CN107498568B - Mechanical arm device - Google Patents
Mechanical arm device Download PDFInfo
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- CN107498568B CN107498568B CN201710975432.8A CN201710975432A CN107498568B CN 107498568 B CN107498568 B CN 107498568B CN 201710975432 A CN201710975432 A CN 201710975432A CN 107498568 B CN107498568 B CN 107498568B
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- main rod
- sleeve
- side wall
- tool
- pitching
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- 230000007246 mechanism Effects 0.000 claims abstract description 153
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000005611 electricity Effects 0.000 claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 10
- 238000005096 rolling process Methods 0.000 claims description 9
- 230000004323 axial length Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 9
- 230000009194 climbing Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 6
- 230000001276 controlling effect Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000012634 fragment Substances 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000001050 lubricating effect Effects 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses mechanical arm device includes: the positioning platform, the main rod and the tool connecting mechanism; the positioning platform comprises a yaw mechanism, a pitching mechanism, a telescopic mechanism and a sleeve; the sleeve is sleeved on the outer side wall of the main rod; the sleeve can do relative motion on the main rod; the pitching mechanism is connected with the main rod through a V-shaped through hole which is nested in the side wall of the sleeve; the yaw mechanism is rotationally connected with one end, far away from the main rod, of the pitching mechanism; the tool connection mechanism axially penetrates through the main rod. The device provided by the application can effectively solve the problem of low operation efficiency of the existing method for testing electricity and installing the grounding wire.
Description
Technical Field
The application relates to the field of robots for testing electricity and installing grounding wires, in particular to a mechanical arm device.
Background
In power production, power failure, electricity inspection and grounding wire hanging are three technical measures for ensuring the working safety of a power line. After power failure, the power plant needs to check whether the power failure is complete or not, and the power failure is an indispensable step before the ground wire is hung, and is used for judging whether the power plant can enter the ground wire hanging work. Only if the power failure is complete, the electricity inspection is qualified, and the grounding wire is correct, the personal safety of electric power operators in the follow-up electric power construction, overhaul and maintenance work can be guaranteed.
The operation of checking electricity and installing the earth connection in the current high-voltage distribution line electric power construction process is accomplished by the manual work, and during the operation, operating personnel need hand to wear insulating gloves, climbs up to the assigned position of cement shaft tower through the shelf, and the electrification of check out equipment and circuit. When climbing and ascending, operators need to carry a large number of relevant devices and equipment for testing electricity and installing the grounding wire, and the operators need to hold the devices in hand to test electricity and install the grounding wire in person. However, the existing electricity inspection and grounding wire installation methods have some problems, and the complicated distribution network leads to untimely information acquisition of operators, thereby causing accidents such as accidental electric shock. During operation, operators not only need to carry heavy objects to ascend, but also need to work with two hands, so that self balance is not convenient to control at the same time, and operation danger is increased. The operator needs to perform the related operation through the arm's extension and flexion activities, but there are often times when the arm is hard to reach the desired length even if it is straightened, or when it is hard to withdraw the related tool from the kit by curling. Moreover, the working environment of the operator is usually a high-pressure environment, and electric shock accidents are likely to occur. Operators need to ascend a few meters or even more than ten meters to carry out high-altitude operation, the labor intensity is high, the working environment with high intensity is endangered, and huge pressure is brought to the operators. In addition, the working quality of operators, such as lower electroscope accuracy and wiring accuracy, is easy to cause misoperation, thereby affecting the working efficiency.
In summary, the existing method for inspecting electricity and installing the grounding wire through the arm operation of the operator has low automation degree, high labor intensity and high risk, and is not beneficial to the safe operation of the whole power grid system.
Disclosure of Invention
The application provides a mechanical arm device to solve the problem that the operation efficiency is low in the existing method for testing electricity and installing a grounding wire.
According to an embodiment of the present application, there is provided a robot arm apparatus including: the positioning platform, the main rod and the tool connecting mechanism;
the positioning platform comprises a yaw mechanism, a pitching mechanism, a telescopic mechanism and a sleeve;
the sleeve is sleeved on the outer side wall of the main rod, and the minimum diameter of the inner wall of the sleeve is larger than the maximum diameter of the main rod; the sleeve can do relative motion on the main rod;
the pitching mechanism is connected with the main rod through a V-shaped through hole formed in the side wall of the sleeve in a nested manner, and is used for enabling the main rod to perform circular motion at a certain angle in a plane determined by the pitching mechanism and the main rod together by taking the joint of the sleeve and the pitching mechanism as a circle center and taking the axial length of the main rod as a radius;
the yaw mechanism is rotationally connected with one end of the pitching mechanism, which is far away from the main rod, and the yaw mechanism is used for enabling a part connected with the yaw mechanism to perform rotational movement in a plane perpendicular to a plane determined by the main rod and the pitching mechanism by taking the connection part of the yaw mechanism and the pitching mechanism as a circle center;
the tool connecting mechanism axially penetrates through the main rod, and is used for replacing a connecting tool of the mechanical arm device.
Optionally, the pitch mechanism includes a second rotating portion, a supporting portion, a first sliding portion, and a second sliding portion;
one end of the supporting part far away from the main rod is connected with the second rotating part, and the other end of the supporting part is connected with the first sliding part and the second sliding part respectively;
the first sliding part and the second sliding part are both convex, and the convex curvatures of the first sliding part and the second sliding part are gradually reduced towards the direction of the main rod at the intersection position of the first sliding part and the second sliding part and the supporting part;
the first sliding part and the second sliding part are respectively nested in a first interface and a second interface of a V-shaped through hole formed in the side wall of the sleeve, and the radial depth of the first interface and the second interface along the main rod is larger than the radial length corresponding to the maximum curvature of the first sliding part and the second sliding part.
Optionally, the yaw mechanism includes a socket and a first rotation;
the sleeving part is connected with the first rotating part and is used for connecting parts except the mechanical arm device;
the first rotating part is rotationally connected with the pitching mechanism and is used for driving the pitching mechanism to do rotational movement, so that the main rod is driven to do rotational movement.
Optionally, the telescopic mechanism comprises an adjusting part and a fixing part;
the adjusting part is arranged on the outer side wall of the main rod and is of a groove structure; the whole adjusting part is of a strip-shaped structure parallel to the axial direction of the main rod, and the length of the adjusting part is smaller than that of the main rod;
the fixed part is arranged on the inner side wall of the sleeve, the fixed part is of a protruding structure, the protruding height of the fixed part is smaller than or equal to the depth of the groove of the adjusting part, and the protruding diameter of the fixed part is larger than or equal to the diameter of the groove of the adjusting part.
Optionally, the telescopic mechanism further comprises a rolling part;
the rolling part comprises balls and pits;
the concave pit is arranged on the inner side wall of the sleeve, at least two symmetrical positions taking the axial center line of the main rod as a symmetrical axis exist, and the ball is arranged in the concave pit;
the depth of the pit is smaller than the diameter of the ball, and the height of the ball protruding out of the inner side wall of the sleeve is smaller than the height of the protrusion of the fixing part.
Optionally, the tool connection mechanism includes a connection portion, a connection rod, and a third rotation portion;
the connecting part is connected with the third rotating part through the connecting rod, the length of the connecting rod is larger than or equal to that of the main rod, and the connecting rod is used for transmitting tangential force generated by the third rotating part so as to drive the connecting part to rotate;
the connecting part is used for connecting a working tool;
the third rotating part is used for being connected with a driving motor to generate rotating tangential force so as to drive the connecting part to rotate.
Optionally, threads are arranged on the outer side wall of the third rotating part;
and a thread is arranged on the part, connected with the third rotating part, of the inner side wall of the main rod and is used for being in threaded connection with the third rotating part.
Optionally, the connecting portion includes an extending member and a fixing member;
one end of the fixing piece is connected with the connecting rod, and the fixing piece is used for fixing the connecting part and an external tool, so that the fixing piece and the external tool do not generate relative movement;
the other end of the fixing piece is connected with the extending piece, and the diameter of the extending piece gradually decreases from being close to the fixing piece to being far away from the fixing piece.
As can be seen from the above, the present application provides a mechanical arm device, comprising: the positioning platform, the main rod and the tool connecting mechanism; the positioning platform comprises a yaw mechanism, a pitching mechanism, a telescopic mechanism and a sleeve; the sleeve is sleeved on the outer side wall of the main rod, and the minimum diameter of the inner wall of the sleeve is larger than the maximum diameter of the main rod; the sleeve can do relative motion on the main rod; the pitching mechanism is connected with the main rod through a V-shaped through hole formed in the side wall of the sleeve in a nested manner, and is used for enabling the main rod to perform circular motion at a certain angle in a plane determined by the pitching mechanism and the main rod together by taking the joint of the sleeve and the pitching mechanism as a circle center and taking the axial length of the main rod as a radius; the yaw mechanism is rotationally connected with one end of the pitching mechanism, which is far away from the main rod, and the yaw mechanism is used for enabling a part connected with the yaw mechanism to perform rotational movement in a plane perpendicular to a plane determined by the main rod and the pitching mechanism by taking the connection part of the yaw mechanism and the pitching mechanism as a circle center; the tool connecting mechanism axially penetrates through the main rod, and is used for replacing a connecting tool of the mechanical arm device. When the telescopic mechanical arm is used, an operator controls the telescopic mechanism of the mechanical arm to enable the sleeve to move relatively on the main rod, and the sleeve is moved to a proper position and fixed. Through controlling the yaw mechanism, the mechanical arm rotates at a certain angle in a plane parallel to the moving plane; through controlling the pitching mechanism, the mechanical arm rotates at a certain angle in a plane perpendicular to the moving plane; by controlling the telescopic mechanism; the operating personnel controls the positioning platform, and the tool connecting mechanism of the mechanical arm reaches a designated operation place through the matching of the telescopic mechanism, the pitching mechanism and the yawing mechanism of the mechanical arm, so that the work of accurately inspecting electricity and installing a grounding wire is completed, and the operation efficiency is effectively improved.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a mechanical arm device according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a pitch mechanism according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of an interior of a sleeve according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a tool connection mechanism according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a rolling part according to an embodiment of the present application.
Illustration of:
wherein: 1-positioning platform, 2-main rod, 3-yaw mechanism, 31-socket part, 32-first rotation part, 4-pitch mechanism, 41-second rotation part, 42-support part, 43-first sliding part, 44-second sliding part, 45-first interface, 46-second interface, 5-telescopic mechanism, 51-adjusting part, 52-fixed part, 53-rolling part, 531-ball, 532-pit, 6-tool connection mechanism, 61-connection part, 611-extension piece, 612-fixed part, 62-connection rod, 63-third rotation part, 7-sleeve.
Detailed Description
As shown in fig. 1, a mechanical arm device is schematically shown.
The present embodiment provides a mechanical arm device, including: the positioning platform 1, the main rod 2 and the tool connecting mechanism 6;
the positioning platform 1 comprises a yaw mechanism 3, a pitch mechanism 4, a telescopic mechanism 5 and a sleeve 7;
the sleeve 7 is sleeved on the outer side wall of the main rod 2, and the minimum diameter of the inner wall of the sleeve 7 is larger than the maximum diameter of the main rod 2; the sleeve 7 is capable of relative movement on the boom 2. The sleeve 7 is controlled by an operator to slide on the main rod 2 to achieve the effect of changing the position of the sleeve 7, so that the position of a mechanism arranged on the sleeve 7 is adjusted in a linkage manner, for example, according to different actual working environments, the position of each position for testing electricity or mounting a connecting wire possibly has a height difference, at the moment, if the positions of the mechanical arm and related devices are moved integrally to adapt to the change of the height, the overall device is heavier and has a complicated structure, and fine angle change is easily caused in the movement process, so that the working precision is reduced; the change of the height of the operation point can be simply adapted if only the operation height of the mechanical arm device is required to be changed. Through the relative position of the adjusting sleeve 7 on the main rod 2, the operation height of the mechanical arm device is adjusted to be proper, so that the operation is simple, and the operation precision and efficiency can be effectively ensured.
And the diameter of the sleeve 7 is slightly larger than that of the main rod 2, so that the sleeve 7 can slide on the main rod 2 without obstacle, the problem of excessive friction caused by improper diameter size is avoided, and the use safety and the service life of the mechanical arm device can be effectively ensured.
The pitching mechanism 4 is connected with the main rod 2 by being nested in a V-shaped through hole formed in the side wall of the sleeve 7, and the pitching mechanism 4 is used for enabling the main rod 2 to perform circular motion with a certain angle in a plane determined by the pitching mechanism 4 and the main rod 2 by taking the joint of the sleeve 7 and the pitching mechanism 4 as a circle center and taking the axial length of the main rod 2 as a radius.
The yaw mechanism 3 is rotatably connected with one end of the pitching mechanism 4, which is far away from the main rod 2, and the yaw mechanism 3 is used for enabling a component connected with the yaw mechanism 3 to perform rotary motion in a plane perpendicular to a plane defined by the main rod 2 and the pitching mechanism 4 by taking the connection part of the yaw mechanism 3 and the pitching mechanism 4 as a circle center;
the yaw mechanism 3 is generally connected with a climbing device in the whole electricity inspection and installation wire connection robot at the end far away from the main rod 2, and the robot ascends to a working position along the cement rod by utilizing the climbing device, and the working height of the mechanical arm needs to be adjusted through the telescopic mechanism 5 due to different positions of the electricity inspection or the installation of the grounding wire. However, since the positions of the electrical inspection or ground wire installation are not in the same horizontal plane or the same vertical plane, the working angle of the mechanical arm device needs to be adjusted by the yaw mechanism 3 and the pitch mechanism 4, so that the mechanical arm can accurately reach the working point. The yaw mechanism 3 can enable the main rod 2 to rotate at a certain angle in a plane parallel to the moving plane of the whole robot, specifically, the main rod 2 is enabled to rotate at a certain angle in a plane perpendicular to the plane defined by the main rod 2 and the pitch mechanism 4 by taking the joint of the yaw mechanism 3 and the pitch mechanism 4 as the center of a circle, so that the working angle of a device on the main rod 2 in the direction is effectively adjusted, and the operation precision of the mechanical arm device is improved; the pitching mechanism 4 can enable the main rod 2 to rotate at a certain angle in a plane perpendicular to the moving plane of the robot, specifically, the main rod 2 takes the joint of the sleeve 6 and the pitching mechanism 4 as the center of a circle, takes the axial length of the main rod 2 as the radius, and performs circular motion at a certain angle in the plane determined by the pitching mechanism 4 and the main rod 2 together, so that the working angle of a device on the main rod 2 in the direction is effectively adjusted.
Through yaw mechanism 3, every single move mechanism 4 and telescopic machanism 5 coordinated action in the location platform 1, can effectively guarantee the operation position precision of arm device to do not need to remove whole robot device, improve the operating efficiency.
The tool connecting mechanism 6 axially penetrates through the main rod 2, and the tool connecting mechanism 6 is used for replacing a connecting tool of the mechanical arm device.
The tool connection mechanism 6 is connected with various tools for testing electricity and installing grounding wires in the whole-experience electricity and installing wire-connecting robot, such as various types of electroscope and hanging wire clamps. When the existing manual operation is performed, if tools are to be replaced, operators need to select the tools from the portable tool bags, and therefore the risk of the operators in high-altitude operation is increased. According to the mechanical arm device provided by the embodiment, when an operation tool needs to be replaced, the sleeve 7 is made to slide downwards through the telescopic mechanism 5 until the tool connecting mechanism 6 reaches the height of a tool bag, and then the tool connecting mechanism 6 is adjusted to accurately reach a replacement position through controlling the yaw mechanism 3 and the pitch mechanism 4, so that tool replacement is implemented. The mechanical arm device provided by the embodiment can effectively ensure the efficiency and the precision of operation, realize automation and ensure the personal safety of operators.
As shown in fig. 2, a structural schematic diagram of a pitch mechanism.
The present embodiment provides a pitching mechanism 4, which pitching mechanism 4 comprises a second rotation portion 41, a supporting portion 42, a first sliding portion 43, and a second sliding portion 44;
one end of the supporting part 42 away from the main lever 2 is connected to the second rotating part 41, and the other end is connected to the first sliding part 43 and the second sliding part 44, respectively;
the first sliding portion 43 and the second sliding portion 44 are both convex, and the convex curvatures of the first sliding portion 43 and the second sliding portion 44 are each gradually reduced toward the main lever 2 at the intersection with the supporting portion 42;
the first sliding portion 43 and the second sliding portion 44 are respectively nested in a first interface 45 and a second interface 46 of a V-shaped through hole formed on the side wall of the sleeve 7, and the radial depth of the first interface 45 and the second interface 46 along the main rod 2 is greater than the radial length corresponding to the maximum curvature of the first sliding portion 43 and the second sliding portion 44.
According to the pitching mechanism 4 provided by the embodiment, the yaw mechanism 3 and the sleeve 7 are movably connected, an operator controls the pitching mechanism 4 to control the main rod 2 in the mechanical arm device to perform circular motion at a certain angle in a plane determined by the pitching mechanism 4 and the main rod 2 by taking the joint of the pitching mechanism 4 and the sleeve 7 as a circle center and taking the axial length of the main rod 2 as a radius.
The curvature change condition can ensure that the pitch mechanism 4 does not generate excessive friction caused by excessively tight contact between the first sliding part 43 and the second sliding part 44 and the first interface 45 and the second interface 46 or falling off caused by excessively loose connection due to sudden increase or sudden decrease of curvature in the rotation process. The total radial depth of the first interface 45 and the second interface 46 along the main rod 2 remains unchanged, and by rotating on the curved surfaces of the first sliding part 43 and the second sliding part 44, when the curvature of the first sliding part 43 decreases, the curvature of the second sliding part 44 increases; when the curvature of the first sliding portion 43 increases, the curvature of the second sliding portion 44 decreases. And since the radial depth of the first interface 45 and the second interface 46 along the main lever 2 is slightly greater than the radial length corresponding to the maximum curvature of the first sliding portion 43 and the second sliding portion 44, a gap exists between the sliding portions and the corresponding interfaces. Through the mutual cooperation of the four, the pitching mechanism 4 can smoothly rotate, so that the mechanical arm device can finish pitching action and accurately adjust to a proper angle, and the operation efficiency of the mechanical arm is effectively ensured.
The mechanical arm device shown in fig. 1, wherein the yaw mechanism 3 includes a socket 31 and a first rotating portion 32;
the socket part 31 is connected with the first rotating part 32, and the socket part 31 is used for connecting parts other than the mechanical arm device;
the first rotating part 32 is rotatably connected with the pitching mechanism 4, and the first rotating part 32 is configured to drive the pitching mechanism 4 to perform a rotational movement, thereby driving the main lever 2 to perform a rotational movement.
The socket 31 connects the whole experience electricity and the climbing device in the ground wire robot. The sleeving part 31 can be of a hollow cylindrical structure and is sleeved with the climbing device; the clamping jaw structure can also be in clamping connection with the climbing device; the climbing device can also be of a structure with internal threads or external threads and is in threaded connection with the climbing device; even can be a magnetic structure, and is connected with the climbing device through strong magnetic attraction, and the practical production application of the sleeving part 31 is not limited to the structures provided in the embodiment, and can be specially designed according to specific situations.
The first rotating part 32 and the pitching mechanism 4 can perform relative rotation, and the length of the first rotating part 32 and the second rotating part 41 which perform relative movement cannot exceed the effective length of the internal screw thread, so as to prevent excessive rotation and friction on the inner wall of the rotating part; meanwhile, the lack of rotation is avoided, so that the effective base area between the first rotating part 32 and the second rotating part 41 is too small, the acting point is insufficient, and the falling accident occurs. The yaw mechanism 3 provided by the embodiment can effectively ensure that the main rod 2 takes the joint of the yaw mechanism 3 and the pitch mechanism 4 as the center of a circle and performs rotary motion in a plane perpendicular to the plane defined by the main rod 2 and the pitch mechanism 4, so that the operation angle in the plane can be accurately regulated.
As shown in fig. 3, a schematic view of the structure of the inside of the sleeve.
The present embodiment provides a telescopic mechanism 5, the telescopic mechanism 5 including an adjusting portion 51 and a fixing portion 52;
the adjusting part 51 is arranged on the outer side wall of the main rod 2, and the adjusting part 51 is of a groove structure; the whole adjusting part 51 is in a strip-shaped structure parallel to the axial direction of the main rod 2, and the length of the adjusting part 51 is smaller than the length of the main rod 2;
the fixing portion 52 is disposed on the inner sidewall of the sleeve 7, the fixing portion 52 is of a protruding structure, the protruding height of the fixing portion 52 is smaller than or equal to the depth of the groove of the adjusting portion 51, and the protruding diameter of the fixing portion 52 is larger than or equal to the diameter of the groove of the adjusting portion 51.
The telescopic mechanism 5 provided in this embodiment adjusts the working height or length of the mechanical arm device by controlling the relative movement of the sleeve 7 on the main rod 2. There is protruding structure fixed part 52 on the inside wall of sleeve pipe 7, protruding part and the inside wall of sleeve pipe 7 of fixed part 52 pass through shell fragment transitional coupling, because the shell fragment is elastic material, can produce the deformation under the extrusion effect, so when sleeve pipe 7 slides on mobile jib 2, and when the recess of not meeting adjustment portion 51, the shell fragment is in the oppression state all the time, there is the lateral wall of perpendicular to mobile jib 2, to the inside power of mobile jib 2, once fixed part 52 meets adjustment portion 51, then the shell fragment is sprung up under the effect and is relaxed, in the recess of embedding adjustment portion 51, accomplish the regulation action. Since the protrusion diameter of the fixing portion 52 is greater than or equal to the groove diameter of the adjusting portion 51, the protrusion of the fixing portion 52 can be excessively combined with the groove of the adjusting portion 51, thereby playing a fixing role.
In the sliding process of the sleeve 7, the number of grooves of the adjusting part 51 on the main rod 2 is correspondingly calculated by calculating the actual electricity test or the position distance of the ground wire, so that the fixing part 52 is adjusted to the correct adjusting part 51.
The fixing and adjusting device of the telescopic mechanism 5 provided by the embodiment is simple in structure and convenient to operate, and labor waste and time waste caused by complicated devices can be effectively reduced, so that the operation efficiency of the mechanical arm device is guaranteed.
As shown in fig. 5, a rolling part is schematically structured.
The present embodiment provides a telescopic mechanism 5, the telescopic mechanism 5 further comprising a rolling part 53;
the rolling part 53 includes balls 531 and pits 532;
the concave pit 532 is arranged on the inner side wall of the sleeve 7, at least two symmetrical positions taking the axial center line of the main rod 2 as a symmetrical axis exist, and the ball 531 is arranged in the concave pit 532;
the depth of the concave pit 532 is smaller than the diameter of the ball 531, and the height of the ball 531 protruding from the inner side wall of the sleeve 7 is smaller than the protruding height of the fixing portion 52.
When the telescopic mechanism 5 is operated, if the inner wall of the sleeve 7 is simply contacted with the outer wall of the main rod 2 to generate relative sliding, the problems of overheating and the like are easily generated even if a method of smearing lubricating oil and the like is adopted due to overlarge contact area, and the stability of the mechanical arm device is difficult to ensure due to various actual operating environments, and if the mechanical arm device shakes, the sleeve 7 and the main rod 2 are in inclined contact, so that more serious friction damage is caused, and the operation safety and the service life of the device are seriously influenced. The ball 531 is arranged in the sleeve 7, so that the contact area between the sleeve 7 and the main rod 2 can be effectively reduced, and the ball 531 has a smooth property due to the spherical structure, so that the lubricating effect between the sleeve 7 and the main rod 2 can be better. And the setting position of ball 531 selects to have two at least symmetrical positions that use the axial central line of mobile jib 2 as the symmetry axis, can effectively avoid the problem of oblique contact because arm device stability brings to effectively guarantee telescopic machanism 5's safe handling, and increase of service life.
As shown in fig. 4, a tool attachment mechanism is schematically illustrated.
The present embodiment provides a tool connection mechanism 6, the tool connection mechanism 6 including a connection portion 61, a connection lever 62, and a third rotation portion 63;
the connecting part 61 is connected with the third rotating part 63 by the connecting rod 62, the length of the connecting rod 62 is greater than or equal to that of the main rod 2, and the connecting rod 62 is used for transmitting tangential force generated by the third rotating part 63 so as to drive the connecting part 61 to rotate;
the connecting part 61 is used for connecting a work tool;
the third rotating part 63 is used for being connected with a driving motor, and generates a rotating tangential force, thereby driving the connecting part 61 to rotate.
The driving motor drives the third rotating part 63 to rotate, and the third rotating part 63 drives the connecting part 61 to rotate by driving the connecting rod 62. Specifically, when the robot needs to replace a working tool, the driving motor is started to drive the third rotating part 63 to rotate along a certain direction, so that the connecting part 61 is driven to rotate by transmission, and the connecting part 61 is separated from an external tool; the tool connecting mechanism 6 is adjusted to the position of the tool to be replaced through the yaw mechanism 3, the pitch mechanism 4 and the telescopic mechanism 5, the driving motor is reversely started to drive the third rotating part 63 to rotate, and accordingly the connecting part 61 is driven to rotate by transmission, the connecting part 61 is screwed with an external tool, and tool replacement work is completed.
The tool connecting mechanism 6 provided in this embodiment can complete the replacement work of the tool by only rotating without the need of entirely disassembling the connecting portion 61, and can effectively improve the working efficiency.
Optionally, threads are provided on an outer sidewall of the third rotating part 63;
the inner side wall of the main lever 2 is provided with threads at a portion connected to the third rotating portion 63, and the threads are used for being screwed with the third rotating portion 63.
When the driving motor drives the third rotating part 63 to rotate, in order to enable the third rotating part to rotate along the fixed axis, the problems of deflection rotation or excessive rotation and the like are prevented, and the threads on the main rod 2 and the third rotating part 63 are used for restraining, so that the third rotating part 63 drives the connecting part 61 to safely rotate, and the operation safety of the mechanical arm device is effectively guaranteed.
A tool attachment mechanism 6 as shown in fig. 4, wherein the attachment portion 61 includes an extending member 611 and a fixing member 612;
one end of the fixing piece 612 is connected with the connecting rod 62, and the fixing piece 612 is used for fixing the connecting portion 61 and an external tool, so that the fixing piece 612 and the external tool do not move relatively;
the other end of the fixing member 612 is connected to the protruding member 611, and the diameter of the protruding member 611 gradually decreases from the direction approaching the fixing member 612 to the direction away from the fixing member 612.
The diameter of the extending part 611 gradually becomes smaller from the connecting rod 62, when the tool is convenient to replace, the diameter of the connecting part 61 is prevented from being too close to the size of the contact end of the external tool when the tool is conveniently replaced, once the adjusting precision is insufficient, the connecting part 61 is difficult to extend into the contact end of the external tool, the tool replacement work is difficult to be completed, and when the tool is severe, the connecting part 61 and the tool are damaged when the tool is extended. The connecting member 61 with the diameter-size-variable protruding member 611 according to the present embodiment can effectively ensure the success rate and safety of tool replacement.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (6)
1. A mechanical arm device is characterized in that the device comprises a positioning platform (1), a main rod (2) and a tool connecting mechanism (6);
the positioning platform (1) comprises a yaw mechanism (3), a pitch mechanism (4), a telescopic mechanism (5) and a sleeve (7);
the sleeve (7) is sleeved on the outer side wall of the main rod (2), and the minimum diameter of the inner wall of the sleeve (7) is larger than the maximum diameter of the main rod (2); the sleeve (7) can move relatively on the main rod (2);
the pitching mechanism (4) is connected with the main rod (2) through a V-shaped through hole formed in the side wall of the sleeve (7) in a nested manner, the pitching mechanism (4) is used for enabling the main rod (2) to perform circular movement at a certain angle in a plane determined by the pitching mechanism (4) and the main rod (2) together by taking the joint of the sleeve (7) and the pitching mechanism (4) as a circle center and the axial length of the main rod (2) as a radius;
the yaw mechanism (3) is rotatably connected with one end, far away from the main rod (2), of the pitching mechanism (4), and the yaw mechanism (3) is used for enabling a part connected with the yaw mechanism (3) to perform rotary motion in a plane perpendicular to a plane determined by the main rod (2) and the pitching mechanism (4) by taking the connection part of the yaw mechanism (3) and the pitching mechanism (4) as a circle center;
the telescopic mechanism (5) comprises an adjusting part (51) and a fixing part (52);
the adjusting part (51) is arranged on the outer side wall of the main rod (2), and the adjusting part (51) is of a groove structure; the whole adjusting part (51) is of a strip-shaped structure which is axially parallel to the main rod (2), and the length of the adjusting part (51) is smaller than that of the main rod (2);
the fixing part (52) is arranged on the inner side wall of the sleeve (7), the fixing part (52) is of a protruding structure, the protruding height of the fixing part (52) is smaller than or equal to the groove depth of the adjusting part (51), and the protruding diameter of the fixing part (52) is larger than or equal to the groove diameter of the adjusting part (51);
the telescopic mechanism (5) further comprises a rolling part (53);
the rolling part (53) comprises balls (531) and pits (532);
the concave pit (532) is arranged on the inner side wall of the sleeve (7), at least two symmetrical positions taking the axial center line of the main rod (2) as a symmetrical axis exist, and the ball (531) is arranged in the concave pit (532);
the depth of the pit (532) is smaller than the diameter of the ball (531), and the height of the ball (531) protruding out of the inner side wall of the sleeve (7) is smaller than the protruding height of the fixing part (52);
the tool connecting mechanism (6) axially penetrates through the main rod (2), and the tool connecting mechanism (6) is used for connecting a tool for testing electricity and installing a grounding wire in an electricity testing and wire installing robot.
2. The device according to claim 1, characterized in that the pitch mechanism (4) comprises a second rotation part (41), a support part (42), a first sliding part (43) and a second sliding part (44);
one end of the supporting part (42) far away from the main rod (2) is connected with the second rotating part (41), and the other end of the supporting part is respectively connected with the first sliding part (43) and the second sliding part (44);
the first sliding part (43) and the second sliding part (44) are convex, and the convex curvatures of the first sliding part (43) and the second sliding part (44) are gradually reduced towards the direction of the main rod (2) at the intersection part of the first sliding part and the supporting part (42);
the first sliding part (43) and the second sliding part (44) are respectively nested in a first interface (45) and a second interface (46) of a V-shaped through hole formed in the side wall of the sleeve (7), and the radial depth of the first interface (45) and the second interface (46) along the main rod (2) is larger than the radial length corresponding to the maximum curvature of the first sliding part (43) and the second sliding part (44).
3. The device according to claim 1, characterized in that the yaw mechanism (3) comprises a socket (31) and a first rotation (32);
the sleeving part (31) is connected with the first rotating part (32), and the sleeving part (31) is used for connecting parts except the mechanical arm device;
the first rotating part (32) is rotationally connected with the pitching mechanism (4), and the first rotating part (32) is used for driving the pitching mechanism (4) to do rotational movement so as to drive the main rod (2) to do rotational movement.
4. The device according to claim 1, characterized in that the tool connection (6) comprises a connection part (61), a connecting rod (62) and a third rotation part (63);
the connecting part (61) is connected with the third rotating part (63) through the connecting rod (62), the length of the connecting rod (62) is larger than or equal to that of the main rod (2), and the connecting rod (62) is used for transmitting tangential force generated by the third rotating part (63) so as to drive the connecting part (61) to rotate;
the connecting part (61) is used for connecting a work tool;
the third rotating part (63) is used for being connected with a driving motor to generate rotating tangential force so as to drive the connecting part (61) to rotate.
5. The device according to claim 4, characterized in that the outer side wall of the third rotation part (63) is provided with threads;
the part, connected with the third rotating part (63), on the inner side wall of the main rod (2) is provided with threads, and the threads are used for being in threaded connection with the third rotating part (63).
6. The device according to claim 4, characterized in that the connection (61) comprises an extension (611) and a fixation (612);
one end of the fixing piece (612) is connected with the connecting rod (62);
the other end of the fixing member (612) is connected with the extending member (611), and the diameter of the extending member (611) gradually decreases from the direction approaching the fixing member (612) to the direction separating from the fixing member (612).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710975432.8A CN107498568B (en) | 2017-10-16 | 2017-10-16 | Mechanical arm device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710975432.8A CN107498568B (en) | 2017-10-16 | 2017-10-16 | Mechanical arm device |
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| CN107498568A CN107498568A (en) | 2017-12-22 |
| CN107498568B true CN107498568B (en) | 2024-02-06 |
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| Application Number | Title | Priority Date | Filing Date |
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|---|---|---|---|---|
| EP0084249A2 (en) * | 1982-01-15 | 1983-07-27 | The Marconi Company Limited | Mechanical actuator for an industrial robot |
| CN102046101A (en) * | 2008-05-30 | 2011-05-04 | 郑昶旭 | Tool for minimally invasive surgery |
| CN104682260A (en) * | 2013-12-02 | 2015-06-03 | 国家电网公司 | Mechanical arm for cable operation |
| CN205501679U (en) * | 2016-04-19 | 2016-08-24 | 桂泽运 | Clothes pole |
| CN106426186A (en) * | 2016-12-14 | 2017-02-22 | 国网江苏省电力公司常州供电公司 | Electrified operation robot autonomous operation method based on multi-sensor information fusion |
| CN107192509A (en) * | 2017-05-17 | 2017-09-22 | 广西电网有限责任公司电力科学研究院 | A kind of SF6Leakage inspection robot |
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2017
- 2017-10-16 CN CN201710975432.8A patent/CN107498568B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0084249A2 (en) * | 1982-01-15 | 1983-07-27 | The Marconi Company Limited | Mechanical actuator for an industrial robot |
| CN102046101A (en) * | 2008-05-30 | 2011-05-04 | 郑昶旭 | Tool for minimally invasive surgery |
| CN104682260A (en) * | 2013-12-02 | 2015-06-03 | 国家电网公司 | Mechanical arm for cable operation |
| CN205501679U (en) * | 2016-04-19 | 2016-08-24 | 桂泽运 | Clothes pole |
| CN106426186A (en) * | 2016-12-14 | 2017-02-22 | 国网江苏省电力公司常州供电公司 | Electrified operation robot autonomous operation method based on multi-sensor information fusion |
| CN107192509A (en) * | 2017-05-17 | 2017-09-22 | 广西电网有限责任公司电力科学研究院 | A kind of SF6Leakage inspection robot |
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| CN107498568A (en) | 2017-12-22 |
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