CN210029922U - Arrester transfer robot - Google Patents
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- CN210029922U CN210029922U CN201920996071.XU CN201920996071U CN210029922U CN 210029922 U CN210029922 U CN 210029922U CN 201920996071 U CN201920996071 U CN 201920996071U CN 210029922 U CN210029922 U CN 210029922U
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- 238000012546 transfer Methods 0.000 title description 4
- 238000013519 translation Methods 0.000 claims abstract description 97
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 210000000078 claw Anatomy 0.000 claims abstract description 56
- 230000003028 elevating effect Effects 0.000 claims description 11
- 238000012423 maintenance Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of power grid maintenance equipment, in particular to a lightning arrester carrying robot, which comprises a moving device, an arm body device and a clamp device which are connected in sequence, wherein the arm body device comprises a lifting mechanism, a translation mechanism, a rotating mechanism and a telescopic mechanism, and the clamp device is arranged at the moving end of the telescopic mechanism; the clamp support is connected with the moving end of the telescopic mechanism, the clamp support is provided with a first mounting surface and a second mounting surface, the first mounting surface and the second mounting surface are both provided with clamp rails arranged in parallel, and the first side claw and the second side claw can slide along the arrangement direction of the clamp rails. The utility model discloses a mobile device conveniently removes the transport position that needs the arrester with arm body device and fixture device, and arm body device realizes the adjusting position with fixture device further removal, makes fixture device press from both sides and gets the arrester, with the fixed transport of arrester, has improved the efficiency of arrester transport, reduces artifical the input, reduces the personal risk of workman in the arrester work progress.
Description
Technical Field
The utility model relates to a power grid maintenance equipment technical field especially relates to an arrester transfer robot.
Background
In the daily work in the field of power transformation maintenance, high-strength operations such as carrying, dismantling, replacing and the like are often required for some power transformation equipment with hundreds of kilograms. When the maintenance personnel carry out the operation, the maintenance personnel often need to move the cable by the force of several persons (such as replacing a capacitor, transporting an SF6 gas cylinder and the like), or other large tools, namely a crane (such as replacing a GW16 type isolating switch, detaching and hoisting a lightning arrester and the like) which cannot be completed by manpower. When the maintenance operation is carried out, time and labor are consumed, and the personnel safety and the power grid safety risk are higher. For example, a maintenance worker may be injured by improper force during the process of carrying a heavy object, and particularly, when the maintenance worker works in a narrow space such as a high-pressure room, the maintenance worker cannot use a large-sized tool to lift the heavy object, and the risk of personal injury exists. When large-scale equipment is hoisted in an outdoor place with a wide space, the crane operation has the risks of falling objects, insufficient safety distance with an electrified part and the like, a large amount of manpower is consumed for on-site monitoring operation, the operation is slow, the risk coefficient is high, and the use is very inconvenient.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a structure characteristics that combine the arrester presss from both sides and gets the transport, improves arrester maintenance efficiency, reduces an arrester transfer robot of constructor risk.
In order to achieve the above object, the utility model provides a lightning arrester handling robot, which comprises a moving device, an arm body device and a clamp device which are connected in sequence, wherein the arm body device comprises a lifting mechanism, a translation mechanism, a rotating mechanism and a telescopic mechanism, and the clamp device is arranged at the moving end of the telescopic mechanism;
the fixture device comprises a fixture support, a first side claw, a second side claw and a fixture driving unit used for driving the first side claw and the second side claw to move, the fixture support is connected with a moving end of the telescopic mechanism, the fixture support is provided with a first mounting surface and a second mounting surface, the first mounting surface and the second mounting surface are arranged perpendicularly, the first mounting surface and the second mounting surface are both provided with fixture tracks arranged in parallel, the first side claw and the second side claw are clamped and arranged in a manner that the fixture tracks are symmetrically arranged and can be arranged in a sliding manner in the arrangement direction of the fixture tracks.
Optionally, the mobile device includes moving vehicle frame, removal track and supporting leg, the arm body device is installed on moving vehicle frame, moving vehicle frame's both sides are provided with respectively moving vehicle frame removes the track, moving vehicle frame's four directions all are equipped with the supporting leg, the supporting leg supports joint and second support arm including support cylinder, first support joint, first support arm, second, first support joint is articulated with moving vehicle frame, first support joint and second support joint are articulated with the both ends of first support arm respectively, second support joint and second support joint fixed connection, support cylinder one end and first support articulate, the other end supports articulated being used for the drive with the second support joint the second supports the joint and rotates.
Optionally, the lifting mechanism is installed in the mobile device and arranged along the vertical direction, the translation mechanism is slidably arranged in the lifting mechanism, the rotating mechanism is slidably arranged in the translation mechanism and the sliding direction are perpendicular to the vertical direction, the telescopic mechanism is connected to the output end of the rotating mechanism and used for rotating around the vertical direction, and the fixture device is installed at the output end of the telescopic mechanism and the telescopic direction of the telescopic mechanism is perpendicular to the vertical direction and the sliding direction of the rotating mechanism respectively.
Optionally, elevating system includes a plurality of companion ladders, and is a plurality of the companion ladders are sliding connection in proper order, the companion ladders include two ladder poles that the symmetry set up and the connecting rod that is used for connecting two ladder poles, the medial surface and the lateral surface of ladder pole are equipped with interior gyro wheel and outer gyro wheel respectively, the medial surface of ladder pole is followed vertical direction and is offered the gliding lift recess of outer gyro wheel that is used for adjacent ladder pole, fixture device's edge is kept away from to the lateral surface of ladder pole is equipped with the gliding spacing arch of interior gyro wheel that is used for adjacent ladder pole along vertical direction, the slip of spacing arch sets up in the lift recess of the ladder pole of adjacent companion ladders.
Optionally, the connecting rod is provided with a limiting roller, and the limiting roller is arranged on one side of the ladder bar, which faces away from the clamp device.
Optionally, the translation mechanism includes a lifting frame, a translation frame, and a translation driving unit for driving the translation frame to translate relative to the lifting frame, the lifting frame is slidably disposed on the lifting mechanism, the lifting frame is provided with a first translation surface and a second translation surface, the first translation surface and the second translation surface are vertically arranged, the first translation surface and the second translation surface are respectively provided with a translation guide rail arranged in parallel, the translation frame is clamped on the translation guide rail and can slide along the translation guide rail, and the rotating mechanism is mounted on the translation frame.
Optionally, the translation driving unit is installed on the translation frame, the lifting frame is provided with a translation rack, the translation rack is parallel to the translation guide rail, and the output end of the translation driving unit is connected with a translation gear engaged with the translation rack.
Optionally, the first translation plane is provided with a position sensor for detecting the position of the translation frame on the translation guide rail.
Optionally, one side that first limit claw and second limit claw are relative each other all is equipped with a plurality of quantity and is used for the cardboard of the recess transport arrester of card income arrester, a plurality of quantity the cardboard is in the back of first limit claw or the one end of second limit claw has seted up the draw-in groove.
Optionally, the first mounting surface is provided with an anti-collision strip.
Implement the utility model discloses an embodiment has following technological effect:
the utility model discloses a set up mobile device and arm body device, wherein, arm body device includes elevating system, translation mechanism, rotary mechanism and telescopic machanism, on the one hand, make the robot can remove by oneself through the mobile device, need not the manual work and carry, improve the operating efficiency and be applicable to more operation environment, on the other hand, through elevating system, translation mechanism, rotary mechanism and telescopic machanism realize the multi-direction movement of fixture device, and elevating system can go up and down in the vertical direction, and the crane can only incline and go up and down, the risk of colliding the electric wire netting facility has been reduced, satisfy and aim at the arrester when carrying the arrester and carry out the clamp and get the transport, it is more flexible to use, improve the security of transport;
in addition, the utility model discloses the anchor clamps device that sets up includes the anchor clamps support, first limit claw, the second limit claw and be used for driving the anchor clamps drive unit that first limit claw and second limit claw removed, during the use, the anchor clamps drive unit drives first limit claw and second limit claw and presss from both sides the arrester in the relative slip clamp on the anchor clamps track, the anchor clamps track sets up respectively in first installation face and second installation face, and first installation face and second installation face set up perpendicularly, the anchor clamps track on the first installation face bears the gravity that first limit claw and second limit claw produced, the anchor clamps support on the second installation face restricts the rotational degree of freedom of first limit claw and second limit claw in the horizontal direction, further improve the stability after first limit claw and second limit claw slide on the anchor clamps track and press from both sides the arrester;
the utility model discloses can realize the transport in arrester high altitude, improve the efficiency that the arrester was dismantled and was installed, reduce artifical the input, reduce the risk that operating personnel was under construction.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
The structure, ratio, size and the like shown in the drawings of the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention does not have the substantial significance in the technology, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy which can be produced by the present invention and the achievable purpose.
Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a clamp apparatus according to a preferred embodiment of the present invention;
FIG. 3 is a schematic view of another perspective of the clamping device in a preferred embodiment of the present invention;
fig. 4 is a schematic structural diagram of the lifting mechanism in the preferred embodiment of the present invention;
fig. 5 is a schematic structural diagram of the translation mechanism in the preferred embodiment of the present invention.
Description of reference numerals:
1. the device comprises a moving device, 11, a moving frame, 12, a moving crawler, 13, support legs, 131, support cylinders, 132, first support joints, 133, first support arms, 134, second support joints, 135 and second support arms;
2. an arm body device;
3. the fixture device comprises a fixture device 31, a fixture support 32, a first side claw 33, a second side claw 34, a fixture driving unit 35, a first mounting surface 36, a second mounting surface 37, a fixture track 38, a clamping plate 381, a clamping groove 39 and an anti-collision strip;
4. the lifting mechanism 41, the lifting ladder 42, the ladder rod 43, the connecting rod 44, the inner roller 45, the outer roller 46, the lifting groove 47, the limiting protrusion 48 and the limiting roller;
5. the device comprises a translation mechanism 51, a lifting frame 52, a translation frame 53, a translation driving unit 54, a first translation plane 55, a second translation plane 56, a translation guide rail 57, a translation rack 58, a translation gear 59 and a position sensor;
6. a rotation mechanism;
7. a telescoping mechanism;
8. an arrester.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention, and obviously, the embodiments described below are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
Referring to fig. 1 to 5, the embodiment provides a lightning arrester handling robot, including a moving device 1, an arm device 2 and a clamp device 3 connected in sequence, where the arm device 2 includes a lifting mechanism 4, a translation mechanism 5, a rotating mechanism 6 and a telescoping mechanism 7, and the clamp device 3 is installed at a moving end of the telescoping mechanism 7;
referring to fig. 2 and 3, the clamp device 3 includes a clamp bracket 31, a first side claw 32, a second side claw 33, and a clamp driving unit 34 for driving the first side claw 32 and the second side claw 33 to move, the clamp bracket 31 is connected to a moving end of the telescopic mechanism 7, the clamp bracket 31 is provided with a first mounting surface 35 and a second mounting surface 36, the first mounting surface 35 and the second mounting surface 36 are arranged perpendicularly, the first mounting surface 35 and the second mounting surface 36 are each provided with a clamp rail 37 arranged in parallel, and the first side claw 32 and the second side claw 33 are clamped on the clamp rail 37 and are symmetrically arranged and can slide along the arrangement direction of the clamp rail 37. The utility model discloses a set up mobile device 1 and arm body device 2, wherein, arm body device 2 includes elevating system 4, translation mechanism 5, rotary mechanism 6 and telescopic machanism 7, on the one hand, make the robot can remove by oneself through mobile device 1, need not the manual work and carry, improve the operating efficiency and be applicable to more operation environment, on the other hand, realize the multi-direction of fixture device 3 through elevating system 4, translation mechanism 5, rotary mechanism 6 and telescopic machanism 7 and move, and elevating system 4 can rise in the vertical direction, and the crane can only incline and go up and down, the risk of colliding the electric wire netting facility has been reduced, satisfy and aim at arrester 8 and press from both sides when carrying arrester 8 and get the transport, it is more flexible to use, improve the security of transport;
further, combining the structural feature of arrester 8, first limit claw 32 and second limit claw 33 one side relative to each other all is equipped with a plurality of quantity and is used for going into the cardboard 38 of recess transport arrester 8 of arrester 8, and draw-in groove 381 has been seted up to the one end that a plurality of quantity cardboard 38 is dorsad first limit claw 32 or second limit claw 33, makes draw-in groove 381 of cardboard 38 go into in the recess of arrester 8, improves the reliability and the stability of transport.
Optionally, the first mounting surface 35 is provided with an anti-collision strip 39, so that the lightning arrester 8 is prevented from being in rigid contact with the first mounting surface 35 during transportation, impact generated by the lightning arrester 8 is buffered through the anti-collision strip 39, and the safety of the lightning arrester 8 during transportation is improved.
Further, the clamping device 3 provided by the present invention comprises a clamping bracket 31, a first side claw 32, a second side claw 33, and a clamping driving unit 34 for driving the first side claw 32 and the second side claw 33 to move, when in use, the gripper driving unit 34 drives the first side gripper 32 and the second side gripper 33 to slide relatively on the gripper rails 37 to grip the arrester 8, the gripper rails 37 are respectively provided on the first mounting surface 35 and the second mounting surface 36, the first mounting surface 35 and the second mounting surface 36 are vertically arranged, the clamp rail 37 on the first mounting surface 35 bears the gravity generated by the first side claw 32 and the second side claw 33, the clamp bracket 31 on the second mounting surface 36 limits the rotation freedom degree of the first side claw 32 and the second side claw 33 in the horizontal direction, and the stability of the first side claw 32 and the second side claw 33 after sliding on the clamp rail 37 and clamping the lightning arrester 8 is further improved;
the utility model discloses can realize 8 high altitude transport of arrester, improve the efficiency that 8 dismantles of arrester and install, reduce artifical the input, reduce the risk that operating personnel was under construction.
Referring to fig. 1, in the present embodiment, a moving device 1 includes a moving frame 11, moving tracks 12 and supporting legs 13, an arm device 2 is mounted on the moving frame 11, the moving tracks 12 are respectively disposed on two sides of the moving frame 11, the moving frame 11 moves through the moving tracks 12, and is suitable for use in more terrains, in addition, the supporting legs 13 are disposed on four directions of the moving frame 11, after a construction position of the moving frame 11 is selected, the supporting legs 13 support the moving frame 11, so as to increase the height of the moving frame 11, so that the moving frame 11 is stable in a construction process, and improve the safety of a carrying process.
Specifically, the support leg 13 includes a support cylinder 131, a first support joint 132, a first support arm 133, a second support joint 134 and a second support arm 135, the first support joint 132 is hinged to the moving frame 11, the first support joint 132 and the second support joint 134 are hinged to two ends of the first support arm 133 respectively, the second support arm 135 is fixedly connected to the second support joint 134, one end of the support cylinder 131 is connected to the first support joint 132, and the other end of the support cylinder 131 is hinged to the second support joint 134 for driving the second support joint 134 to rotate, and the second support joint 134 driven by the support cylinder 131 is used for folding and unfolding the second support arm 135 and the first support arm 133, so that the moving and using are facilitated.
In the present embodiment, the telescopic mechanism 7 realizes the extending operation of the clamping device 3 in the horizontal direction, and it is understood that the skilled person can select the telescopic mechanism 7 in the prior art according to the operation, and is not limited to the telescopic mechanism 7 in the present embodiment.
Further, elevating system 4 installs in mobile device 1 and arranges along vertical direction, translation mechanism 5 slides and sets up in elevating system 4, rotary mechanism 6 slides and sets up in translation mechanism 5 and the direction of sliding is perpendicular with vertical direction, telescopic machanism 7 is connected in rotary mechanism 6's output and is used for around vertical direction rotatory, fixture device 3 installs in telescopic machanism 7's output and telescopic machanism 7's flexible direction respectively with vertical direction and rotary mechanism 6 direction of sliding perpendicular, realize fixture device 3 at the X axle, Y axle and Z axle direction remove and around Z axle direction pivoted degree of freedom, it is more nimble to remove.
Referring to fig. 4, the lifting mechanism 4 of this embodiment includes a plurality of elevators 41, the plurality of elevators 41 are sequentially connected in a sliding manner, each elevator 41 includes two ladder bars 42 symmetrically disposed and a connecting rod 43 for connecting the two ladder bars 42, inner rollers 44 and outer rollers 45 are respectively disposed on inner sides and outer sides of the ladder bars 42, a lifting groove 46 for sliding an outer roller 45 of an adjacent ladder bar 42 is vertically disposed on an inner side of each ladder bar 42, the lifting groove 46 limits a rolling direction of the outer roller 45, so as to improve lifting stability, and facilitate the outer roller 45 to roll on a sidewall of the lifting groove 46, resistance of lifting of the elevator 41 is reduced by rolling, a limit protrusion 47 for sliding the inner roller 44 of the adjacent ladder bar 42 is vertically disposed on an edge of the outer side of each ladder bar 42 away from the fixture device 3, the limit protrusion 47 is slidably disposed in the lifting groove 46 of the ladder bar 42 of the adjacent elevator 41, because one side of the ladder bar 42, which is provided with the clamp device 3, is stressed, the ladder bar 42 is subjected to a steering force rotating towards one side of the clamp device 3, therefore, a limiting protrusion 47 is arranged on the edge, which is far away from the clamp device 3, of the outer side surface of the ladder bar 42 along the vertical direction, when the ladder bar 42 is subjected to the steering force rotating towards one side of the clamp device 3, the limiting protrusion 47 is in contact with the inner roller 44, the inner roller 44 and the lifting groove 46 simultaneously limit the rotation of the adjacent ladder bar 42, and simultaneously, the inner roller 44 rolls on the side wall of the limiting protrusion 47.
Further, the connecting rod 43 is provided with a limiting roller 48, the limiting roller 48 is disposed on one side of the ladder bar 42 facing away from the fixture device 3, when the ladder bar 42 rotates by a large angle, the limiting roller 48 of the adjacent elevator 41 contacts with the ladder bar 42 to limit the rotation of the ladder bar 42, and meanwhile, the limiting roller 48 rolls on the plane of the ladder bar 42 to reduce the influence on the lifting of the ladder bar 42.
Referring to fig. 5, the translation mechanism 5 of the present embodiment includes a lifting frame 51, a translation frame 52, and a translation driving unit 53 for driving the translation frame 52 to translate relative to the lifting frame 51, the lifting frame 51 is slidably disposed on the lifting mechanism 4, the lifting frame 51 is provided with a first translation surface 54 and a second translation surface 55, the first translation surface 54 is perpendicular to the second translation surface 55, the first translation surface 54 and the second translation surface 55 are both provided with translation guide rails 56 disposed in parallel, the translation frame 52 is clamped on the translation guide rails 56 and can slide along the translation guide rails 56, the rotating device is mounted on the translation frame 52, when the translation frame 52 is subjected to a steering force applied by the rotating mechanism 6, the translation guide 56 on the first translation plane 54 supports the rotation mechanism 6 in the vertical direction, and the translation guide 56 on the second translation plane 55 restricts the rotation of the rotation mechanism 6 in the direction of the steering force applied by the clamp device 3.
Further, the translation driving unit 53 is installed on the translation frame 52, the lifting frame 51 is provided with a translation rack 57, the translation rack 57 is parallel to the translation guide rail 56, the output end of the translation driving unit 53 is connected with a translation gear 58 engaged with the translation rack 57, and the translation gear 58 and the translation rack 57 are in transmission, so that the lightning arrester moving device has the characteristics of large transmission power, long service life, stable operation and high reliability, and is favorable for improving the stability of the lightning arrester 8 in the moving process.
Optionally, the first translation plane 54 is provided with a position sensor 59 for detecting the position of the translation frame 52 on the translation guide rail 56, and the position of the translation frame 52 is fed back through the position sensor 59, so that the movement of the translation frame 52 is conveniently controlled, and the accuracy of the transportation is improved.
To sum up, the utility model discloses a mobile device 1 conveniently removes arm body device 2 and fixture device 3 to the transport position that needs arrester 8, and arm body device 2 realizes the adjusting position with fixture device 3 further removal, makes fixture device 3 clamp get arrester 8, with the fixed transport of arrester 8, has improved the efficiency of arrester 8 transport, reduces artifical the input, reduces the personal risk of workman in arrester 8 work progress.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (10)
1. The arrester carrying robot is characterized by comprising a moving device, an arm body device and a clamp device which are sequentially connected, wherein the arm body device comprises a lifting mechanism, a translation mechanism, a rotating mechanism and a telescopic mechanism, and the clamp device is arranged at a moving end of the telescopic mechanism;
the fixture device comprises a fixture support, a first side claw, a second side claw and a fixture driving unit used for driving the first side claw and the second side claw to move, the fixture support is connected with a moving end of the telescopic mechanism, the fixture support is provided with a first mounting surface and a second mounting surface, the first mounting surface and the second mounting surface are arranged perpendicularly, the first mounting surface and the second mounting surface are both provided with fixture tracks arranged in parallel, the first side claw and the second side claw are clamped and arranged in a manner that the fixture tracks are symmetrically arranged and can be arranged in a sliding manner in the arrangement direction of the fixture tracks.
2. The arrester carrying robot as claimed in claim 1, wherein the moving device includes a moving frame, a moving track and a support leg, the arm body device is mounted on the moving frame, the moving track is disposed on each of two sides of the moving frame, the support leg is disposed on each of the four directions of the moving frame, the support leg includes a support cylinder, a first support joint, a first support arm, a second support joint and a second support arm, the first support joint is hinged to the moving frame, the first support joint and the second support joint are hinged to two ends of the first support arm, the second support arm is fixedly connected to the second support joint, one end of the support cylinder is connected to the first support joint, and the other end of the support cylinder is hinged to the second support joint for driving the second support joint to rotate.
3. The arrester handling robot according to claim 1, wherein the elevating mechanism is mounted to the moving device and disposed in a vertical direction, the translating mechanism is slidably disposed on the elevating mechanism, the rotating mechanism is slidably disposed on the translating mechanism with a sliding direction perpendicular to the vertical direction, the telescoping mechanism is connected to the output end of the rotating mechanism for rotation about the vertical direction, the clamping device is mounted to the output end of the telescoping mechanism with a telescoping direction perpendicular to the vertical direction and the sliding direction of the rotating mechanism, respectively.
4. The arrester carrying robot as claimed in any one of claims 1 or 3, wherein the lifting mechanism comprises a plurality of elevators, the elevators are sequentially connected in a sliding manner, each elevator comprises two symmetrically arranged elevator rods and a connecting rod for connecting the two elevator rods, inner rollers and outer rollers are respectively arranged on inner sides and outer sides of the elevator rods, lifting grooves for sliding outer rollers of adjacent elevator rods are formed in the inner sides of the elevator rods in the vertical direction, limiting protrusions for sliding inner rollers of adjacent elevator rods are arranged on edges, away from the fixture device, of the outer sides of the elevator rods in the vertical direction, and the limiting protrusions are slidably arranged in the lifting grooves of the elevator rods of the adjacent elevators.
5. The arrester handling robot according to claim 4, wherein the connecting rod is provided with a limit roller provided on a side of the ladder bar facing away from the jig device.
6. The arrester handling robot according to any one of claims 1 or 3, wherein the translation mechanism includes a lifting frame, a translation frame, and a translation driving unit for driving the translation frame to translate relative to the lifting frame, the lifting frame is slidably disposed on the lifting mechanism, the lifting frame is provided with a first translation plane and a second translation plane, the first translation plane and the second translation plane are vertically disposed, the first translation plane and the second translation plane are respectively provided with a translation guide rail disposed in parallel, the translation frame is clamped on the translation guide rail and can slide along the translation guide rail, and the rotating mechanism is mounted on the translation frame.
7. The arrester handling robot according to claim 6, wherein the translational drive unit is mounted to a translational rack, the lifting rack is provided with a translational rack, the translational rack is arranged in parallel with the translational guide rail, and an output end of the translational drive unit is connected with a translational gear for meshing with the translational rack.
8. The arrester handling robot of claim 6, wherein the first translating surface is provided with a position sensor for detecting a position of the translating carriage on the translating rail.
9. The arrester handling robot according to any one of claims 1 and 3, wherein a plurality of clamping plates for clamping the arrester in the groove are arranged on the opposite sides of the first side claw and the second side claw, and a plurality of clamping grooves are formed in one end of each clamping plate, which faces away from the first side claw or the second side claw, for carrying the arrester.
10. The arrester handling robot according to claim 1, wherein the first mounting surface is provided with a bumper strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920996071.XU CN210029922U (en) | 2019-06-28 | 2019-06-28 | Arrester transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920996071.XU CN210029922U (en) | 2019-06-28 | 2019-06-28 | Arrester transfer robot |
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| Publication Number | Publication Date |
|---|---|
| CN210029922U true CN210029922U (en) | 2020-02-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920996071.XU Active CN210029922U (en) | 2019-06-28 | 2019-06-28 | Arrester transfer robot |
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| CN (1) | CN210029922U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171787A (en) * | 2019-06-28 | 2019-08-27 | 广东电网有限责任公司 | A kind of arrester transfer robot |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
| CN113400266A (en) * | 2021-06-22 | 2021-09-17 | 中国长江电力股份有限公司 | Lifting and translating device for maintenance of water lifting pipe and operation method thereof |
-
2019
- 2019-06-28 CN CN201920996071.XU patent/CN210029922U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171787A (en) * | 2019-06-28 | 2019-08-27 | 广东电网有限责任公司 | A kind of arrester transfer robot |
| CN113236947A (en) * | 2021-05-08 | 2021-08-10 | 国网新疆电力有限公司喀什供电公司 | Inspection device for transformer substation |
| CN113400266A (en) * | 2021-06-22 | 2021-09-17 | 中国长江电力股份有限公司 | Lifting and translating device for maintenance of water lifting pipe and operation method thereof |
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