate controller mechanical arm 4, is also inconvenient to safeguard.
For avoiding because fixed cover 15 relative support bar rotates, and reduce the efficiency of pendulous device, and bring unnecessary component wear.As shown in Figure 3, described support bar 1 cross section is rectangle, and described fixed cover 15 is straight-flanked ring, and support bar 1 matches with fixed cover 15.Such a configuration obviates fixed cover 15 and rotate the pendulous device inefficacy caused along support bar 1, also increase the contact area of fixed cover 15 and nut 11 and the first connecting plate 12, make nut 11 and the first connecting plate 12 and fixed cover 15 fixation, avoid coming off.
For guaranteeing that the first connecting plate 12 and the second connecting plate 13 effectively can transmit thrust upwards, ensureing that mechanical arm is effectively closed, realizing capturing.As shown in Figure 1, the outside of described first connecting plate 12 is provided with location-plate 37, and location-plate 37 is positioned at the first connecting plate 12 and the second connecting plate 13 hinged place, and location-plate 37 is to the second connecting plate 13 position-limiting actions.
According to designing requirement, pendulous device is only gripping and cutting foreign matter provides power, and this power pulls the lower pulling force needed for foreign matter downwards much smaller than mechanical arm hand, therefore, for reducing manufacturing cost, should reduce the requirement of strength to nut 11 and screw rod 10.But if fixed cover 15 is connected with support bar 1 with screw rod 10 by means of only nut 11, then nut 11 and screw rod 10 will inevitably bear whole lower pulling forces, easily cause damage.Directly be loaded on screw rod 10 and nut 11 for preventing the power of downward tractive foreign matter by fixed cover 15, thus damage is caused to pendulous device, design following scheme: as shown in Figure 4, inner chamber 18 is provided with in described support bar 1, jacking block chute 33 is offered on the right side of support bar 1, and shifting block chute 39 is offered in the left side of support bar 1.Inner chamber 18 internal fixtion mounting base 19.Offer intermediate cavity 20 in the middle part of pedestal 19, in intermediate cavity 20, guide pillar seat 24 and push-and-pull pipe 21 are installed.Guide pillar seat 24 is fixedly connected with pedestal 19, guide pillar seat 24 is installed guide pillar 23, and guide pillar 23 coordinates with tube chamber 22 grafting in push-and-pull pipe 21.Guide pillar 23 coordinates with intermediate cavity 20, plays positioning and guiding effect for the vertical movement of push-and-pull pipe 21 in intermediate cavity 20 simultaneously.Push-and-pull pipe spring 25 is installed in the periphery of guide pillar 23, push-and-pull pipe spring 25 between guide pillar seat 24 and push-and-pull pipe 21, for push-and-pull pipe 21 provides downward pretightning force.Sliding cavity 52 is offered in the left side of pedestal 19, and guide pipe sliding cavity 65 is offered on the right side of pedestal 19, and guide pipe sliding cavity 65 communicates with jacking block chute 33.Shifting block chute 39 communicates with sliding cavity 52.On guide pillar 23, level offers through hole 27.The right side of push-and-pull pipe 21 is horizontally disposed with guide pipe 28, and guide pipe 28 is positioned at guide pipe sliding cavity 65, and can slide along guide pipe sliding cavity 65.Push-and-pull pipe chute 26 is offered in the left side of push-and-pull pipe 21, and push-and-pull pipe chute 26 communicates with through hole 27 all the time.Install positioning pipe 29 in guide pipe 28, positioning pipe 29 can along guide pipe 28 horizontal slip.In the backstay chamber 53 of positioning pipe 29, push rod 30 is installed.The right-hand member of positioning pipe 29 stretches out guide pipe 28 outer installation jacking block 32.Offer jacking block chamber 59 in jacking block 32, jacking block 32 can move horizontally along positioning pipe 29.Jacking block 32 is positioned at jacking block chute 33, and the right-hand member of jacking block 32 is spherical, and the right-hand member of jacking block 32 is positioned at outside support bar 1.As shown in Figure 6, be provided with convex annular along 56 in jacking block chamber 59, mounting limit block cover 62 in jacking block chamber 59, limited block cover 62 is fixedly connected with positioning pipe 29, and limited block cover 62 can prevent positioning pipe 29 to be separated with jacking block 32.On the right side of limited block cover 62, pull bar cover 57 is installed.Being that center line is symmetrical with push rod 30 in limited block cover 62 installs two limited blocks 54.Under mechanical arm open configuration, the outer end of each limited block 54 passes that limited block cover 62 is outer to be coordinated along 56 with convex annular, spacing with what realize positioning pipe 29, prevents the relative jacking block 32 of positioning pipe 29 from moving right mutually.The outer end of limited block 54 is provided with inclined-plane 55, and inclined-plane 55 is towards positioning pipe 29.Pull bar chute 61 is provided with between limited block cover 62 and pull bar cover 57.The right-hand member of push rod 30 is positioned at pull bar cover 57 and is connected with pull bar cover 57 by push rod return spring 64, and push rod return spring 64 provides pretightning force left for push rod 30.A pull bar 63 is respectively installed in the right-hand member both sides of push rod 30.Two pull bars 63 and two limited block 54 one_to_one corresponding.One end and push rod 30 right-hand member of pull bar 63 are hinged, and the other end and the limited block 54 of pull bar 63 are hinged.The right-hand member of pull bar cover 57 installs guide pad 58, and guide pad 58 coordinates with jacking block 32 inwall and leads for pull bar cover 57.Install guide pad stage clip 60 in jacking block chamber 59, jacking block chamber 59 coordinates with guide pad stage clip 60, and guide pad stage clip 60 applies pretightning force left by guide pad 58 pairs of pull bar covers 57.Vertical installation slide bar 38 in sliding cavity 52.Slide bar 38 is installed sliding sleeve 42, sliding sleeve 42 can slide along slide bar 38.Sliding sleeve spring 41 is installed in the upper end of sliding sleeve 42, and sliding sleeve spring 41 provides downward pretightning force for sliding sleeve 42.Projection 43 is installed on the right side of sliding sleeve 42, and shifting block 40 is installed in the left side of sliding sleeve 42, and shifting block 40 is positioned at shifting block chute 39, and the left end of shifting block 40 stretches out outside support bar 1.In sliding cavity 52, level offers lateral aperture 66, button installation 36 in lateral aperture 66, and the left end of button 36 is spherical, and the right-hand member of button 36 installs push rod 34, and positioning pipe spring 35 is installed in push rod 34 periphery.Push rod 34 and positioning pipe spring 35 are all positioned at push-and-pull pipe chute 26 and corresponding with through hole 27.The below that a locating piece groove 45, two locating piece grooves 45 lay respectively at shifting block chute 39 and jacking block chute 33 is respectively offered in the both sides of support bar 1.A locating piece 46 is respectively installed at each locating piece groove 45 place, locating piece 46 is respectively provided with a locating piece axle 47, and locating piece 46 is hinged by locating piece axle 47 and support bar 1.Each locating piece 46 is respectively provided with a driving lever 48, each driving lever 48 is respectively provided with a pin 49.The lower end of push-and-pull pipe 21 is provided with push-and-pull seat 51, on push-and-pull seat 51, a horizontal concrete chute 50 is respectively offered in left and right, pin 49 on the driving lever 48 of left side coordinates with the horizontal concrete chute 50 on right side, pin 49 on the driving lever 48 of right side coordinates with the horizontal concrete chute 50 in left side, a positioning runner 44 is respectively offered in the both sides of fixed cover 15, install jacking block spring 31 between jacking block 32 and guide pipe 28, jacking block spring 31 provides pretightning force to the right for jacking block 32.
Under non-gripping state, as shown in Figure 5, locating piece 46 is taken in locating piece groove 45, and shifting block 40 is positioned at below shifting block chute 39, and jacking block 32 is positioned at below jacking block chute 33, and projection 43 coordinates with button 36, makes push rod 34 and positioning pipe spring 35 be positioned at through hole 27.Fixed cover 15 can under the driving of servomotor on move, make mechanical arm clamp foreign matter.When fixed cover 15 touches jacking block 32, the top of positioning runner 44 communicates with locating piece groove 45.Afterwards, fixed cover 15 1 aspect is driven on push-and-pull pipe 21 by jacking block 32, positioning pipe 29 and guide pipe 28 and moves; On the other hand, promote sliding sleeve 42 moves by shifting block 40, projection 43 is separated with button 36.While push-and-pull pipe 21 moves, locating piece 46 can be driven outwards to rotate by driving lever 48.When fixed cover 15 drive guide pipe 28 moves to upper extreme position time, guide pipe 28 moves on cannot continuing, and positioning pipe 29 is corresponding with through hole 27.Now, fixed cover 15 moves on continuing, and the right-hand member due to jacking block 32 is spherical, and therefore, when fixed cover 15 moves on continuing, jacking block 32 can be moved to the left, jacking block 32 drives positioning pipe 29 to insert in through hole 27, and push rod 34 and positioning pipe spring 35 are released through hole 27.When the upper edge of fixed cover 15 is higher than jacking block 32, on the one hand, the left end of positioning pipe 29 is locked in through hole 27 by fixed cover 15, and now push-and-pull pipe 21 and guide pillar 23 are also locked in one by positioning pipe 29; On the other hand, locating piece 46 goes to level, and the outer end of locating piece 46 passes outside locating piece groove 45, is positioned at positioning runner 44, and now, as shown in Figure 4, fixed cover 15 is locked, and cannot relative support bar 1 move.When described mechanical arm hand pulls foreign matter downwards, support bar 1 implements pulling force by locating piece groove 45 pairs of fixed covers 15, and foreign matter is left behind by mechanical arm 4, and the impact of the pulling force that screw rod 10 and nut 11 are subject to hardly.
After foreign matter takes off, when need open mechanical arm 4, only servomotor 8 need be made to reverse, drive fixed cover 15 to move down.When fixed cover 15 moves down, sliding sleeve 42 can reset and move down under the elastic force of sliding sleeve spring 41.In the folding process of sliding sleeve 42, projection 43 promotes button 36 and drives push rod 34 and positioning pipe spring 35 to enter through hole 27.Push rod 34 promotes push rod 30 and moves right, and push rod 30 pulls limited block 54 to move in limited block cover 62 by pull bar 63.When limited block 54 is taken in limited block cover 62 completely, positioning pipe 29 can be released outside through hole 27 by positioning pipe spring 35, the constraint that push-and-pull pipe 21 loses positioning pipe 29 moves down rapidly, thus, drive in two locating pieces 46 upset income rapidly support bar 1, in case when fixed cover 15 moves down, by the stop of locating piece 46, guarantee that described mechanical arm hand folding is rapidly smooth.
For guaranteeing that positioning pipe 29 can be released through hole 27 by positioning pipe spring 35, prevent again positioning pipe spring 35 from entering in guide pipe 28, the diameter of positioning pipe spring 35 should be greater than the internal diameter of guide pipe 28.
Technical scheme of the present invention is not restricted in the scope of embodiment of the present invention.The technology contents of the not detailed description of the present invention is known technology.
Claims (7)
1. be with electrical clean-up foreign matter mechanical arm hand, it is characterized in that: comprise they sup-port bar (1), columned fixed bar (2) is laterally installed in the upper end of they sup-port bar (1), the several sleeve pipe group of the upper evenly suit of fixed bar (2), each sleeve pipe group is made up of two adjacent sleeve pipes (3), sleeve pipe (3) can rotate relative to fixed bar (2), the upper mechanical arm (4) installing arc of each sleeve pipe (3), the cambered surface of mechanical arm (4) is outside, the lower end of mechanical arm (4) connects pendulous device, pendulous device is arranged on they sup-port bar (1), crotch (5) is installed in the upper end of mechanical arm (4), crotch (5) is installed blade (17).
2. band electrical clean-up foreign matter mechanical arm hand according to claim 1, is characterized in that: described mechanical arm (4) offers several groove (16).
3. band electrical clean-up foreign matter mechanical arm hand according to claim 1, is characterized in that: evenly install several connecting rod (6) between described two equidirectional adjacent mechanical arms (4).
4. band electrical clean-up foreign matter mechanical arm hand according to claim 1, it is characterized in that: described pendulous device has fixed cover (15), fixed cover (15) is slidably mounted on they sup-port bar (1), they sup-port bar (1) is installed servomotor (8), the output shaft of servomotor (8) is connected with screw rod (10) by shaft coupling (9), screw rod (10) coordinates mounting nuts (11), nut (11) is fixedly connected with fixed cover (15), one end of hinged first connecting plate first connecting plate (12) of fixed cover (15) both sides difference, hinged second connecting plate second connecting plate (13) of the other end of the first connecting plate first connecting plate (12), two the second connecting plate second connecting plates (13) are hinged with the lower end of the mechanical arm (4) of corresponding side respectively.
5. band electrical clean-up foreign matter mechanical arm hand according to claim 4, it is characterized in that: described they sup-port bar (1) cross section is rectangle, described fixed cover (15) is straight-flanked ring, and they sup-port bar (1) matches with fixed cover (15).
6. band electrical clean-up foreign matter mechanical arm hand according to claim 4, it is characterized in that: the outside of described first connecting plate (12) is provided with location-plate (37), location-plate (37) is positioned at the first connecting plate (12) and the second connecting plate (13) hinged place, and location-plate (37) plays position-limiting action to the second connecting plate (13).
7. band electrical clean-up foreign matter mechanical arm hand according to claim 4, it is characterized in that: in described support bar (1), be provided with inner chamber (18), jacking block chute (33) is offered on the right side of support bar (1), shifting block chute (39) is offered in the left side of support bar (1), inner chamber (18) internal fixtion mounting base (19), intermediate cavity (20) is offered at pedestal (19) middle part, in intermediate cavity (20), guide pillar seat (24) and push-and-pull pipe (21) are installed, guide pillar seat (24) is fixedly connected with pedestal (19), guide pillar seat (24) is installed guide pillar (23), guide pillar (23) coordinates with tube chamber (22) grafting in push-and-pull pipe (21), push-and-pull pipe spring (25) is installed in the periphery of guide pillar (23), push-and-pull pipe spring (25) is positioned between guide pillar seat (24) and push-and-pull pipe (21), sliding cavity (52) is offered in the left side of pedestal (19), guide pipe sliding cavity (65) is offered on the right side of pedestal (19), guide pipe sliding cavity (65) communicates with jacking block chute (33), the upper level of guide pillar (23) offers through hole (27), the right side of push-and-pull pipe (21) is horizontally disposed with guide pipe (28), guide pipe (28) is positioned at guide pipe sliding cavity (65), push-and-pull pipe chute (26) is offered in the left side of push-and-pull pipe (21), in guide pipe (28), positioning pipe (29) is installed, in the backstay chamber (53) of positioning pipe (29), push rod (30) is installed, the right-hand member of positioning pipe (29) stretches out guide pipe (28) and installs jacking block (32) outward, jacking block (32) can move horizontally along positioning pipe (29), jacking block (32) is positioned at jacking block chute (33), the right-hand member of jacking block (32) is spherical, the right-hand member of jacking block (32) is positioned at support bar (1) outward, jacking block chamber (59) is offered in jacking block (32), convex annular is provided with along (56) in jacking block chamber (59), jacking block chamber (59) interior mounting limit block cover (62), limited block cover (62) is fixedly connected with positioning pipe (29), pull bar cover (57) is installed on limited block cover (62) right side, for center line is symmetrical, two limited blocks (54) are installed with push rod (30) in limited block cover (62), the outer end of each limited block (54) passes limited block cover (62) and coordinates along (56) with convex annular outward, the outer end of limited block (54) is provided with inclined-plane (55), inclined-plane (55) is towards positioning pipe (29), pull bar chute (61) is provided with between limited block cover (62) and pull bar cover (57), the right-hand member of push rod (30) is positioned at pull bar cover (57) and is connected with pull bar cover (57) by push rod return spring (64), a pull bar (63) is respectively installed in the right-hand member both sides of push rod (30), two pull bars (63) and two limited block (54) one_to_one corresponding, one end and push rod (30) right-hand member of pull bar (63) are hinged, the other end and the limited block (54) of pull bar (63) are hinged, the right-hand member of pull bar cover (57) installs guide pad (58), in jacking block chamber (59), guide pad stage clip (60) is installed, jacking block chamber (59) coordinates with guide pad stage clip (60), guide pad stage clip (60) applies pretightning force left by guide pad (58) to pull bar cover (57), slide bar (38) is vertically installed in sliding cavity (52), slide bar (38) is installed sliding sleeve (42), sliding sleeve (42) can slide along slide bar (38), sliding sleeve spring (41) is installed in the upper end of sliding sleeve (42), projection (43) is installed on the right side of sliding sleeve (42), shifting block (40) is installed in the left side of sliding sleeve (42), shifting block (40) is positioned at shifting block chute (39), the left end of shifting block (40) stretches out support bar (1) outward, sliding cavity (52) interior level offers lateral aperture (66), lateral aperture (66) interior button installation (36), the left end of button (36) is spherical, the right-hand member of button (36) installs push rod (34), positioning pipe spring (35) is installed in push rod (34) periphery, push rod (34) and positioning pipe spring (35) are all positioned at push-and-pull pipe chute (26) and corresponding with through hole (27), a locating piece groove (45) is respectively offered in the both sides of support bar (1), two locating piece grooves (45) lay respectively at the below of shifting block chute (39) and jacking block chute (33), a locating piece (46) is respectively installed at each locating piece groove (45) place, locating piece (46) is respectively provided with a locating piece axle (47), locating piece (46) is hinged by locating piece axle (47) and support bar (1), each locating piece (46) is respectively provided with a driving lever (48), each driving lever (48) is respectively provided with a pin (49), the lower end of push-and-pull pipe (21) is provided with push-and-pull seat (51), a horizontal concrete chute (50) is respectively offered in the upper left and right of push-and-pull seat (51), pin (49) on left side driving lever (48) coordinates with the horizontal concrete chute (50) on right side, pin (49) on right side driving lever (48) coordinates with the horizontal concrete chute (50) in left side, the length of driving lever (48) is at least that a positioning runner (44) is respectively offered in the both sides of locating piece axle (47) fixed cover (15).
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| CN201410470525.1A CN104384118B (en) | 2014-09-16 | 2014-09-16 | Band electrical clean-up foreign body mechanical arm hands |
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| CN201410470525.1A CN104384118B (en) | 2014-09-16 | 2014-09-16 | Band electrical clean-up foreign body mechanical arm hands |
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| CN104384118B CN104384118B (en) | 2016-08-24 |
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| CN104852326A (en) * | 2015-04-17 | 2015-08-19 | 国家电网公司 | Foreign matter live removing spike robotic arm |
| CN108426644A (en) * | 2018-04-28 | 2018-08-21 | 广东电网有限责任公司 | A kind of power cable temperature-measurindevice device |
| CN110799847A (en) * | 2018-02-19 | 2020-02-14 | 未来实验室有限责任公司 | Method for grabbing power transmission line for remote monitoring |
| CN112976004A (en) * | 2021-03-02 | 2021-06-18 | 郑州工业应用技术学院 | Transmission line foreign matter demolishs manipulator |
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| CN110799847A (en) * | 2018-02-19 | 2020-02-14 | 未来实验室有限责任公司 | Method for grabbing power transmission line for remote monitoring |
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| CN108426644B (en) * | 2018-04-28 | 2020-09-25 | 广东电网有限责任公司 | Power cable temperature measuring device |
| CN112976004A (en) * | 2021-03-02 | 2021-06-18 | 郑州工业应用技术学院 | Transmission line foreign matter demolishs manipulator |
| CN112976004B (en) * | 2021-03-02 | 2022-05-20 | 郑州工业应用技术学院 | Transmission line foreign matter demolishs manipulator |
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| CN104384118B (en) | 2016-08-24 |
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