Live tool holder

Abstract

The application discloses a live operating tool fixing device, and relates to the technical field of high-voltage transmission line maintenance equipment, which comprises a mounting mechanism, a transmission mechanism arranged in the mounting mechanism and in transmission connection with the mounting mechanism, and an executing mechanism arranged on the mounting mechanism and in transmission connection with the transmission mechanism, wherein the mounting mechanism comprises a linkage unit and a clamping unit for mounting the live operating tool fixing device on an insulating extension arm, the linkage unit is in transmission connection with the transmission mechanism, and when the live operating tool fixing device is mounted on the insulating extension arm, the linkage unit can transmit the torque generated by the insulating extension arm to the transmission mechanism and the executing mechanism. The live operating tool fixing device can transmit power to a terminal operating mechanism, so that the posture of the operating tool can be adjusted in a local range.

Description

Technical Field

[0001] This invention relates to the field of high-voltage transmission line maintenance equipment technology, and in particular to a live-line operation tool fixing device. Background Technology

[0002] When a high-voltage live-line working robot is performing live-line work, the manipulator at the end of the robotic arm needs to reach different designated positions according to different operational requirements. In actual operation, controlling the manipulator at the end of the robotic arm to reach a specific working position requires coordination and cooperation among the axes of the six-degree-of-freedom robotic arm. When the end of the robotic arm is far from the work object, the robot system needs to find an optimal motion path based on the target working position and control the axes of the robotic arm to move along the planned path. However, when the end of the robotic arm is very close to the working position, especially when the posture of the manipulator needs to be adjusted within a local area, the multi-axis coordinated posture adjustment of the robotic arm is often inefficient. Therefore, it is necessary to design an end-effector wrist joint tool fixing device that can adjust the posture of the wrist joint within a local area, controlling the end-effector to adjust its posture within a local area at the working point. Summary of the Invention

[0003] The purpose of this invention is to provide a live-line tool fixing device that can transmit power to the end effector mechanism so as to adjust the posture of the operating tool within a local range.

[0004] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0005] This invention provides a live-operated tool fixing device, which can be mounted on an insulated extension arm. The live-operated tool fixing device includes:

[0006] Installation organization;

[0007] A transmission mechanism is installed within the mounting mechanism, and the transmission mechanism is drivingly connected to the mounting mechanism;

[0008] An actuator is mounted on the mounting mechanism, and the actuator is connected to the transmission mechanism in a driving manner.

[0009] The installation mechanism includes a linkage unit and a snap-fit ​​unit for mounting the live-operated tool fixing device on the insulating extension arm. The linkage unit is connected to the transmission mechanism. When the live-operated tool fixing device is mounted on the insulating extension arm, the linkage unit can transmit the torque generated by the insulating extension arm to the transmission mechanism and the actuator.

[0010] In a preferred embodiment, the snap-fit ​​unit includes a snap-fit ​​disc, a linkage hole is formed in the radial center of the snap-fit ​​disc, and the linkage unit is rotatably connected in the linkage hole and is connected to the transmission mechanism in a transmission manner.

[0011] The card receiving tray has multiple first card interfaces, which are evenly distributed along the circumference of the card receiving tray. Each first card interface includes:

[0012] entrance part;

[0013] The fitting portion extends circumferentially from the inlet portion along the card plate, and the width of the fitting portion is smaller than the inner diameter of the inlet portion.

[0014] In a preferred embodiment, the live-operated tool fixing device has at least a first position and a second position relative to the insulating extension arm;

[0015] The insulating extension arm has a plurality of first snap-fit ​​members, the same number as the first snap-fit ​​interface. Each first snap-fit ​​member includes a snap-fit ​​post and a snap-fit ​​disc disposed on the snap-fit ​​post. The outer diameter of the snap-fit ​​disc is larger than the outer diameter of the snap-fit ​​post, and the width of the snap-fit ​​portion is smaller than the outer diameter of the snap-fit ​​disc and larger than the outer diameter of the snap-fit ​​post.

[0016] When the live-operated tool fixing device is in the first position, the fitting disc can extend into the live-operated tool fixing device through the inlet. When the live-operated tool fixing device is in the second position, the fitting post can pass through the fitting part, and the fitting disc can be fitted into the live-operated tool fixing device through the fitting part.

[0017] In a preferred embodiment, the card tray also has a plurality of second card interfaces in the same number as the first card interfaces. The plurality of second card interfaces are evenly distributed along the circumference of the card tray, and one second card interface is provided between every two adjacent first card interfaces.

[0018] In a preferred embodiment, the insulating extension arm has a plurality of second latching members, the same number as the second latching interface, each second latching member including an elastic member and a stop pin disposed on the elastic member, wherein the inner diameter of the second latching interface is larger than the outer diameter of the stop pin;

[0019] When the live-operated tool fixing device is in the first position, the elastic element is compressed and the stop pin abuts against the outer wall of the live-operated tool fixing device. When the live-operated tool fixing device is in the second position, the stop pin can be pushed by the elastic element and extend into the live-operated tool fixing device through the second locking interface.

[0020] In a preferred embodiment, the linkage unit includes a linkage shaft, which is rotatably connected within the linkage hole and is connected in a transmission manner with the transmission mechanism.

[0021] The insulating extension arm has a rotating component that can be driven to the linkage shaft. When the live operating tool fixing device is in the first position or the second position, the rotating component extends into the live operating tool fixing device and is driven to the linkage shaft.

[0022] In a preferred embodiment, the mounting mechanism further includes a fixing unit, the snap-fit ​​unit is fixedly connected to the fixing unit, the fixing unit has a transmission hole inside, and the fixing unit has a rotating opening on its side wall that communicates with the transmission hole. The actuator is rotatably disposed in the rotating opening, and the transmission hole and the linkage hole are coaxially arranged so that the transmission mechanism is rotatably disposed in the transmission hole and is connected to the linkage shaft for transmission.

[0023] In a preferred embodiment, the transmission mechanism includes a transmission shaft rotatably connected within the transmission hole and drivingly connected to the linkage shaft to obtain torque transmitted from the insulated extension arm. The outer wall of the transmission shaft has a threaded groove for transmitting power.

[0024] In a preferred embodiment, the actuator includes:

[0025] A driving component, which is rotatably connected to the inner wall of the rotating opening;

[0026] An actuator extends outward from the drive member and passes through the rotation port;

[0027] The outer wall of the drive member is formed with gear teeth for transmitting power. The gear teeth are engaged in the threaded groove of the transmission shaft so that the torque of the transmission shaft can be transmitted to the drive member.

[0028] In a preferred embodiment, the actuator is capable of rotating through a preset angle, which is 170 to 180 degrees.

[0029] The features and advantages of this invention are:

[0030] The installation mechanism allows for the rapid installation and securing of the live-line operating tool fixing device. The first locking member of the insulating extension arm extends into the live-line operating tool fixing device through the inlet of the first locking interface. At this time, the stop pin of the second locking member abuts against the outer wall of the live-line operating tool fixing device, and the elastic element is compressed. After rotating the live-line operating tool fixing device from the first position to the second position, the first locking member extends into the fitting part of the first locking interface. Due to the small width of the fitting part, the first locking member is restricted by the edge of the fitting part. Simultaneously, the second locking interface rotates to the stop pin of the second locking member, causing the stop pin to spring into the second locking interface under the action of the elastic element, thereby locking the live-line operating tool fixing device and preventing further rotation. This achieves rapid installation and locking between the insulating extension arm and the live-line operating tool fixing device.

[0031] When the live-line tool fixing device is installed on the insulated extension arm, the linkage shaft of the live-line tool fixing device is engaged with the rotating part of the insulated extension arm, so that the torque generated by the insulated extension arm can be transmitted to the actuator through the transmission mechanism to drive the working parts on the live-line tool fixing device, such as grippers and wire cutters, to complete the corresponding work. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 The diagram shown is a schematic representation of the overall structure of the live-operated tool fixing device of the present invention.

[0034] Figure 2 The diagram shown is a top view of the mounting mechanism of the live-operated tool fixing device of the present invention.

[0035] Figure 3 The diagram shown is a schematic of the mounting mechanism for the insulating extension arm of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "installed," "connected," and "connected" should be interpreted broadly. For example, it can refer to a mechanical connection or an electrical connection, or it can refer to the internal connection of two elements. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0037] Please see Figures 1 to 3 As shown, this embodiment of the invention provides a live-operated tool fixing device, which can be installed on an insulating extension arm A. The live-operated tool fixing device includes: a mounting mechanism 1; a transmission mechanism 2 disposed within the mounting mechanism 1, the transmission mechanism 2 being drive-connected to the mounting mechanism 1; and an execution mechanism 3 disposed on the mounting mechanism 1, the execution mechanism 3 being drive-connected to the transmission mechanism 2. The mounting mechanism 1 includes a linkage unit 11 and a snap-fit ​​unit 12 for mounting the live-operated tool fixing device on the insulating extension arm A. The linkage unit 11 is drive-connected to the transmission mechanism 2. When the live-operated tool fixing device is mounted on the insulating extension arm A, the linkage unit 11 can transmit the torque generated by the insulating extension arm A to the transmission mechanism 2 and the execution mechanism 3.

[0038] To further illustrate the live-operated tool fixing device of the present invention, its connection relationship and size limitations are further described below, wherein:

[0039] The snap-fit ​​unit 12 includes a snap-fit ​​disc, and a linkage hole 123 is formed in the radial center of the snap-fit ​​disc. The linkage unit 11 is rotatably connected in the linkage hole 123 and is connected to the transmission mechanism 2 in a transmission manner. The snap-fit ​​disc has a plurality of first snap-fit ​​interfaces 121, which are evenly distributed along the circumference of the snap-fit ​​disc. The first snap-fit ​​interface 121 includes: an inlet portion 1211; and a fitting portion 1212 extending from the inlet portion 1211 along the circumference of the snap-fit ​​disc. The width of the fitting portion 1212 is smaller than the inner diameter of the inlet portion 1211.

[0040] The live-operated tool fixing device has at least a first position and a second position relative to the insulating extension arm A; the insulating extension arm A has a plurality of first latching members 41, the same number as the first latching interface 121. Each first latching member 41 includes a locking post and a locking disc disposed on the locking post. The outer diameter of the locking disc is larger than the outer diameter of the locking post. The width of the locking portion 1212 is smaller than the outer diameter of the locking disc and larger than the outer diameter of the locking post. When the live-operated tool fixing device is in the first position, the locking disc can extend into the live-operated tool fixing device through the inlet portion 1211. When the live-operated tool fixing device is in the second position, the locking post can pass through the locking portion 1212, and the locking disc can be fitted into the live-operated tool fixing device through the locking portion 1212.

[0041] The card tray also has a plurality of second card interfaces 122, the same number as the first card interface 121. The plurality of second card interfaces 122 are evenly distributed along the circumference of the card tray, and a second card interface 122 is provided between every two adjacent first card interfaces 121.

[0042] The insulating extension arm A has a plurality of second latching members 42, the same number as the second latching interface 122. Each second latching member 42 includes an elastic member and a stop pin disposed on the elastic member. The inner diameter of the second latching interface 122 is larger than the outer diameter of the stop pin. When the live-operated tool fixing device is in the first position, the elastic member is compressed and the stop pin abuts against the outer wall of the live-operated tool fixing device. When the live-operated tool fixing device is in the second position, the stop pin can be pushed by the elastic member and extend into the live-operated tool fixing device through the second latching interface 122.

[0043] The linkage unit 11 includes a linkage shaft 111, which is rotatably connected in the linkage hole 123 and is connected to the transmission mechanism 2. The insulating extension arm A has a rotating component that is connected to the linkage shaft 111. When the live operating tool fixing device is in the first position or the second position, the rotating component extends into the live operating tool fixing device and is connected to the linkage shaft 111.

[0044] The mounting mechanism 1 also includes a fixing unit 13, and a snap-fit ​​unit 12 is fixedly connected to the fixing unit 13. A transmission hole 131 is formed inside the fixing unit 13, and a rotation port 132 communicating with the transmission hole 131 is formed on the side wall of the fixing unit 13. The actuator 3 is rotatably disposed in the rotation port 132. The transmission hole 131 and the linkage hole 123 are coaxially arranged so that the transmission mechanism 2 is rotatably disposed in the transmission hole 131 and is connected to the linkage shaft 111 for transmission.

[0045] The transmission mechanism 2 includes a transmission shaft 21, which is rotatably connected in the transmission hole 131 and is connected to the linkage shaft 111 to obtain the torque transmitted by the self-insulated extension arm A. The outer wall of the transmission shaft 21 has a threaded groove for transmitting power.

[0046] The actuator 3 includes: a drive member 31, which is rotatably connected to the inner wall of the rotation port 132; and an actuator 32, which extends outward from the drive member 31 and passes through the rotation port 132. The outer wall of the drive member 31 is formed with gear teeth for transmitting power, which are engaged in the threaded groove of the transmission shaft 21 so that the torque of the transmission shaft 21 can be transmitted to the drive member 31.

[0047] The actuator 32 can rotate through a preset angle, which is 170 to 180 degrees. Specifically, the range of angles that the actuator 32 can rotate is the same as the range of the gear teeth of the drive member 31.

[0048] Based on the above structural description, the live-operated tool fixing device of the present invention has the following beneficial effects:

[0049] The installation mechanism 1 enables the rapid installation and fixation of the live-line operating tool fixing device. The first locking member 41 of the insulating extension arm A can first extend into the live-line operating tool fixing device through the inlet 1211 of the first locking interface 121. At this time, the stop pin of the second locking member 42 abuts against the outer wall of the live-line operating tool fixing device, and the elastic element is compressed. After rotating the live-line operating tool fixing device from the first position to the second position, the first locking member 41 extends into the fitting portion 1212 of the first locking interface 121. Due to the small width of the fitting portion 1212, the first locking member 41 is restricted by the edge of the fitting portion 1212. Simultaneously, the second locking interface 122 rotates to the stop pin of the second locking member 42, causing the stop pin to spring into the second locking interface 122 under the action of the elastic element, thereby locking the live-line operating tool fixing device and preventing further rotation. This achieves rapid installation and locking between the insulating extension arm A and the live-line operating tool fixing device.

[0050] When the live-line tool fixing device is installed on the insulating extension arm A, the linkage shaft 111 of the live-line tool fixing device is engaged with the rotating part of the insulating extension arm A, so that the torque generated by the insulating extension arm A can be transmitted to the actuator 3 through the transmission mechanism 2 to drive the working parts on the live-line tool fixing device, such as grippers, wire cutters, etc., to complete the corresponding work.

[0051] The above are merely embodiments of the present invention. Those skilled in the art can make various modifications or variations to the embodiments of the present invention based on the content disclosed in the application documents without departing from the spirit and scope of the present invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

Claims

1. A fixing device for live-operated tools, which can be mounted on an insulated extension arm, characterized in that, The live-operated tool fixing device includes: Installation organization; A transmission mechanism is installed within the mounting mechanism, and the transmission mechanism is drivingly connected to the mounting mechanism; An actuator is mounted on the mounting mechanism, and the actuator is connected to the transmission mechanism in a driving manner. The installation mechanism includes a linkage unit and a snap-fit ​​unit for mounting the live-operated tool fixing device on the insulating extension arm. The linkage unit is connected to the transmission mechanism. When the live-operated tool fixing device is mounted on the insulating extension arm, the linkage unit can transmit the torque generated by the insulating extension arm to the transmission mechanism and the actuator. The snap-fit ​​unit includes a snap-fit ​​disc, and a linkage hole is formed in the radial center of the snap-fit ​​disc. The linkage unit is rotatably connected in the linkage hole and is connected to the transmission mechanism for transmission. The card receiving tray has a plurality of first card interfaces, which are evenly distributed along the circumference of the card receiving tray. Each first card interface includes: an inlet portion; and a fitting portion extending from the inlet portion along the circumference of the card receiving tray, wherein the width of the fitting portion is smaller than the inner diameter of the inlet portion. The live-operated tool fixing device has at least a first position and a second position relative to the insulating extension arm; The insulating extension arm has a plurality of first snap-fit ​​members, the same number as the first snap-fit ​​interface. Each first snap-fit ​​member includes a snap-fit ​​post and a snap-fit ​​disc disposed on the snap-fit ​​post. The outer diameter of the snap-fit ​​disc is larger than the outer diameter of the snap-fit ​​post, and the width of the snap-fit ​​portion is smaller than the outer diameter of the snap-fit ​​disc and larger than the outer diameter of the snap-fit ​​post. When the live-operated tool fixing device is in the first position, the fitting disc can extend into the live-operated tool fixing device through the inlet. When the live-operated tool fixing device is in the second position, the fitting post can pass through the fitting part, and the fitting disc can be fitted into the live-operated tool fixing device through the fitting part.

2. The live-operated tool fixing device as described in claim 1, characterized in that, The card tray also has a plurality of second card interfaces in the same number as the first card interfaces. The plurality of second card interfaces are evenly distributed along the circumference of the card tray, and one second card interface is provided between every two adjacent first card interfaces.

3. The live-operated tool fixing device as described in claim 2, characterized in that, The insulating extension arm has a plurality of second latching members, the same number as the second latching interface. Each second latching member includes an elastic element and a stop pin disposed on the elastic element. The inner diameter of the second latching interface is larger than the outer diameter of the stop pin. When the live-operated tool fixing device is in the first position, the elastic element is compressed and the stop pin abuts against the outer wall of the live-operated tool fixing device. When the live-operated tool fixing device is in the second position, the stop pin can be pushed by the elastic element and extend into the live-operated tool fixing device through the second locking interface.

4. The live-operated tool fixing device as described in claim 3, characterized in that, The linkage unit includes a linkage shaft, which is rotatably connected in the linkage hole and is connected to the transmission mechanism for transmission. The insulating extension arm has a rotating component that can be driven to the linkage shaft. When the live operating tool fixing device is in the first position or the second position, the rotating component extends into the live operating tool fixing device and is driven to the linkage shaft.

5. The live-operated tool fixing device as described in claim 4, characterized in that, The installation mechanism further includes a fixing unit, and the snap-fit ​​unit is fixedly connected to the fixing unit. The fixing unit has a transmission hole inside, and a rotating port connected to the transmission hole is formed on the side wall of the fixing unit. The actuator is rotatably disposed in the rotating port. The transmission hole and the linkage hole are coaxially arranged so that the transmission mechanism is rotatably disposed in the transmission hole and is connected to the linkage shaft for transmission.

6. The live-operated tool fixing device as described in claim 5, characterized in that, The transmission mechanism includes a transmission shaft, which is rotatably connected in the transmission hole and is connected to the linkage shaft to obtain torque transmitted from the insulated extension arm. The outer wall of the transmission shaft has a threaded groove for transmitting power.

7. The live-operated tool fixing device as described in claim 6, characterized in that, The implementing mechanism includes: A driving component, which is rotatably connected to the inner wall of the rotating opening; An actuator extends outward from the drive member and passes through the rotation port; The outer wall of the drive member is formed with gear teeth for transmitting power. The gear teeth are engaged in the threaded groove of the transmission shaft so that the torque of the transmission shaft can be transmitted to the drive member.

8. The live-operated tool fixing device as described in claim 7, characterized in that, The actuator can rotate through a preset angle, which is 170 to 180 degrees.

Images