A live working auxiliary mechanical arm

Abstract

This invention relates to a live-line working auxiliary robotic arm, comprising an integrated control module, a gripping base, a horizontal movement module, a pitch joint module, a swing joint module, and a telescopic module. A mounting bracket is fixed on the gripping base. The horizontal movement module is mounted on the mounting bracket. The pitch joint module includes a first motor, and the swing joint module includes a second motor. The first motor is mounted on the moving base of the horizontal movement module, and a connecting bracket is mounted on the output shaft of the first motor. The second motor is mounted on the upper end of the connecting bracket, and a fourth motor is mounted on the bottom of the bracket. The output shaft of the fourth motor is connected to a second lead screw, and a second lead screw sleeve connects the second lead screw to a second slide table. A second slide rail is mounted on the bracket, and the second slide table is fixedly connected to the output shaft of the second motor. An insulating rod is mounted on the insulating rod telescopic unit, and a working device is mounted on the upper end of the insulating rod. This live-line working auxiliary robotic arm is convenient and flexible to operate during outdoor power work, saving manpower.

Description

Technical Field

[0001] This invention relates to the field of power maintenance and construction technology, and in particular to an auxiliary robotic arm for live-line work. Background Technology

[0002] In the field of live-line work without power interruption, the insulated rod method is widely used in distribution network live-line work due to the high safety and distance between the workers and the live conductor. Among these, live-line disconnection of conductors is the most frequently performed operation in distribution network live-line work, generally accounting for more than 70% of the workload. During conductor disconnection, to prevent conductor slippage, auxiliary personnel need to fix both ends or one end of the cut section before the main operator performs the work. This requires at least two workers for conductor disconnection, resulting in limited space in the insulated hopper. Furthermore, some operations require using the insulated rod to support heavy tools, placing stringent demands on the workers' physical strength.

[0003] Therefore, a live-line working auxiliary robotic arm is needed to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention addresses the technical problems existing in the prior art by providing an auxiliary robotic arm for live-line work.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A live-line working auxiliary robotic arm includes an integrated control module, a clamping base, a horizontal movement module, a pitch joint module, a swing joint module, and a telescopic module. A mounting frame is fixed on the clamping base. The horizontal movement module is mounted on the mounting frame. The pitch joint module includes a first motor, and the swing joint module includes a second motor. The first motor is mounted on the moving base of the horizontal movement module. A connecting frame is mounted on the output shaft of the first motor. The second motor is mounted on the upper end of the connecting frame. The telescopic module includes a bracket, a fourth motor, a second lead screw, a second slide table, and an insulating rod telescopic unit. The fourth motor is mounted on the bottom of the bracket. The output shaft of the fourth motor is connected to the second lead screw. A second lead screw sleeve connects the second lead screw and the second slide table. A second slide rail is mounted on the bracket. The second slide table is slidably connected to the second slide rail. The second slide table is fixedly connected to the output shaft of the second motor. An insulating rod is mounted on the insulating rod telescopic unit, and a working device is mounted on the upper end of the insulating rod.

[0006] Preferably, in the above-mentioned live-line working auxiliary robotic arm, the insulating rod telescopic unit includes a third motor, a first lead screw, and a first slide table. The third motor and the first lead screw are both mounted on the bracket. The output shaft of the third motor is connected to the first lead screw. A first lead screw sleeve is connected between the first lead screw and the first slide table. A first slide rail is mounted on the bracket, and the first slide table is slidably connected to the first slide rail.

[0007] Preferably, in the above-mentioned live-line working auxiliary robotic arm, the lower end of the insulating rod is fixed to the first slide, the upper end of the bracket has a circular hole, the insulating rod passes through the circular hole, and the insulating rod is slidably connected to the circular hole.

[0008] Preferably, in the above-mentioned live-line working auxiliary robotic arm, the cross-section of the clamping base is U-shaped, and multiple movable pressure heads and multiple fixed pressure heads are installed on the inner side of the clamping base. Each movable pressure head is connected to a hand-tightening bolt, which passes through one side of the clamping base and is threadedly connected to the clamping base.

[0009] Preferably, in the above-described live-line working auxiliary robotic arm, the working device is detachably connected to the insulating rod.

[0010] Preferably, in the above-mentioned live-line working auxiliary robotic arm, the output shaft of the first motor is perpendicular to the output shaft of the second motor.

[0011] Preferably, in the above-described live-line working auxiliary robotic arm, the first lead screw and the second lead screw are parallel to each other.

[0012] Preferably, in the above-mentioned live-line working auxiliary robotic arm, a second dust cover is installed on the support.

[0013] Preferably, in the above-mentioned live-line working auxiliary robotic arm, the horizontal movement module includes a frame, on which a fifth motor, a horizontal lead screw, a horizontal slide rail, and a moving base are mounted. The fifth motor is connected to the horizontal lead screw through a transmission assembly, the moving base is slidably connected to the horizontal slide rail, and the horizontal lead screw and the moving base are connected by a third lead screw sleeve.

[0014] The beneficial effects of this invention are as follows: the clamping base can fix the base of the robotic arm; the integrated control module can control the horizontal movement module, pitch joint module, swing joint module, and telescopic module; the horizontal movement module can adjust the horizontal position of the telescopic module; the integrated control module controls the operation of the first and second motors, enabling rotation of the telescopic module in various angular directions; the telescopic module can adjust the telescopic length of the insulating rod and the working device, making it convenient and flexible to operate during outdoor power work and saving manpower. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 for Figure 1 A schematic diagram of the structure behind the hidden housing of each module;

[0017] Figure 3 for Figure 2 The front view;

[0018] Figure 4 This is a structural diagram of the telescopic module;

[0019] Figure 5 for Figure 1 A structural diagram from another perspective.

[0020] The attached diagram lists the components represented by each number as follows:

[0021] 1. Integrated control module; 2. Clamping base; 3. First motor; 4. Second motor; 5. Connecting frame; 6. Horizontal movement module; 7. Telescopic module; 71. Bracket; 72. Third motor; 73. Fourth motor; 74. Insulating rod; 75. First lead screw; 76. Second lead screw; 77. First slide table; 78. Second slide table; 79. Working tools; 8. Hand-tightening bolt; 9. Movable pressure head; 10. Fixed pressure head; 11. First dust cover; 12. Second dust cover; 13. Fifth motor; 14. Mounting bracket. Detailed Implementation

[0022] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0023] like Figure 1 , Figure 2 , Figure 3 , Figure 5 As shown, a live-line working auxiliary robotic arm includes an integrated control module 1, a gripping base 2, a horizontal movement module 6, a pitch joint module, a swing joint module, and a telescopic module.

[0024] The clamping base 2 is used to fix the robotic arm to the insulating bucket. The clamping base 2 has a U-shaped cross-section and is equipped with multiple movable pressure heads 9 and multiple fixed pressure heads 10. The ends of the movable pressure heads 9 and fixed pressure heads 10 are made of rubber and are used to clamp onto the guardrail of the insulating bucket to increase friction and make the clamping more secure. Specifically, the movable pressure heads 9 and fixed pressure heads 10 are located on the inner side of the clamping base 2, and the fixed pressure heads 10 are fixedly connected to the clamping base 2. Each movable pressure head 9 is connected to a hand-tightening bolt 8, which passes through one side of the clamping base 2 and is threaded to the clamping base 2. Thus, when the hand-tightening bolt 8 is turned, the movable pressure head 9 can be moved back and forth, thereby fixing the clamping base 2 to the insulating bucket.

[0025] A mounting bracket 14 is fixed on the clamping base 2, and the horizontal moving module 6 is fixed on the mounting bracket 14. Specifically, the horizontal moving module 6 includes a frame, which is fixed on the mounting bracket 14. A fifth motor 13, a horizontal lead screw, a horizontal slide rail, and a moving base are mounted on the frame. The motor drives the horizontal lead screw to rotate, and the interaction force between the horizontal lead screw and the third lead screw sleeve on the moving base drives the moving base to move along the horizontal slide rail. Its working principle is the same as that of the telescopic module, both achieved through a motor, lead screw, slide rail, and third lead screw sleeve. A first dust cover 11 is installed on the upper side of the frame to prevent dust from falling onto the internal track and lead screw, affecting the power transmission effect, and also to provide safety protection for the operator.

[0026] The pitch joint module includes a first motor 3, and the yaw joint module includes a second motor 4. The first motor 3 is mounted on the movable base of the horizontal movement module 6. The output shaft of the first motor 3 is parallel to the travel trajectory of the horizontal movement module 6. A connecting frame 5 is mounted on the output shaft of the first motor 3, and the second motor 4 is mounted on the upper end of the connecting frame 5. The output shafts of the first motor 3 and the second motor 4 are perpendicular to each other. Both the first motor 3 and the second motor 4 are equipped with protective housings. The first motor 3 and the second motor 4 are used to adjust the angle of the telescopic module, thereby enabling adjustment of the telescopic module at any angle.

[0027] like Figure 4As shown, the telescopic module includes a bracket 71, a fourth motor 73, a second lead screw 76, a second slide 78, a third motor 72, a first lead screw 75, and a first slide 77. A second dust cover 12 is mounted on the bracket 71. The third motor 72 and the fourth motor 73 are respectively mounted on the bottom of the bracket 71. The first lead screw 75 and the second lead screw 76 are rotatably connected to the bracket 71 and are parallel to each other. The output shaft of the third motor 72 is connected to the first lead screw 75, and the output shaft of the fourth motor 73 is connected to the second lead screw 76. A second lead screw sleeve is installed on the second slide table 78, and a first lead screw sleeve is installed on the first slide table 77. A first slide rail and a second slide rail are installed on the bracket 71. The first slide table 77 is slidably connected to the first slide rail, and the second slide table 78 is slidably connected to the second slide rail. An insulating rod 74 is fixed on the first slide table 77. A circular hole is opened at the upper end of the bracket 71, through which the insulating rod 74 passes and is slidably connected. A working device 79 is installed at the upper end of the insulating rod 74, and the working device 79 is detachably connected to the insulating rod 74. A first lead screw 75 passes through the inside of the first lead screw sleeve. When the third motor 72 rotates, it drives the first lead screw 75 to rotate. Through the interaction force between the first lead screw 75 and the first lead screw sleeve, the first lead screw sleeve and the first slide table 77 move, thereby driving the insulating rod 74 to move. A housing is mounted on the bracket 71. The first lead screw 75, the first slide table 77, and the first slide rail are all located inside the bracket 71 and the housing, while the second lead screw 76, the second slide table 78, and the second slide rail are all located outside the bracket 71.

[0028] like Figure 4 As shown, the second lead screw 76 passes through the inside of the second lead screw sleeve. The second slide 78 is fixedly connected to the output shaft of the second motor 4, and the insulating rod 74 is perpendicular to the output shaft of the second motor 4. When the fourth motor 73 rotates, it drives the second lead screw 76 to rotate. Because the second slide 78 is fixed, the interaction of forces causes the second lead screw 76 and the entire telescopic module to move along the direction of the second lead screw 76. This makes the working device 79 a two-stage telescopic device with a longer telescopic length.

[0029] In use, the integrated control module 1 controls the operation of the first motor 3 and the second motor 4, enabling rotation of the telescopic module 7 in various angular directions. Simultaneously, the horizontal position of the telescopic module 7 can be adjusted via the horizontal movement module 6. The telescopic module 7 also allows adjustment of the telescopic length of the insulating rod 74 and the working device 79. Furthermore, since the working device 79 is detachably connected to the insulating rod 74, different working devices 79 can be replaced depending on the situation.

[0030] In the description of this invention, it should be understood that the terms "upper," "lower," "left," and "right," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A robotic arm for live-line working, characterized in that: The system includes an integrated control module (1), a clamping base (2), a horizontal movement module (6), a pitch joint module, a rocking joint module, and a telescopic module. A mounting bracket (14) is fixed on the clamping base (2). The horizontal movement module (6) is mounted on the mounting bracket (14). The pitch joint module includes a first motor (3), and the rocking joint module includes a second motor (4). The first motor (3) is mounted on the moving base of the horizontal movement module (6). A connecting bracket (5) is mounted on the output shaft of the first motor (3). The second motor (4) is mounted on the upper end of the connecting bracket (5). The telescopic module includes a bracket (71), a fourth motor (73), a second lead screw (76), a second slide (78), and an insulating rod telescopic unit. The fourth motor (73) is mounted on the bottom of the bracket (71). The output of the fourth motor (73)... The shaft is connected to the second lead screw (76), and the second lead screw (76) is connected to the second slide table (78) by a second lead screw sleeve. The bracket (71) is equipped with a second slide rail, the second slide table (78) is slidably connected to the second slide rail, the second slide table (78) is fixedly connected to the output shaft of the second motor (4), the insulating rod telescopic unit is equipped with an insulating rod (74), the upper end of the insulating rod (74) is equipped with a working device (79), the horizontal moving module (6) includes a frame, the frame is equipped with a fifth motor (13), a horizontal lead screw, a horizontal slide rail, and a moving base, the fifth motor (13) is connected to the horizontal lead screw through a transmission component, the moving base is slidably connected to the horizontal slide rail, the horizontal lead screw and the moving base are connected by a third lead screw sleeve, and the bracket (71) is equipped with a second dust cover (12).

2. The live-line working auxiliary robotic arm according to claim 1, characterized in that: The insulating rod telescopic unit includes a third motor (72), a first lead screw (75), and a first slide (77). The third motor (72) and the first lead screw (75) are both mounted on the bracket (71). The output shaft of the third motor (72) is connected to the first lead screw (75). A first lead screw sleeve is connected between the first lead screw (75) and the first slide (77). A first slide rail is mounted on the bracket (71), and the first slide (77) is slidably connected to the first slide rail.

3. The live-line working auxiliary robotic arm according to claim 2, characterized in that: The lower end of the insulating rod (74) is fixed on the first slide (77), and the upper end of the bracket (71) is provided with a round hole. The insulating rod (74) passes through the round hole and is slidably connected to the round hole.

4. The live-line working auxiliary robotic arm according to claim 1, characterized in that: The clamping base (2) has a U-shaped cross section. Multiple movable pressure heads (9) and multiple fixed pressure heads (10) are installed on the inner side of the clamping base (2). Each movable pressure head (9) is connected to a hand-tightening bolt (8). The hand-tightening bolt (8) passes through one side of the clamping base (2) and is threadedly connected to the clamping base (2).

5. The live-line working auxiliary robotic arm according to claim 1, characterized in that: The working device (79) is detachably connected to the insulating rod (74).

6. The live-line working auxiliary robotic arm according to claim 1, characterized in that: The output shaft of the first motor (3) is perpendicular to the output shaft of the second motor (4).

7. The live-line working auxiliary robotic arm according to claim 2, characterized in that: The first lead screw (75) and the second lead screw (76) are parallel to each other.

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