CN113131395A - Insulating rod live working mechanical arm - Google Patents
Insulating rod live working mechanical arm Download PDFInfo
- Publication number
- CN113131395A CN113131395A CN202110239552.8A CN202110239552A CN113131395A CN 113131395 A CN113131395 A CN 113131395A CN 202110239552 A CN202110239552 A CN 202110239552A CN 113131395 A CN113131395 A CN 113131395A
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- Prior art keywords
- joint arm
- arm
- hinged
- tool
- back plate
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
- H02G1/04—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables for mounting or stretching
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses an insulating rod hot-line work mechanical arm, which belongs to the field of work tools on electric poles, is convenient for the installation work of a grounding rod on an electric pole, and reduces the operation intensity of workers, and comprises a back plate and two fixing arms, the two fixing arms are respectively hinged at two ends of the back plate in the transverse direction and comprise a first joint arm and a second joint arm, one end of the first joint arm is hinged with the back plate, the other end of the first joint arm is hinged with the second joint arm, the other end of the second joint arm is hinged with a tool clamping jaw, and a rotary adjusting part is arranged at the hinged part of the first joint arm and the second joint arm, the hinged part of the first joint arm and the back plate, and the hinged part of the second joint arm and the tool clamping jaw so as to adjust the positions of the first joint arm, the second joint arm and the tool clamping jaw.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of working tools on electric poles, in particular to an insulating rod hot-line work mechanical arm.
[ background of the invention ]
The pole is used for supporting overhead conductor, in order to prevent the emergence of incident, need the installation earth bar on the pole, need two staff when the earth bar is installed usually, the earth bar is handed to one staff, the insulating rod is handed to another staff, install the earth bar on the pole through the insulating rod, at this in-process, the staff need lift up the arm for a long time, insulating rod and earth bar have certain weight, staff's operation intensity is higher, and the weight of insulating rod and earth bar can influence staff's operation, influence the success rate of installation, and another staff on the pole, can influence the operating range of the staff who carries out earth bar installation work.
[ summary of the invention ]
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides an insulating rod hot-line work mechanical arm, which is convenient for the installation work of a ground rod on an electric pole and reduces the operation intensity of workers.
In order to solve the technical problems, the invention adopts the following technical scheme:
the insulating rod hot-line work mechanical arm comprises a back plate and two fixing arms, wherein the two fixing arms are respectively hinged to two ends of the back plate in the transverse direction, each fixing arm comprises a first joint arm and a second joint arm, one end of each first joint arm is hinged to the back plate, the other end of each first joint arm is hinged to the second joint arm, the other end of each second joint arm is hinged to a tool clamping jaw, the two tool clamping jaws are respectively used for clamping a grounding rod and an insulating rod used for installing the grounding rod, a rotating adjusting part is arranged at the hinged position of the first joint arm and the second joint arm, the hinged position of the first joint arm and the back plate, and the hinged position of the second joint arm and the tool clamping jaw and used for controlling the first joint arm and the second joint arm, the fixing arms and the back plate, and the second joint arm and the tool clamping jaws to rotate relatively or to be relatively static, to adjust the position of the first articulated arm, the second articulated arm, and the tool jaw.
On the basis of the scheme, the first joint arm comprises two first fixed pipes which are distributed from top to bottom, the first fixed pipes are hinged to the back plate, first supporting pipes are arranged between the two first fixed pipes, the number of the first supporting pipes is two, one end of each first supporting pipe is connected with the end portion of the first fixed pipe above the first fixed pipe, and the other end of each first supporting pipe is connected with the end portion of the first fixed pipe below the first fixed pipe.
On the basis of the scheme, the two first supporting tubes are connected with each other to form an X shape.
On the basis of the scheme, the second joint arm comprises two second fixed pipes which are distributed up and down, the second fixed pipes are hinged with the first fixed pipes, and a second supporting pipe is arranged between the two second fixed pipes.
On the basis of the above solution, half of the length of the second fixed pipe above is greater than the length of the second fixed pipe below, and the tool jaw is mounted on the end of the second fixed pipe above.
On the basis of the scheme, the rotation adjusting part comprises a first connecting piece and a second connecting piece which can rotate relatively, and a controller which controls the first connecting piece and the second connecting piece to rotate or lock.
On the basis of the scheme, the tool clamping jaw comprises a clamping jaw seat which is hinged on the second joint arm, two clamping jaw arms are hinged on the clamping jaw seat, and the angle of the two clamping jaw arms relative to the clamping jaw seat is adjusted to clamp or release a tool.
On the basis of the scheme, the clamping blocks are arranged on the inner sides of the clamping jaw arms, and friction grains are arranged on the clamping blocks.
On the basis of the scheme, the tool clamping jaw further comprises an adjusting pin, and the adjusting pin penetrates through the two clamping jaw arms and is in threaded fit with one of the clamping jaw arms.
The invention has the beneficial effects that:
the invention discloses an insulating rod hot-line work mechanical arm, wherein a fixed arm of the insulating rod hot-line work mechanical arm is arranged on a back plate, each group of fixed arms comprises a first joint arm, a second joint arm and a tool clamping jaw, the first joint arm can rotate relative to the back plate, the second joint arm can rotate relative to the first joint arm, so that the first joint arm and the second joint arm can be rotated according to the specification of an electric pole to adjust the position of the tool clamping jaw, then the angle of the tool clamping jaw is adjusted, the insulating rod is convenient for workers to operate, a grounding rod is arranged on the electric pole, the operation can be completed by only one worker, the workers do not need to lift the grounding rod and the insulating rod in the work process, the work intensity is lower, and the installation power of the grounding rod can also be increased after the load of the arm is reduced;
after the angle adjustment of the first joint arm, the second joint arm and the tool clamping jaw is completed, the rotation of the first joint arm, the second joint arm and the tool clamping jaw is limited by rotating the adjusting part, so that the structure of the mechanical arm is kept unchanged, a stable operation environment is maintained, and accidents occurring in the installation process are reduced.
Further, first articulated arm includes that two are the first fixed pipe that distributes from top to bottom, first fixed pipe with the backplate is articulated, be equipped with first supporting tube between two first fixed pipes, first supporting tube is equipped with two, and every first supporting tube one end is connected with the tip position of the first fixed pipe of top, and the other end is connected with the tip position of the first fixed pipe of below, and first articulated arm comprises a plurality of bodys, and the light in weight of body, the first articulated arm of constitution can reduce self weight under the prerequisite that possesses certain intensity to conveniently drive whole arm and move on the pole, first supporting arm can support first fixed pipe, strengthens the intensity of first fixed pipe, avoids first fixed pipe crooked.
Furthermore, the second joint arm comprises two second fixed pipes which are vertically distributed, the second fixed pipes are hinged to the first fixed pipes, a second supporting pipe is arranged between the two second fixed pipes, and the second joint arm is the same as the first joint arm and also comprises a plurality of pipe bodies so as to reduce the weight of the second joint arm.
Furthermore, half of the length of the second fixing pipe above the fixing pipe is greater than that of the second fixing pipe below the fixing pipe, the tool clamping jaw is installed at the end part of the second fixing pipe above the fixing pipe, the second fixing pipe above the fixing pipe is used for installing the tool clamping jaw, in order to ensure that the fixing pipe can be applied to electric poles of different specifications, the whole length of the fixing arm is long, the second fixing pipe below the fixing pipe is connected with the second supporting pipe to support the second fixing pipe above the fixing pipe, and the second fixing pipe below the fixing pipe is hinged with the first joint arm, the length is shortened, the supporting capacity cannot be affected, the weight of the fixing arm can be reduced, and the second fixing pipe below the fixing pipe is prevented from affecting the arrangement.
Further, the tool clamping jaw is installed including articulating the jaw seat on the second articulated arm, articulated two jaw arms of installation on the jaw seat, through adjusting two jaw arms are relative the angle of jaw seat to centre gripping or relaxation instrument, through two jaw arms of tool clamping jaw, can centre gripping earth bar or insulating rod, avoid earth bar or insulating rod to drop from the tool clamping jaw, maintain stable operational environment.
These features and advantages of the present invention will be disclosed in more detail in the following detailed description and the accompanying drawings.
[ description of the drawings ]
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic structural diagram of an insulated rod hot-line work robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of a rotation adjusting member according to an embodiment of the present invention;
FIG. 3 is an exploded view of a rotating adjustment member in an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a rotational adjustment member in an embodiment of the present invention;
FIG. 5 is an enlarged schematic view at A in FIG. 1;
FIG. 6 is an enlarged schematic view at B of FIG. 1;
fig. 7 is an enlarged schematic view at C in fig. 1.
Reference numerals:
a back plate 100;
a fixing arm 200, a first joint arm 210, a first fixing tube 211, a first support tube 212, a second joint arm 220, a second fixing tube 221, a second support tube 222;
a tool jaw 300, a jaw seat 310, a jaw arm 320, a clamping block 330, an adjustment pin 340;
the rotation adjusting device comprises a rotation adjusting component 400, a rotating shaft 410, a through hole 411, a first connecting piece 420, a tooth groove 421, a second connecting piece 430, a limiting piece 440, a latch 441, a controller 450, a driving piece 451 and an ejector block 452.
[ detailed description ] embodiments
The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1, the embodiment of the invention discloses an insulation rod hot-line work robot arm, comprising a back plate 100 and two fixing arms 200, wherein the two fixing arms 200 are respectively hinged at two ends of the back plate 100 in the transverse direction, the fixing arms 200 comprise a first joint arm 210 and a second joint arm 220, one end of the first joint arm 210 is hinged with the back plate 100, the other end of the first joint arm is hinged with the second joint arm 220, the other end of the second joint arm 220 is hinged with a tool clamping jaw 300, the two tool clamping jaws 300 are respectively used for clamping a grounding rod and an insulating rod for installing the grounding rod, the hinged part of the first joint arm 210 and the second joint arm 220, the hinged part of the first joint arm 210 and the back plate 100, the hinged part of the second joint arm 220 and the tool clamping jaw 300 are provided with a rotation adjusting component 400 for controlling the first joint arm 210 and the second joint arm 220, the fixing arms 200 and the back plate 100, the second joint arm 220 and, to adjust the position of the first and second articulated arms 210, 220 and the tool jaw 300.
The invention discloses an insulating rod hot-line work mechanical arm, wherein a fixing arm 200 is arranged on a back plate 100, each group of fixing arms 200 comprises a first joint arm 210, a second joint arm 220 and a tool clamping jaw 300, the first joint arm 210 can rotate relative to the back plate 100, the second joint arm 220 can rotate relative to the first joint arm 210, so that the first joint arm 210 and the second joint arm 220 can be rotated according to the specification of an electric pole to adjust the position of the tool clamping jaw 300, and then the angle of the tool clamping jaw 300 is adjusted, so that a worker can conveniently operate an insulating rod, the grounding rod is arranged on the electric pole, only one worker is needed to complete the operation, the worker does not need to lift the grounding rod and the insulating rod in the working process, the working strength is lower, and the installation power of the grounding rod can also rise after the load of the arm is reduced;
after the angle adjustment of the first joint arm 210, the second joint arm 220 and the tool clamping jaw 300 is completed, the rotation of the first joint arm 210, the second joint arm 220 and the tool clamping jaw 300 is limited by rotating the adjusting part 400, so that the structure of the mechanical arm is kept unchanged, a stable working environment is maintained, and accidents occurring in the installation process are reduced.
Specifically, two fixed arms 200 are symmetrically distributed relative to back plate 100, so that the center of gravity of the whole insulation rod hot-line work mechanical arm is not deviated to one side of the arm, and the arm is conveniently lifted to the electric pole. The first joint arm 210 comprises two first fixing tubes 211 which are vertically distributed, the first fixing tubes 211 are hinged to the back plate 100, a first supporting tube 212 is arranged between the two first fixing tubes 211, the first joint arm 210 is composed of a plurality of tube bodies, the weight of the tube bodies is light, the weight of the first joint arm 210 can be reduced on the premise that the first joint arm 210 is provided with certain strength, the whole mechanical arm can be conveniently driven to move on an electric pole, the first supporting arm can support the first fixing tubes 211, the strength of the first fixing tubes 211 is enhanced, and the first fixing tubes 211 are prevented from being bent;
the second joint arm 220 includes two second fixing tubes 221 distributed up and down, the second fixing tube 221 is hinged to the first fixing tube 211, a second supporting tube 222 is disposed between the two second fixing tubes 221, the tool clamping jaw 300 is mounted at the end of the second fixing tube 221 above, the second joint arm 220 is the same as the first joint arm 210 and also comprises a plurality of tubes to reduce the weight of the second joint arm 220, the second supporting tube 222 has the same function as the first supporting tube 212 and is used for enhancing the strength of the second fixing tube 221, and in addition, the first supporting tube 212 and the second supporting tube 222 can keep the distance between the two first fixing tubes 211 and the distance between the two second fixing tubes 221 unchanged, so that the hinged relation between the first fixing tube 211 and the second fixing tube 221 is stable.
In order to reduce the weight of the whole fixing arm 200, the length of the second fixing tube 221 positioned below is far smaller than that of the second fixing tube 221 positioned above, the length of the second fixing tube 221 positioned below is at least smaller than half of that of the second fixing tube 221 positioned above, in order to ensure the length of the whole fixing arm 200, the length of the second fixing tube 221 positioned above cannot be shortened, and after the second fixing tube 221 positioned below is shortened, the weight of the fixing arm 200 can be reduced, and the influence on the installation of a grounding rod and an insulating rod can be avoided.
Referring to fig. 2 to 4, in another embodiment of the present invention, a structure of the rotation adjusting component 400 is specifically described, the rotation adjusting component 400 includes a first connecting piece 420 and a second connecting piece 430 rotatably connected by a rotating shaft 410, the rotating shaft 410 is provided with a limiting piece 440 capable of cooperating with the first connecting piece 420 for limiting relative rotation of the first connecting piece 420 and the second connecting piece 430, and further includes a controller 450 connected to the rotating shaft 410 for controlling the limiting piece 440 to be disengaged from the first connecting piece 420.
The first connecting member 420 and the second connecting member 430 can rotate relatively, so that two objects connected to the first connecting member 420 and the second connecting member 430 can adjust the angle between the two objects, and the limiting member 440 can control the rotation relationship between the first connecting member 420 and the second connecting member 430, so that when the angle is required to be adjusted, the limiting member 440 can release the rotation limitation of the first connecting member 420, and when the angle is adjusted to a required angular position, the limiting member 440 is matched with the first connecting member 420 to limit the rotation of the first connecting member 420 relative to the second connecting member 430.
Specifically, the controller 450 includes a driving member 451 and an ejecting block 452, the driving member 451 can control the ejecting block 452 to reciprocate, the ejecting block 452 can push the rotating shaft 410 to reciprocate in the axial direction, and during the reciprocating movement of the rotating shaft 410, the limiting member 440 can be repeatedly engaged with and disengaged from the first connecting member 420 to perform angle adjustment and rotation limiting between the first connecting member 420 and the second connecting member 430.
Referring to fig. 2 and 4, in the present embodiment, the driving member 451 drives the top block 452 to move in the radial direction of the rotating shaft 410, the top block 452 is tapered in the radial direction of the rotating shaft 410, and since the top block 452 is tapered, when the rotating shaft 410 moves in the radial direction, the rotating shaft 410 moves in the axial direction along with the surface of the top block 452 to drive the movement of the limiting member 440.
Meanwhile, the rotating shaft 410 also needs to be rotated for limiting, so that the rotating shaft 410 and the first connecting piece 420 are prevented from rotating synchronously, a through hole 411 arranged along the radial direction is formed in the rotating shaft 410, and at least part of the top block 452 is kept in the through hole 411, so that the rotation of the rotating shaft 410 can be limited by the top block 452, and the first connecting piece 420 and the second connecting piece 430 are prevented from rotating relatively when the rotation adjusting component 400 is in a locking state, so that the normal operation of equipment provided with the rotation adjusting component 400 is influenced.
In addition, the top block 452 can also axially limit the rotating shaft 410, the rotating shaft 410 is limited on the first connecting piece 420 and the second connecting piece 430, the rotating shaft 410 is prevented from falling off from the first connecting piece 420 and the second connecting piece 430, the first connecting piece 420 is arranged above the second connecting piece 430, the controller 450 is arranged on the side portion of the second connecting piece 430, the controller 450 comprises a connecting rod which is inserted into the second connecting piece 430 and connected with the top block 452, the limiting piece 440 on the rotating shaft 410 can axially limit the first connecting piece 420, the controller 450 arranged on the second connecting piece 430 can axially limit the rotating shaft 410, so that the first connecting piece 420 and the second connecting piece 430 can also keep a matching state, and the rotating adjusting part 400 can keep a stable structure.
In order to improve the precision of the rotation adjusting component 400, the first connecting member 420 and the limiting member 440 are engaged, the first connecting member 420 is provided with a tooth groove 421, the limiting member 440 is provided with a latch 441 opposite to the tooth groove 421, and under the action of the controller 450, the axial movement of the rotating shaft 410 enables the latch 441 to be engaged with and disengaged from the tooth groove 421, so that the rotation limiting of the first rotating member can be realized, the space between the teeth is small, the rotation can be performed at any angle, the quick locking can be performed, and the locking strength is high.
Referring to fig. 5, in another embodiment of the present invention, the structure of the tool clamping jaw 300 is specifically described, the tool clamping jaw 300 includes a clamping jaw seat 310 hingedly mounted on the second joint arm 220, two clamping jaw arms 320 are hingedly mounted on the clamping jaw seat 310 and can move toward or away from each other by adjusting the angle of the two clamping jaw arms 320 relative to the clamping jaw seat 310 to clamp or release a tool, and the ground rod or the insulation rod can be clamped by the two clamping jaw arms 320 of the tool clamping jaw 300 to prevent the ground rod or the insulation rod from falling off the tool clamping jaw 300, thereby maintaining a stable working environment.
When carrying out the installation operation, pass through instrument clamping jaw 300 with earth bar and insulating rod and fix on the arm, when the arm rebound on the pole, earth bar and insulating rod also rebound to the operating position on the pole, fix the arm on the pole through the staple bolt afterwards, adjust the position of earth bar, make it aim at the mounting position on the pole after, through the rotation of the instrument clamping jaw 300 of the tight earth bar of rotation regulating part restriction clamp, adjust the insulating rod afterwards, operate the installation operation who carries out the earth bar through the insulating rod, in the whole installation, operating personnel need not undertake the weight of insulating rod and earth bar, reduce the operation burden, reduce staff's working strength, and work efficiency has been improved.
Specifically, the clamping block 330 is arranged on the inner side of the clamping jaw arm 320, friction lines are arranged on the clamping block 330, the clamping jaw arm 320 is in contact with the insulating rod or the grounding rod through the clamping block 330, and after the friction lines are arranged, the friction force between the clamping block 330 and the insulating rod or the grounding rod can be increased, so that the load capacity of the tool clamping jaw 300 is improved, and the situation that the insulating rod or the grounding rod slides off the tool clamping jaw 300 in the operation process is prevented.
The tool clamping jaw 300 is further provided with an adjusting pin 340, the adjusting pin 340 penetrates through the two clamping jaw arms 320, is in threaded fit with one clamping jaw arm 320 and is in clearance fit with the other clamping jaw arm 320, and the clamping jaw arms 320 can rotate relative to the clamping jaw base 310 by rotating the adjusting pin 340 so as to approach or separate from each other, so that the use is convenient.
Referring to fig. 1, in another embodiment of the present invention, a mounting structure of a first support pipe 212 and a second support pipe 222 is specifically illustrated:
the two first supporting tubes 212 are arranged, one end of each first supporting tube 212 is connected with the end of the first fixing tube 211 above, the other end of each first supporting tube 212 is connected with the end of the first fixing tube 211 below, and thus the weight of the two first fixing tubes 211 can be enhanced through the first supporting tubes 212.
One end of each second support tube 222 is connected to the end of the second fixed tube 221 above, and the other end is connected to the end of the second fixed tube 221 below, preferably, one of the two second support tubes 222 is vertically arranged, the other one of the two second support tubes 222 is obliquely arranged, unlike the two first support tubes 212, the two second support tubes 222 are not intersected with each other, and because the second fixed tube 221 below is shorter in length, the two second support tubes 222 are arranged in an X shape or are not intersected with each other, so that the strength of the second joint arm 220 is not greatly affected, and the arrangement is in an X shape is troublesome.
In another embodiment of the present invention, the mounting structure of the rotation adjustment member 400 on the robot arm is specifically described:
referring to fig. 5 to 7, specifically, at the hinge position of the first articulated arm 210 and the backboard 100, the second link 430 of the rotation adjusting part 400 is fixedly mounted on the backboard 100 to maintain the relative position with the backboard 100 unchanged, the first articulated arm 210 is fixedly connected with the first link 420 to enable the first articulated arm 210 to rotate relative to the backboard 100, and when the first articulated arm 210 rotates to a proper position, the controller 450 of the rotation adjusting part 400 limits the rotation of the first link 420 to maintain the position of the first articulated arm 210 relative to the backboard 100 unchanged.
At the hinge joint of the first and second articulated arms 210 and 220, the second link 430 of the rotation adjustment component 400 is fixedly mounted at the end of the first articulated arm 210, and the second articulated arm 220 is connected with the first link 420, so that the first and second articulated arms 210 and 220 can rotate relatively, and after rotating to a proper angle, the controller 450 of the rotation adjustment component 400 limits the relative rotation between the first link 420 and the second link 430, so as to keep the relative positions of the first and second articulated arms 210 and 220 unchanged.
At the hinge joint of the second articulated arm 220 and the tool jaw 300, the second connector 430 of the rotation adjustment part 400 is fixedly mounted at the end of the second articulated arm 220, and the jaw base 310 is connected to the first connector 420 so that the tool jaw 300 can rotate relative to the second articulated arm 220, and after rotating to a proper angle, the controller 450 of the rotation adjustment part 400 limits the relative rotation between the first connector 420 and the second connector 430 so as to keep the relative position of the tool jaw 300 and the second articulated arm 220 unchanged during the ground bar mounting process.
While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.
Claims (9)
1. The insulating rod hot-line work mechanical arm is characterized by comprising a back plate and two fixing arms, wherein the two fixing arms are respectively hinged to two ends of the back plate in the transverse direction, each fixing arm comprises a first joint arm and a second joint arm, one end of each first joint arm is hinged to the back plate, the other end of each first joint arm is hinged to the second joint arm, the other end of each second joint arm is hinged to a tool clamping jaw, the two tool clamping jaws are respectively used for clamping a grounding rod and an insulating rod used for installing the grounding rod, a rotating adjusting part is arranged at the hinged position of the first joint arm and the second joint arm, the hinged position of the first joint arm and the back plate, and the hinged position of the second joint arm and the tool clamping jaws and used for controlling the first joint arm and the second joint arm, the fixing arms and the back plate, and the second joint arm and the tool clamping jaws to keep rotating or static relatively, to adjust the position of the first articulated arm, the second articulated arm, and the tool jaw.
2. The insulation bar hot-line work mechanical arm according to claim 1, wherein the first joint arm comprises two first fixed pipes distributed up and down, the first fixed pipes are hinged to the back plate, a first supporting pipe is arranged between the two first fixed pipes, the number of the first supporting pipes is two, one end of each first supporting pipe is connected with the end position of the upper first fixed pipe, and the other end of each first supporting pipe is connected with the end position of the lower first fixed pipe.
3. The insulated rod live working robot of claim 2, wherein the two first support tubes are connected to each other in an X-shape.
4. The insulating rod hot-line work mechanical arm as claimed in claim 2, wherein the second joint arm comprises two second fixed pipes distributed up and down, the second fixed pipes are hinged with the first fixed pipes, and a second support pipe is arranged between the two second fixed pipes.
5. The insulated pole live working robot of claim 4, wherein the upper second stationary pipe is half longer than the lower second stationary pipe, and wherein the tool jaw is mounted to the upper second stationary pipe end.
6. The insulation bar live working robot of claim 1, wherein the rotation adjusting part comprises a first link and a second link which are relatively rotatable, and a controller which controls the first link and the second link to rotate or be locked.
7. The insulated rod hot-line work robot of claim 1, wherein said tool gripper comprises a gripper seat hingedly mounted on said second articulated arm, said gripper seat hingedly mounting two gripper arms, said two gripper arms being adjustable in angle relative to said gripper seat to grip or release a tool.
8. The insulation bar hot-line work robot as claimed in claim 7, wherein a clamping block is provided inside the jaw arm, and the clamping block is provided with friction lines.
9. The insulated bar live working robot of claim 7, wherein the tool jaw further comprises an adjustment pin extending through the two jaw arms and threadably engaging one of the jaw arms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110239552.8A CN113131395B (en) | 2021-03-04 | 2021-03-04 | Insulating rod live working mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110239552.8A CN113131395B (en) | 2021-03-04 | 2021-03-04 | Insulating rod live working mechanical arm |
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| Publication Number | Publication Date |
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| CN113131395A true CN113131395A (en) | 2021-07-16 |
| CN113131395B CN113131395B (en) | 2022-08-26 |
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| CN202110239552.8A Active CN113131395B (en) | 2021-03-04 | 2021-03-04 | Insulating rod live working mechanical arm |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180013269A1 (en) * | 2016-07-06 | 2018-01-11 | Freeport-Mcmoran Inc. | Cable handling apparatus and method |
| CN108146530A (en) * | 2017-12-01 | 2018-06-12 | 苏州科爱佳自动化科技有限公司 | One kind is grabbed luggage automatically and is put |
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| CN109465839A (en) * | 2018-11-09 | 2019-03-15 | 苏州威驰电子有限公司 | A kind of feeding clamping jaw |
| CN109572851A (en) * | 2019-01-28 | 2019-04-05 | 山东建筑大学 | A kind of clamping device and climbing robot of transmission tower climbing robot |
| CN214543315U (en) * | 2021-03-04 | 2021-10-29 | 国网浙江桐庐县供电有限公司 | Insulating rod live working mechanical arm |
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2021
- 2021-03-04 CN CN202110239552.8A patent/CN113131395B/en active Active
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|---|---|---|---|---|
| US20180013269A1 (en) * | 2016-07-06 | 2018-01-11 | Freeport-Mcmoran Inc. | Cable handling apparatus and method |
| CN108146530A (en) * | 2017-12-01 | 2018-06-12 | 苏州科爱佳自动化科技有限公司 | One kind is grabbed luggage automatically and is put |
| CN108789416A (en) * | 2018-07-27 | 2018-11-13 | 中国科学院自动化研究所 | System and method for controlling double mechanical arms flexibility livewire work |
| CN109465839A (en) * | 2018-11-09 | 2019-03-15 | 苏州威驰电子有限公司 | A kind of feeding clamping jaw |
| CN109572851A (en) * | 2019-01-28 | 2019-04-05 | 山东建筑大学 | A kind of clamping device and climbing robot of transmission tower climbing robot |
| CN214543315U (en) * | 2021-03-04 | 2021-10-29 | 国网浙江桐庐县供电有限公司 | Insulating rod live working mechanical arm |
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| CN113131395B (en) | 2022-08-26 |
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