CN117655695B - Insulating sleeve mounting device and robot - Google Patents
Insulating sleeve mounting device and robot Download PDFInfo
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- CN117655695B CN117655695B CN202410122459.2A CN202410122459A CN117655695B CN 117655695 B CN117655695 B CN 117655695B CN 202410122459 A CN202410122459 A CN 202410122459A CN 117655695 B CN117655695 B CN 117655695B
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- 238000002955 isolation Methods 0.000 description 1
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Abstract
The invention provides an insulating sleeve mounting device and a robot, which relate to the technical field of manipulators and robots and are used for mounting an insulating sleeve on a high-voltage isolating switch, wherein the insulating sleeve mounting device comprises a base, a fixed base, left and right mounting arms, a mounting arm driving mechanism, a micro switch and a camera; the fixed base is arranged on the top surface of the base; the mounting arm driving mechanism is mounted on the fixed base, and the lower ends of the left and right mounting arms are rotatably mounted on the fixed base and respectively connected with the mounting arm driving mechanism in a transmission manner; the mounting arm driving mechanism can drive the left mounting arm and the right mounting arm to rotate in opposite directions relative to the fixed base so as to open or close the left mounting arm and the right mounting arm; the inner side surfaces of the left and right side mounting arms are respectively connected with a closing pressing plate, and at least two sleeve positioning parts are respectively mounted on each closing pressing plate. According to the invention, the problem that in the prior art, safety hidden danger exists when the insulating sleeve is installed on the high-voltage isolating switch by means of manpower is solved.
Description
Technical Field
The invention relates to the technical field of manipulators and robots, in particular to an insulating sleeve mounting device and a robot.
Background
The high-voltage isolating switch is mainly used for reliably isolating a part which needs power failure from a live part in the high-voltage power distribution device so as to ensure the safety of maintenance work.
In the prior art, when an insulating sleeve is arranged on a high-voltage isolating switch, an operator stands in an insulating bucket of a bucket arm vehicle to adjust the insulating bucket to a proper position, and the insulating sleeve is manually arranged; currently, no operation device is suitable for a robot carrying and installing device to install an insulating sleeve on a high-voltage isolating switch, and potential safety hazards exist.
Disclosure of Invention
The invention aims to provide an insulating sleeve mounting device and a robot, which are used for solving the technical problem that the mounting of the insulating sleeve on a high-voltage isolating switch in the prior art has potential safety hazards due to the fact that the insulating sleeve is mounted by manpower.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical scheme:
In a first aspect, embodiments of the present invention provide an insulating sleeve mounting apparatus for mounting an insulating sleeve on a high voltage isolation switch. The insulating sleeve mounting device comprises a base, a fixed base, a left mounting arm, a right mounting arm, a mounting arm driving mechanism, a micro switch and a camera. The fixed base is mounted on the top surface of the base. The mounting arm driving mechanism is mounted on the fixed base, and the lower ends of the left mounting arm and the right mounting arm are rotatably mounted on the fixed base and respectively connected with the mounting arm driving mechanism in a transmission manner; the mounting arm driving mechanism can drive the left mounting arm and the right mounting arm to rotate in opposite directions relative to the fixed base, so that the left mounting arm and the right mounting arm are opened or closed. And taking the opposite side of the left mounting arm and the right mounting arm as the inner side, wherein the inner side surface of the left mounting arm and the inner side surface of the right mounting arm are respectively connected with a closed pressing plate, and at least two sleeve positioning parts extending towards the inner side are respectively arranged on each closed pressing plate. The micro-switch comprises a first micro-switch arranged on the top surface of the fixed base. The camera comprises a first camera which is arranged at the upper end of the left side installation arm or the upper end of the right side installation arm.
In an optional implementation manner of this embodiment, preferably, the first camera is rotatably mounted on a first camera mounting frame, and the first camera mounting frame is fixedly connected to the upper end of the left mounting arm or the upper end of the right mounting arm.
Further preferably, the first camera mount is bent toward the inside.
In an optional implementation manner of this embodiment, preferably, the camera further includes a second camera, and the second camera is rotatably mounted on a second camera mounting frame, and the second camera mounting frame is fixedly connected to the top of the base or one side of the fixed base.
In an alternative implementation manner of this embodiment, preferably, the micro switch further includes a second micro switch mounted on one side of the fixed base through a micro switch bracket.
In an optional implementation manner of this embodiment, preferably, the sleeve positioning portion is a positioning nail, a nail penetrating hole is formed in the closing pressing plate, a rod portion of the positioning nail penetrates through the nail penetrating hole, a head end diameter is larger than that of the rod portion and is blocked at a rear side of the nail penetrating hole, and a tapered protruding edge with a gradually reduced diameter from the head end to the tail end is arranged at the tail end of the positioning nail.
Further preferably, the tapered flange is made of an elastic material.
In an alternative implementation of the present embodiment, preferably, the left side mounting arm and the right side mounting arm respectively include a respective transmission rod and push rod; the transmission rod is connected with the installation arm driving mechanism in a transmission way, and the lower end of the push rod is connected with the upper end of the transmission rod; the closing pressing plate is connected to the inner side face of the push rod.
In an alternative implementation of the present embodiment, preferably, the mounting arm driving mechanism includes a motor, a rotation connection shaft, a rotation worm, a left arm transmission worm wheel, and a right arm transmission worm wheel. The motor is connected to one end of the rotating connecting shaft through a coupler. The rotating worm is sleeved and fixedly connected with the rotating connecting shaft; the wheel axle of the left arm transmission worm wheel and the wheel axle of the right arm transmission worm wheel are respectively rotatably arranged on the fixed base and are respectively meshed with two opposite sides of the rotating worm; the lower end of the left side installation arm is synchronously rotatably installed on the left arm transmission worm gear, and the lower end of the right side installation arm is synchronously rotatably installed on the right arm transmission worm gear.
In a second aspect, an embodiment of the present invention provides a robot comprising an insulating sleeve mounting device according to any one of the preceding embodiments.
The insulating sleeve mounting device and the robot provided by the embodiment of the invention have the following beneficial effects:
The ground control robot can be used for installing the insulating sleeve on the high-voltage isolating switch, and the problem that potential safety hazards exist when the insulating sleeve is installed on the high-voltage isolating switch and manually installed in the prior art is solved. Moreover, because the camera is self-integrated in the insulating sleeve mounting device provided by the embodiment, compared with the field of view provided by the mechanical arm additionally provided with the camera, the camera is integrated on the insulating sleeve mounting device, the mechanical arm is more compact in structure during working and more flexible, the field of view of the relative position relationship of the insulating sleeve and the high-voltage isolating switch is more stable and close to the camera, the insulating sleeve mounting device belongs to ultra-close shooting, the mounting precision is improved, in addition, auxiliary field equipment is not required to be additionally arranged, the operation is more convenient, and the quick mounting is facilitated. In addition, in the insulating sleeve mounting device provided by the embodiment, whether the insulating sleeve mounting device is conveyed to the working point or not is sensed through the micro switch, so that the working precision can be further ensured, and the working efficiency can be further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of an insulating sleeve mounting device according to an embodiment of the present invention;
fig. 2 is a main structure sectional view of the insulating sleeve mounting device shown in fig. 1;
FIG. 3 is a first step of installing an insulating sleeve on a high voltage isolating switch using an insulating sleeve installation apparatus according to an embodiment of the present invention;
fig. 4 is a second step diagram of installing an insulating sleeve on a high-voltage isolating switch by adopting the insulating sleeve installation device provided by the embodiment of the invention;
fig. 5 is a third step diagram of installing an insulating sleeve on a high-voltage isolating switch by adopting the insulating sleeve installation device provided by the embodiment of the invention;
Fig. 6 is a step diagram of installing an insulating sleeve on a high-voltage isolating switch by adopting the insulating sleeve installation device provided by the embodiment of the invention;
Fig. 7 is a fifth step diagram of installing an insulating sleeve on a high-voltage isolating switch by adopting the insulating sleeve installation device provided by the embodiment of the invention;
fig. 8 is a sixth step of installing an insulating sleeve on a high-voltage isolating switch by using the insulating sleeve installation device provided by the embodiment of the invention.
Icon: 100-high voltage isolating switch; 210-first half-sleeve; 220-second half-sleeve; 1-a base; 2-fixing a base; 31-left mounting arm; 32-right mounting arm; 301-closing a pressure plate; 3011-a cannula positioning portion; 302-a transmission rod; 303-push rod; 4-mounting an arm drive mechanism; 41-rotating the connecting shaft; 411-bearings; 412-a coupling; 42-turning a worm; 43-left arm drive worm gear; 44-right arm drive worm gear; 51-a first microswitch; 52-a second microswitch; 521-a microswitch bracket; 61-a first camera; 611-a first camera mount; 62-a second camera; 621-a second camera mount.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters designate like items in the drawings, and thus once an item is defined in one drawing, no further definition or explanation thereof is necessary in the subsequent drawings.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "upper", "lower", "left", "right", "longitudinal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or those that are conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be configured and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the term "longitudinal" merely means that its direction is more vertical than "horizontal", and does not mean that the structure must be perfectly vertical, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Example 1
The present embodiment provides an insulating sleeve mounting device for mounting an insulating sleeve on a high-voltage disconnecting switch 100. Referring to fig. 1 and 2, the insulating sleeve mounting device includes a base 1, a fixed base 2, a left mounting arm 31, a right mounting arm 32, a mounting arm driving mechanism 4, a micro switch, and a camera. The fixed base 2 is mounted on the top surface of the base 1. The mounting arm driving mechanism 4 is mounted on the fixed base 2, and the lower ends of the left mounting arm 31 and the right mounting arm 32 are rotatably mounted on the fixed base 2 and respectively connected with the mounting arm driving mechanism 4 in a transmission manner; the mounting arm driving mechanism 4 is capable of driving the left and right mounting arms 31 and 32 to rotate in opposite directions with respect to the fixed base 2 so that the left and right mounting arms 31 and 32 are opened or closed. With the opposite side of the left mounting arm 31 and the right mounting arm 32 as the inner side, the inner side surface of the left mounting arm 31 and the inner side surface of the right mounting arm 32 are respectively connected with a closing pressing plate 301, and at least two sleeve positioning parts 3011 extending towards the inner side are respectively arranged on each closing pressing plate 301. The micro switch includes a first micro switch 51 mounted on the top surface of the fixed base 2. The camera includes a first camera 61 mounted on the upper end of the left mounting arm 31 or the upper end of the right mounting arm 32.
Referring to fig. 3 to 8, the insulating sleeve mounting device provided in this embodiment is used as follows:
Before operation, the insulating bush is fixed to the insulating bush mounting apparatus, specifically, as shown in fig. 3, with reference to fig. 1 and 2, the mounting arm driving mechanism 4 is controlled so that the left mounting arm 31 and the right mounting arm 32 are in an open state, the first half bush 210 of the insulating bush is fixed to the bush positioning portion 3011 of the closing pressing plate 301 of the left mounting arm 31, and the second half bush 220 of the insulating bush is fixed to the bush positioning portion 3011 of the closing pressing plate 301 of the right mounting arm 32;
When working aloft, first, as shown in fig. 4, the camera is used to capture image information, and an operator observes and operates the mechanical arm of the robot to move to the lower part of the high-voltage isolating switch 100 through the terminal on the ground; then, as shown in fig. 5, the operator continues to operate the mechanical arm of the robot to carry the insulating sleeve mounting device to move vertically upwards, the high-voltage isolating switch can be contacted with the micro switch, the micro switch is triggered to send a clamping working signal which moves in place to the ground terminal, the insulating sleeve mounting device is fed back to a working point, and the terminal controls the mechanical arm to stop acting; thereafter, as shown in fig. 6, the mounting arm driving mechanism 4 is started (the starting mode includes, but is not limited to, a specific starting mode that directly receives a feedback signal of the micro switch to start, receives a ground terminal control signal to start, or an operator controls starting in real time according to a signal fed back by the micro switch, etc.), the mounting arm driving mechanism 4 drives the left mounting arm 31 and the right mounting arm 32 to rotate relatively to the fixed base 2, so that the left mounting arm 31 and the right mounting arm 32 are closed and clamped, the first half bushing 210 and the second half bushing 220 with the insulating bushing are butted and locked with each other under the clamping force (the locking mode includes, but is not limited to, interference fit connection under the clamping force), and the insulating bushing tightly surrounds the high-voltage isolating switch 100; then, as shown in fig. 7, the mounting arm driving mechanism 4 is started (the starting mode includes, but is not limited to, a specific starting mode that the starting mode directly receives a feedback signal of the micro switch to start, receives a ground terminal control signal to start, or an operator controls the starting in real time according to a signal fed back by the micro switch, and the like), the mounting arm driving mechanism 4 drives the left mounting arm 31 and the right mounting arm 32 to rotate away from each other relative to the fixed base 2, so that the left mounting arm 31 and the right mounting arm 32 are opened, the sleeve positioning part 3011 on the left mounting arm 31 is separated from the first half sleeve 210, and the sleeve positioning part 3011 on the right mounting arm 32 is separated from the second half sleeve 220; finally, as shown in fig. 8, the robot receives the device completion operation instruction (including but not limited to an instruction sent by the operator using the terminal), and the mechanical arm moves downward to complete the installation operation of the insulation sleeve.
The ground control robot can be used for installing the insulating sleeve on the high-voltage isolating switch 100, and the problem that potential safety hazards exist when the insulating sleeve is installed on the high-voltage isolating switch by means of manpower in the prior art is solved. Moreover, because the camera is self-integrated in the insulating sleeve mounting device provided by the embodiment, compared with the field of view provided by the mechanical arm additionally provided with the camera, the camera is integrated on the insulating sleeve mounting device, the mechanical arm has more compact structure during working and is more flexible, the field of view of the relative position relationship between the insulating sleeve and the high-voltage isolating switch 100 is more stable and close to the camera, the insulating sleeve mounting device belongs to ultra-close shooting, the mounting precision is improved, in addition, auxiliary field of view equipment is not required to be additionally arranged, the operation is more convenient, and the quick mounting is facilitated. In addition, in the insulating sleeve mounting device provided by the embodiment, whether the insulating sleeve mounting device is conveyed to the working point or not is sensed through the micro switch, so that the working precision can be further ensured, and the working efficiency can be further improved.
With continued reference to fig. 1 and 2, in an alternative implementation of the present embodiment, preferably, the first camera 61 is rotatably mounted on the first camera mounting rack 611, and the first camera mounting rack 611 is fixedly connected to the upper end of the left mounting arm 31 or the upper end of the right mounting arm 32, so that during aloft operation, the first camera 61 can be micro-rotated in real time under the influence of rotation and dead weight of the mounting arm, so that the alignment and mounting condition of the current arrival point can be more comprehensively observed, the field of view is wider, and the mounting accuracy is higher.
Further preferably, the first camera mounting frame 611 is bent toward the inner side, so that the first camera 61 can more clearly capture the position and the surrounding condition of the high-voltage isolating switch 100 at various angles, and the captured image is clearer.
With continued reference to fig. 1 and 2, in an alternative implementation of the present embodiment, preferably, the camera further includes a second camera 62, the second camera 62 is rotatably mounted on a second camera mounting bracket 621, the second camera mounting bracket 621 is fixedly connected to the top of the base 1 or one side of the fixed base 2, and the second camera 62 is matched with the first camera 61 to provide a wider viewing field, especially when the first camera 61 rotates, the second camera 62 supplements the viewing field, so that a blank of the viewing field is avoided, and the installation accuracy is further improved.
With continued reference to fig. 1 and fig. 2, in an alternative implementation manner of this embodiment, preferably, the foregoing micro switch further includes a second micro switch 52 mounted on one side of the fixed base 2 through a micro switch bracket 521, so that not only can one in-place information be fed back when the first micro switch 51 touches the bottom surface of the high-voltage isolating switch 100, but also another in-place information can be fed back when the second micro switch 52 touches the side surface of the high-voltage isolating switch 100, so that an operator comprehensively determines the in-place condition of the current point according to the two in-place information, and the operation precision is higher and the error rate is lower.
In an alternative implementation manner of this embodiment, as shown in fig. 1 and 2, preferably, the sleeve positioning portion 3011 adopts a positioning pin, a through-hole is formed in the closing pressing plate 301, a rod portion of the positioning pin passes through the through-hole, a head end of the positioning pin is connected to the rod portion, a diameter of a head end of the positioning pin is larger than that of the rod portion of the positioning pin and is blocked at a rear side of the through-hole, and a tail end of the positioning pin is provided with a tapered convex edge with a diameter gradually decreasing from the head end to the tail end. The locating nail head end is fixed or integrally or in threaded connection with the rod part, preferably a nut is used as the locating nail head end, and the locating nail head end is in threaded installation with the rod part, so that the locating nail is easy to install; the tapered protruding edge arranged at the tail end of the positioning pin is used as a blocking part, so that the positioning pin can conveniently pass through the positioning holes with the rear limit positioned or extruded on the first half sleeve 210 and the second half sleeve 220 of the insulating sleeve to fix the two half sleeves of the insulating sleeve; when the two half-sleeves are butted and locked together under the clamping force (the locking mode includes but is not limited to interference fit connection under the clamping force), then the mounting arm driving mechanism 4 drives the left mounting arm 31 and the right mounting arm 32 to rotate away from the fixed base 2, and when the left mounting arm 31 and the right mounting arm 32 are opened, the tail ends of the positioning nails can be quickly separated from the corresponding half-sleeves. It is further preferred that the aforementioned tapered flanges are made of an elastic material to more easily secure or disengage the studs to the corresponding half-sleeve locating holes.
Further, in order to facilitate assembly and to enhance the strength of the mounting arm, in an alternative implementation of the present embodiment, it is preferable that the left mounting arm 31 and the right mounting arm 32 include a respective transmission lever 302 and push rod 303, respectively; the transmission rod 302 is in transmission connection with the mounting arm driving mechanism 4, and the lower end of the push rod 303 is connected with the upper end of the transmission rod 302; the closing platen 301 is connected to the inner side of the push rod 303.
In an alternative implementation of the present embodiment, there are various alternative structures of the mounting arm driving mechanism 4, wherein, preferably but not limited to, as shown in fig. 2, in conjunction with fig. 1, the mounting arm driving mechanism 4 includes a motor (not shown), a rotation connecting shaft 41, a rotation worm 42, a left arm transmission worm wheel 43, and a right arm transmission worm wheel 44. The rotary connecting shaft 41 is longitudinally and rotatably mounted at both ends thereof to the fixed base 2 through bearings 411, and the motor is connected to one end of the rotary connecting shaft 41 through a coupling 412. The rotating worm 42 is sleeved and fixedly connected to the rotating connecting shaft 41; the wheel axle of the left arm transmission worm wheel 43 and the wheel axle of the right arm transmission worm wheel 44 are respectively rotatably mounted on the fixed base 2 and respectively meshed with two opposite sides of the rotary worm 42; the lower end of the left mounting arm 31 (the transmission rod 302) is synchronously rotatably mounted to the left arm transmission worm wheel 43 in a key connection or other connection manner, and the lower end of the right mounting arm 32 (the transmission rod 302) is synchronously rotatably mounted to the right arm transmission worm wheel 44 in a key connection or other connection manner. When the motor is started, the rotatable connecting shaft 41 is driven to rotate in the bearing 411, thereby rotating the rotatable worm 42, rotating in opposite directions with the left arm drive worm wheel 43 and the right arm drive worm wheel 44, and opening or closing with the left mounting arm 31 and the right mounting arm 32.
Example two
The present embodiment provides a robot comprising an insulating sleeve mounting device provided in any one of the alternative embodiments of the first embodiment.
Since the robot provided in this embodiment includes the insulating sleeve mounting device described in embodiment one, the robot provided in this embodiment can achieve all the advantages achieved by the insulating sleeve mounting device in embodiment one, and the specific structure and the effects achieved can be obtained by referring to the optional or preferred implementation manners in embodiment one.
Finally, it should be noted that: in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are only required to be seen with each other; the above embodiments in the present specification are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. An insulating sleeve mounting device for mounting an insulating sleeve on a high voltage disconnector (100), characterized in that: the insulating sleeve mounting device comprises a base (1), a fixed base (2), a left mounting arm (31), a right mounting arm (32), a mounting arm driving mechanism (4), a micro switch and a camera;
the fixed base (2) is arranged on the top surface of the base (1);
The mounting arm driving mechanism (4) is mounted on the fixed base (2), and the lower ends of the left mounting arm (31) and the right mounting arm (32) are rotatably mounted on the fixed base (2) and respectively connected with the mounting arm driving mechanism (4) in a transmission manner; the mounting arm driving mechanism (4) can drive the left mounting arm (31) and the right mounting arm (32) to rotate in opposite directions relative to the fixed base (2) so as to enable the left mounting arm (31) and the right mounting arm (32) to be opened or closed;
Taking the opposite side of the left mounting arm (31) and the right mounting arm (32) as the inner side, wherein the inner side surface of the left mounting arm (31) and the inner side surface of the right mounting arm (32) are respectively connected with a closing pressing plate (301), and each closing pressing plate (301) is respectively provided with at least two sleeve positioning parts (3011) extending towards the inner side;
the micro switch comprises a first micro switch (51) arranged on the top surface of the fixed base (2) and a second micro switch (52) arranged on one side of the fixed base (2) through a micro switch bracket (521);
The camera comprises a first camera (61) arranged at the upper end of the left mounting arm (31) or the upper end of the right mounting arm (32);
Before operation, the mounting arm driving mechanism (4) is controlled to enable the left mounting arm (31) and the right mounting arm (32) to be in an open state, a first half sleeve (210) of the insulating sleeve is fixed on a sleeve positioning part (3011) of a closing pressing plate (301) of the left mounting arm (31), and a second half sleeve (220) of the insulating sleeve is fixed on a sleeve positioning part (3011) of the closing pressing plate (301) of the right mounting arm (32);
When working aloft, the mechanical arm of the operation robot carries the insulating sleeve mounting device to move below the high-voltage isolating switch (100), then the mechanical arm continues to move vertically upwards, the high-voltage isolating switch (100) is in contact with the micro switch, the micro switch is triggered to send a clamping working signal which moves in place to a ground terminal, the insulating sleeve mounting device is fed back to a working point, and the terminal controls the mechanical arm to stop acting; then, the mounting arm driving mechanism (4) drives the left mounting arm (31) and the right mounting arm (32) to rotate relatively to the fixed base (2), so that the left mounting arm (31) and the right mounting arm (32) are clamped in a closing manner, a first half sleeve (210) and a second half sleeve (220) with the insulating sleeve are butted and locked together under the clamping force, and the insulating sleeve tightly surrounds the high-voltage isolating switch (100); and then, the mounting arm driving mechanism (4) drives the left mounting arm (31) and the right mounting arm (32) to rotate away from each other relative to the fixed base (2), so that the left mounting arm (31) and the right mounting arm (32) are opened, and the sleeve positioning part (3011) on the left mounting arm (31) is separated from the first half sleeve (210), and the sleeve positioning part (3011) on the right mounting arm (32) is separated from the second half sleeve (220).
2. The insulating sleeve mounting device according to claim 1, wherein: the first camera (61) is rotatably mounted on a first camera mounting frame (611), and the first camera mounting frame (611) is fixedly connected to the upper end of the left mounting arm (31) or the upper end of the right mounting arm (32).
3. The insulating sleeve mounting device according to claim 2, wherein: the first camera mounting frame (611) is bent toward the inner side.
4. The insulating sleeve mounting device according to claim 1, wherein: the camera also comprises a second camera (62), the second camera (62) is rotatably arranged on a second camera mounting frame (621), and the second camera mounting frame (621) is fixedly connected to the top of the base (1) or one side of the fixed base (2).
5. The insulating sleeve mounting device according to claim 1, wherein: the sleeve positioning part (3011) adopts a positioning nail, a nail penetrating hole is formed in the closed pressing plate (301), the rod part of the positioning nail penetrates through the nail penetrating hole, the diameter of the head end of the positioning nail is larger than that of the rod part, the positioning nail is blocked at the rear side of the nail penetrating hole, and the tail end of the positioning nail is provided with a conical protruding edge with the diameter gradually reduced from the head end to the tail end.
6. The insulating sleeve mounting device according to claim 5, wherein: the conical protruding edge is made of elastic materials.
7. The insulating sleeve mounting device according to claim 1, wherein: the left mounting arm (31) and the right mounting arm (32) respectively comprise a transmission rod (302) and a push rod (303); the transmission rod (302) is in transmission connection with the mounting arm driving mechanism (4), and the lower end of the push rod (303) is connected with the upper end of the transmission rod (302); the closing pressing plate (301) is connected to the inner side face of the push rod (303).
8. The insulating sleeve mounting device according to claim 1, wherein: the mounting arm driving mechanism (4) comprises a motor, a rotary connecting shaft (41), a rotary worm (42), a left arm transmission worm wheel (43) and a right arm transmission worm wheel (44);
The motor is connected to one end of the rotary connecting shaft (41) through a coupler (412);
The rotating worm (42) is sleeved and fixedly connected to the rotating connecting shaft (41);
The wheel axle of the left arm transmission worm wheel (43) and the wheel axle of the right arm transmission worm wheel (44) are respectively rotatably arranged on the fixed base (2) and are respectively meshed with two opposite sides of the rotating worm (42);
The lower end of the left side installation arm (31) is synchronously rotatably installed on the left arm transmission worm wheel (43), and the lower end of the right side installation arm (32) is synchronously rotatably installed on the right arm transmission worm wheel (44).
9. A robot comprising the insulating sleeve mounting device of any one of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410122459.2A CN117655695B (en) | 2024-01-30 | 2024-01-30 | Insulating sleeve mounting device and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410122459.2A CN117655695B (en) | 2024-01-30 | 2024-01-30 | Insulating sleeve mounting device and robot |
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| Publication Number | Publication Date |
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| CN117655695A CN117655695A (en) | 2024-03-08 |
| CN117655695B true CN117655695B (en) | 2024-05-28 |
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| CN202410122459.2A Active CN117655695B (en) | 2024-01-30 | 2024-01-30 | Insulating sleeve mounting device and robot |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111993423A (en) * | 2020-08-17 | 2020-11-27 | 北京理工大学 | Modular intelligent assembling system |
| CN116900688A (en) * | 2023-09-06 | 2023-10-20 | 中国铁建电气化局集团北方工程有限公司 | Intelligent wrist arm installation method |
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2024
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| US4273504A (en) * | 1978-05-22 | 1981-06-16 | Nissan Motor Company, Limited | Industrial robot system capable of pressure applied machining operations |
| CN203092545U (en) * | 2013-01-29 | 2013-07-31 | 山东电力集团公司电力科学研究院 | Transformer station live working robot |
| CN110537254A (en) * | 2017-04-20 | 2019-12-03 | 库卡德国有限公司 | For handling the robot gripping apparatus of object, especially container |
| CN107017575A (en) * | 2017-05-24 | 2017-08-04 | 北京送变电公司 | The replacing options of power transmission and transformation system maintenance cart and breaker sleeve pipe |
| CN207696530U (en) * | 2017-10-10 | 2018-08-07 | 国家电网公司 | A kind of robot for high-voltage hot-line work aerial work platform |
| CN107953359A (en) * | 2017-12-23 | 2018-04-24 | 华南理工大学广州学院 | A kind of robot manipulator structure of robot |
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| CN111993423A (en) * | 2020-08-17 | 2020-11-27 | 北京理工大学 | Modular intelligent assembling system |
| CN116900688A (en) * | 2023-09-06 | 2023-10-20 | 中国铁建电气化局集团北方工程有限公司 | Intelligent wrist arm installation method |
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| CN117655695A (en) | 2024-03-08 |
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