A work manipulator for power grid operation and maintenance

Abstract

The application belongs to the technical field of electric power operation and maintenance tools, and particularly relates to a work manipulator for power grid operation and maintenance, which comprises a triangular chassis, an operating table made of insulating material, an operating chair, a manipulator and a plurality of telescopic supporting legs. The work manipulator adopts the operating table and the operating chair made of insulating material, can effectively isolate the direct contact between the operator and the high-voltage power supply, and thus ensures the safety of the operator. Even if electric leakage occurs, the safety pop-up mechanism arranged can safely pop the operating chair away from the operating table, ensuring the safety of the operator. In addition, the chassis, the supporting legs and the supporting structure and other parts of the work manipulator are reasonably designed, can remain stable under complex working conditions, and further reduce the risk of accidents.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electric power operation and maintenance tools, and particularly relates to a work manipulator for power grid operation and maintenance. BACKGROUND

[0002] With the development of science and technology, the electric power system has become the infrastructure of modern life and industrial production. Power grid operation and maintenance is one of the key links for the normal operation of the electric power system, and has important practical significance for ensuring the safe, reliable and efficient operation of the electric power system. In the electric power system, the occurrence of faults and accidents may cause power interruption, loss of remote sensing signals and equipment damage, and thus cause serious impact on production and life. Therefore, in the operation process of the electric power system, power grid operation and maintenance has become an urgent demand, and with the continuous expansion of the electric power market and the continuous increase of the demand for electric power, the safety and stability of the power grid are required to be higher and higher. In the prior art, power grid operation and maintenance mainly relies on manual operation and some simple operation tools. However, manual operation not only has many safety hazards, but also has low work efficiency, and it is difficult to meet the requirements of the modernization development of the electric power system. Therefore, the mechanization, automation and intelligentization of power grid operation and maintenance have become a major trend in the industry.

[0003] However, in the prior art, there are some designs and implementations of work manipulators for power grid operation and maintenance, but these existing designs have certain problems and deficiencies. First of all, during the use of these work manipulators, the operators often need to operate in high-pressure and harsh environments, which has high safety risks. Secondly, the support structure and stability of these work manipulators need to be further improved to ensure efficient operation performance in complex scenarios and actual operation. Finally, these work manipulators usually lack effective protection measures during operation, and operators are prone to accidents. Therefore, it is urgent to provide a work manipulator for power grid operation and maintenance which is convenient to use and has high safety. SUMMARY

[0004] The purpose of the present application is to provide a work manipulator for power grid operation and maintenance, which aims to solve the problems pointed out in the background.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] The present application provides a work manipulator for power grid operation and maintenance, which comprises a triangular chassis, an operation table made of insulating material, an operation chair, a manipulator and a plurality of telescopic legs,

[0007] A group of leg mounting profiles are fixedly installed at each corner of the chassis, one end of a plurality of the leg mounting profiles is fixedly connected with a hexagonal base, and the top of the hexagonal base is fixedly installed with a hexagonal support through a plurality of connecting columns;

[0008] The operating table is fixedly connected with the top of the hexagonal support, and a rotating table is connected with the middle of the operating table through a rotating mechanism, the top of the rotating table is respectively installed with a first connecting seat and a second connecting seat, and a brake mechanism is arranged in the operating table and installed at the bottom of the hexagonal support and brakes the rotating mechanism.

[0009] The bottom of the operating chair is fixedly connected with the top of the first connecting seat through a safety pop-up mechanism, a control console is installed on one side armrest of the operating chair, a plurality of rolling protection frames are fixedly installed on the top of the two side armrests of the operating chair, and a safety belt is installed at the seat of the operating chair.

[0010] The mechanical hand comprises a protection box fixedly installed at the top of the second connecting seat, a first hinged seat is installed in the protection box, a hollow large arm is hingedly connected in the middle of the first hinged seat, a first electric hydraulic cylinder is rotatably connected to the top of the second hinged seat at one end of the first electric hydraulic cylinder, the other end of the first electric hydraulic cylinder is rotatably connected to the top of the second hinged seat at one end of the hollow large arm, a hollow small arm is rotatably connected to one end of the hollow large arm, a second electric hydraulic cylinder is hingedly connected to the bottom of the second hinged seat at one end of the second electric hydraulic cylinder, a third hinged seat is fixedly connected to the top of one end of the hollow small arm, a third electric hydraulic cylinder is hingedly connected in the third hinged seat, a mechanical clamp is rotatably connected to one end of the third electric hydraulic cylinder, and the other end of the mechanical clamp is rotatably connected to the other end of the hollow small arm.

[0011] The telescopic legs are arranged in the corresponding leg mounting profiles and are slidably connected with the leg mounting profiles through a gear meshing driving mechanism, and one end of the telescopic legs is provided with a telescopic supporting leg.

[0012] In one embodiment of the present application, the three side edges of the chassis are fixedly connected with hanging ears, and the bottom inner sides of the three corners of the chassis are fixedly installed with traveling wheels.

[0013] In one embodiment of the present application, the rotating mechanism comprises an annular groove formed in the middle of the operating table and the rotating table, a toothed ring is rotatably arranged in the annular groove, the inner side of the toothed ring is meshingly connected with a first driving tooth, the top of the toothed ring is fixedly connected with the bottom of the rotating table, the middle of the first driving tooth is fixedly connected with a driving motor, the bottom of the driving motor is fixedly connected with the hexagonal base through the annular groove, and the top of the annular groove is fixedly provided with a protection cover installed at the top of the rotating table.

[0014] In one embodiment of the present application, the brake mechanism comprises a disc-shaped disc fixedly connected to the outside of the toothed ring, and a U-shaped chuck is sleeved on one side of the outside of the disc-shaped disc, the disc-shaped disc and the U-shaped chuck are arranged in the internal cavity of the operation table, the bottom of the fourth electric hydraulic cylinder is fixedly connected with the hexagonal support through the operation table.

[0015] In one embodiment of the present application, the safety pop-up mechanism comprises a plurality of electronic airbags fixedly installed on the top of the first connecting seat, a plurality of supporting rods are installed on the top of the first connecting seat, the top of the supporting rod is fixedly connected with the seat connecting plate, and the seat connecting plate is fixedly connected with the seat at the bottom of the operating chair through screws.

[0016] In one embodiment of the present application, the mechanical clamp comprises a fourth hinge seat and a fifth hinge seat installed on the other end of the hollow small arm, a rotating arm is rotatably connected between one end of the fourth hinge seat and the fifth hinge seat, a T-shaped seat is fixedly installed at the end of one end of the fifth hinge seat, a first speed reducer motor is installed in the T-shaped seat, the first speed reducer motor is connected with an L-shaped seat through a speed reducer, two oppositely arranged clamping arms are rotatably connected to the top of the L-shaped seat through a plug-in pin, one end of each of the two clamping arms is fixedly connected with a toothed cam arranged on the same rotating shaft as the plug-in pin, and the two toothed cams are meshingly connected, one end of one of the clamping arms is rotatably connected with a connecting rod through a plug-in pin, an industrial rudder is rotatably connected to one end of the connecting rod, and the industrial rudder is fixedly installed in the L-shaped seat.

[0017] In one embodiment of the present application, the telescopic support leg comprises two leg supports slidably arranged in the inner side of the support leg mounting profile, and the inner side of each of the two leg supports is fixedly connected with a anti-falling plate.

[0018] In one embodiment of the present application, the gear meshing driving mechanism comprises a rack fixedly connected to the inner side of the leg support, a second driving tooth is meshingly connected to the inner side of each of the two racks, the second driving tooth is fixedly connected with a second speed reducer, and the second speed reducer is fixedly connected with the top of the leg support through a motor mounting seat.

[0019] In one embodiment of the present application, the supporting foot comprises a hydraulic cylinder mounting seat fixedly connected to the top of the other end of the leg support, a fifth electric hydraulic cylinder is installed on the top of the hydraulic cylinder mounting seat, a supporting plate is fixedly installed on the telescopic end of the fifth electric hydraulic cylinder, and a ground cone is threadedly connected to the bottom of the supporting plate.

[0020] In one embodiment of the present application, a plurality of electric leakage sensors are surface-mounted on the second connecting seat, and the electric leakage sensors are electrically connected with the electronic airbags through the standby storage battery.

[0021] Compared with the prior art, the present application has the following advantages:

[0022] 1) The operating table and the operating chair of the operating manipulator of the present application are made of insulating materials, and a safety belt is installed at the seat of the operating chair, which can effectively isolate the direct contact between the operator and the high-voltage power supply, thereby ensuring the safety of the operator. Even if there is a leakage, the safety pop-up mechanism can safely pop the operating chair away from the operating table, ensuring the safety of the operator. In addition, the chassis, legs and support structure of the operating manipulator are designed reasonably, which can maintain stability under complex working conditions, further reducing the risk of accidents.

[0023] 2) The manipulator of the operating manipulator is driven by hydraulic control technology to realize folding and unfolding of the manipulator, which facilitates space adjustment of the manipulator during operation and walking. In combination with the mechanical clamp, the manipulator can be used for operations such as pulling, reducing or clamping detection instruments on the power grid line for maintenance, so that the manipulator has high flexibility. The rotating mechanism can drive the rotating table, the manipulator and the operating chair to rotate, so that the manipulator can more conveniently operate the power grid line or circuit equipment. The brake mechanism can be used for emergency braking of the rotating disc in case of an emergency. In order to increase the stability during operation, the brake mechanism can also be used to brake the rotating disc after the manipulator is adjusted to the appropriate direction, effectively preventing the manipulator from shaking.

[0024] 3) The plurality of telescopic legs can be adjusted in position within the leg mounting profile by the gear meshing driving mechanism, and the support feet can be used for support, ensuring the stability of the manipulator operation. The telescopic support feet can also adapt to different working terrains. When the telescopic legs are retracted into the leg mounting profile, the walking wheels facilitate the rolling transfer of the operating manipulator, and the hanging ears facilitate the hoisting and loading of the operating manipulator for transportation, further ensuring the flexibility of the operating manipulator. BRIEF DESCRIPTION OF DRAWINGS

[0025] The drawings accompanying the specification of the present application serve to provide a further understanding of the present application, and the illustrative embodiments of the present application and their descriptions serve to explain the present application, and do not constitute an improper limitation of the present application. In the drawings:

[0026] Figure 1 A structural schematic view of an operating manipulator for power grid operation and maintenance provided by an embodiment of the present application;

[0027] Figure 2 A structural schematic view of an operating manipulator for power grid operation and maintenance provided by an embodiment of the present application;

[0028] Figure 3An operating table structure schematic diagram of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application;

[0029] Figure 4 An internal structure schematic diagram of an operating table of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application;

[0030] Figure 5 A partial split structure schematic diagram of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application;

[0031] Figure 6 A rotating mechanism structure schematic diagram of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application;

[0032] Figure 7 A brake mechanism structure schematic diagram of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application;

[0033] Figure 8 A manipulator structure schematic diagram of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application;

[0034] Figure 9 A gear meshing driving mechanism and support foot structure schematic diagram of a work manipulator for power grid operation and maintenance is provided for the embodiment of the present application.

[0035] Icon: 100, chassis; 110, leg mounting profile; 120, hexagonal base; 121, connecting column; 130, hexagonal support; 140, hanging ear; 150, walking wheel; 200, operation table; 210, rotating mechanism; 211, annular groove; 212, toothed ring; 213, first driving tooth; 214, driving motor; 215, protective cover; 220, rotating table; 221, first connecting seat; 222, second connecting seat; 230, brake mechanism; 231, ring-shaped disc; 232, U-shaped chuck; 233, fourth electro-hydraulic cylinder; 300, operation chair; 310, safety pop-up mechanism; 311, electronic airbag; 312, supporting rod; 313, seat connecting plate; 320, control console; 330, rolling protection frame; 340, safety belt; 400, mechanical hand; 410, protective box; 411, first hinged seat; 412, hollow large arm; 413, first electro-hydraulic cylinder; 414, second hinged seat; 415, hollow small arm; 416, second electro-hydraulic cylinder; 417, third hinged seat; 418, third electro-hydraulic cylinder; 420, mechanical clamp; 421, fourth hinged seat; 422, fifth hinged seat; 4221, rotating arm; 423, T-shaped seat; 424, first speed reduction motor; 425, L-shaped seat; 426, clamping arm; 427, toothed cam; 428, connecting rod; 429, industrial steering engine; 500, telescopic leg; 510, leg frame; 520, anti-dropping plate; 600, gear meshing driving mechanism; 610, rack; 620, second driving tooth; 630, second speed reduction motor; 700, supporting foot; 710, hydraulic cylinder mounting seat; 720, fifth electro-hydraulic cylinder; 730, supporting plate; 740, ground cone; 800, electric leakage sensor; 900, laser radar sensor. DETAILED DESCRIPTION

[0036] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0037] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0038] It should be noted that like reference numerals and characters refer to like elements throughout the following description with like reference numerals in the drawings indicating like elements, and thus, once certain elements are defined in one drawing, further definition and description of such elements in subsequent drawings can be omitted.

[0039] In the description of the present application, it is to be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like are based on the orientations or positional relationships shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0040] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0041] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be directly connected, or indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] In the present application, unless otherwise explicitly specified and limited, "on" or "under" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, "on", "above" and "above" of the first feature to the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. "Below", "below" and "below" of the first feature to the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0043] Embodiments

[0044] Please refer to Figures 1-9A kind of operating manipulator for power grid operation and maintenance, by triangular chassis 100, operating table 200 of insulating material, operating chair 300, manipulator 400 and multiple telescopic legs 500;

[0045] Please refer to Figures 1-2 When operating manipulator is used to carry out operation and maintenance to power grid, operating manipulator can be transported or moved to work site, and the triangular chassis 100 can effectively ensure the stability of the bottom structure of operating manipulator, the height of each telescopic leg 500 is adjusted according to the terrain, to ensure that the chassis 100 can be stably supported horizontally, the operating chair 300 and the manipulator 400 are placed on the operating table 200 of insulating material, even if the manipulator 400 is electrified, the operating table 200 and the operating chair 300 of insulating material can effectively prevent the danger of electric shock of operating personnel, and ensure the safety of operating personnel.

[0046] Among them: each corner of the chassis 100 is fixedly installed with a group of leg mounting profiles 110, one end of the plurality of leg mounting profiles 110 is fixedly connected with a hexagonal base 120, and the top of the hexagonal base 120 is fixedly installed with a hexagonal support 130 through a plurality of connecting columns 121;

[0047] Please refer to Figures 3-4 Among them, the inner side of the leg mounting profile 110 is provided with an L-shaped placing space, which can better place the telescopic leg 500, and also can ensure that the telescopic leg 500 can stably support the leg mounting profile 110 after being lifted, and the hexagonal base 120 can connect and fix the plurality of leg mounting profiles 110, the hexagonal base 120 is fixed through the connecting column 121 and the hexagonal support 130, and the space between the hexagonal base 120 and the hexagonal support 130 is formed, to ensure that the telescopic leg 500 can be smoothly retracted into the leg mounting profile 110 for storage;

[0048] Specifically, the telescopic leg 500 is placed in the corresponding leg mounting profile 110, and the telescopic leg 500 is also slidably connected with the leg mounting profile 110 through the gear engagement driving mechanism 600, and one end of the telescopic leg 500 is provided with a telescopic supporting leg 700;

[0049] Please refer to Figures 1-3 When the operating manipulator moves to the place where the power grid needs to be operated and maintained, the telescopic leg 500 is driven to slide out of the leg mounting profile 110 through the gear engagement driving mechanism 600, the bottom area of the operating manipulator is increased, and then the supporting leg 700 of the telescopic leg 500 is used to stably support the ground and support the chassis 100, to effectively avoid the influence of terrain on the operation of the operating manipulator.

[0050] Three side edges of the bottom plate 100 are fixedly connected with the hanging ears 140, and the inner bottom side of each corner of the bottom plate 100 is fixedly installed with the traveling wheels 150.

[0051] Please refer to Figures 3-4 When the work manipulator needs to be transferred, the supporting feet 700 are retracted, the traveling wheels 150 are in contact with the ground, and the work manipulator can be conveniently moved by rolling of the traveling wheels 150, so that the work manipulator is transferred in a small distance. When the work manipulator needs to be transferred in a long distance, the telescopic supporting legs 500 are first retracted into the supporting leg mounting profile 110, the hoisting equipment is used to cooperate with the hoisting ropes and the hooks hung on the hanging ears 140, and then the work manipulator can be conveniently hoisted onto the transport vehicle, so that the work manipulator is transferred in a long distance.

[0052] The operating table 200 is fixedly connected with the top of the hexagonal support 130, and the middle of the operating table 200 is connected with a rotating table 220 through a rotating mechanism 210. The top of the rotating table 220 is respectively installed with a first connecting seat 221 and a second connecting seat 222. The brake mechanism 230 is installed at the bottom of the hexagonal support 130 and brakes the rotating mechanism 210.

[0053] Please refer to Figures 1-4 The rotating table 220 can drive the first connecting seat 221 and the second connecting seat 222 to rotate. The rotating first connecting seat 221 and the second connecting seat 222 can drive the operating chair 300 and the manipulator 400 to rotate, respectively, so that the manipulator 400 can move freely in the whole work range. The person sitting on the operating chair 300 can keep a direction with the manipulator 400 and can observe the working state of the manipulator 400 in real time. When an emergency occurs, the brake mechanism 230 can quickly brake and lock the rotating table 220, so that the person can quickly get off the operating table 200. When the manipulator 400 is adjusted to a suitable position and works for a long time, the brake mechanism 230 can also brake and lock the rotating table 220, so that the manipulator 400 does not shake, thereby ensuring the stability of the work and maintenance operation process of the manipulator 400.

[0054] The bottom of the operating chair 300 is fixedly connected with the top of the first connecting seat 221 through the safety pop-up mechanism 310. The control console 320 is installed on one side armrest of the operating chair 300. A plurality of roll protection frames 330 are fixedly installed on the top of the two side armrests of the operating chair 300. The safety belt 340 is installed at the seat of the operating chair 300.

[0055] Please refer to Figures 2-3, the console 320 can integrate the control panel, display panel and controller components, and the corresponding control buttons set by the control panel can control the electrical equipment of the work robot, and the multiple control buttons are connected with the external power supply (mobile power supply, etc.), the display panel can be connected with the camera, the camera is installed at the other end of the hollow small arm 415, the working state of the mechanical clamp 420 can be photographed by using the hollow small arm 415, and then the display panel is used for display, so that the work personnel can conveniently perform the operation and maintenance work of the power grid, and the technology of controlling the electrical equipment by the control buttons can adopt a mature known technology, which can be connected and debugged by the person skilled in the art, and will not be described in detail.

[0056] When the power grid equipment leaks during the work of the work robot, the controller can control the safety pop-up mechanism 310 to act, so that the operation chair 300 is separated from the first connecting seat 221 and is popped off the operation table 200, the safety belt 340 can prevent the work personnel from falling off the operation chair 300, and the safety of the work personnel is ensured, and the rolling protection frame 330 can also play a protection role when the operation chair 300 rolls, effectively avoiding the work personnel from contacting the ground, and further ensuring the life safety of the work personnel.

[0057] The robot 400 includes a protection box 410 fixedly installed at the top of the second connecting seat 222, a first hinged seat 411 is installed in the protection box 410, a hollow large arm 412 is hingedly connected in the middle of the first hinged seat 411, a first electric hydraulic cylinder 413 is rotationally connected to the top of the first hinged seat 411, one end of the first electric hydraulic cylinder 413 is rotationally connected to the top of a second hinged seat 414 in the middle top end of the hollow large arm 412, a hollow small arm 415 is rotationally connected to one end of the hollow large arm 412, a second electric hydraulic cylinder 416 is hingedly connected to one end of the hollow small arm 415, one end of the second electric hydraulic cylinder 416 is hingedly connected to the bottom of the second hinged seat 414, a third hinged seat 417 is fixedly connected to the top of one end of the hollow small arm 415, a third electric hydraulic cylinder 418 is hingedly connected in the third hinged seat 417, a mechanical clamp 420 is rotationally connected to one end of the third electric hydraulic cylinder 418, and one end of the mechanical clamp 420 is rotationally connected to the other end of the hollow small arm 415.

[0058] Please refer to Figure 1 and Figure 8, the first electric hydraulic cylinder 413 can be controlled by the corresponding control button, so that the hollow large arm 412 can swing, and the second electric hydraulic cylinder 416 can be controlled by the corresponding control button, so that the hollow small arm 415 can swing at one end of the hollow large arm 412, and the third electric hydraulic cylinder 418 can be controlled by the corresponding control button, and the mechanical clamp 420 can be driven to swing by the third electric hydraulic cylinder 418, and then the orientation adjustment of the mechanical hand 400 is realized through the swinging of the hollow large arm 412 and the hollow small arm 415 and the rotation of the rotating table 220, so that the mechanical clamp 420 can be aligned with the power grid equipment to be maintained and overhauled.

[0059] In the embodiment, the rotating mechanism 210 comprises an annular groove 211 opened in the middle of the operation table 200 and the rotating table 220, the inside of the annular groove 211 rotates a toothed ring 212, the inside of the toothed ring 212 is engaged and connected with a first driving tooth 213, the top of the toothed ring 212 is fixedly connected with the bottom of the rotating table 220, the middle of the first driving tooth 213 is fixedly connected with a driving motor 214, the bottom of the driving motor 214 is fixedly connected with the hexagonal base 120 through the annular groove 211, and the top of the annular groove 211 is fixedly provided with a protective cover 215 installed on the top of the rotating table 220.

[0060] Please refer to Figures 3-4 , the driving motor 214 can be controlled by the corresponding control button, the working driving motor 214 drives the first driving tooth 213 to rotate, the rotating first driving tooth 213 can drive the toothed ring 212 to rotate, and the rotating toothed ring 212 can drive the rotating table 220 to rotate, the protective cover 215 is provided to protect the driving assembly from foreign matter interference or damage, and also can prevent the work personnel from stepping into the annular toothed ring 212 to cause injury.

[0061] In the embodiment: the brake mechanism 230 comprises a ring-shaped disc 231 fixedly connected to the outside of the toothed ring 212, a U-shaped chuck 232 is sleeved on one side of the outside of the ring-shaped disc 231, the ring-shaped disc 231 and the U-shaped chuck 232 are both arranged in the internal cavity of the operation table 200, the bottom of the U-shaped chuck 232 is fixedly connected with a fourth electric hydraulic cylinder 233, and the cylinder body bottom of the fourth electric hydraulic cylinder 233 penetrates the operation table 200 and is fixedly connected with the hexagonal support 130.

[0062] Please refer to Figure 7 , the fourth electric hydraulic cylinder 233 can be controlled by the corresponding control button, the fourth electric hydraulic cylinder 233 pulls the U-shaped chuck 232 to clamp the ring-shaped disc 231, so that the ring-shaped disc 231 stops rotating, thereby realizing the brake function of the rotating table 220, and in order to increase the brake effect, the inside of the U-shaped chuck 232 can be provided with a brake pad to increase the friction when the U-shaped chuck 232 clamps the ring-shaped disc 231.

[0063] In the present example: the safety pop-up mechanism 310 comprises a plurality of electronic airbags 311 fixedly installed on the top of the first connecting seat 221, and a plurality of supporting rods 312 installed on the top of the first connecting seat 221, the top of the supporting rods 312 is fixedly connected with the seat connecting plates 313, and the seat connecting plates 313 are fixedly connected with the seat of the operating chair 300 through screws.

[0064] For details, please refer to Figures 3-4 When the operating manipulator is in an emergency situation, such as electric shock, the controller will control the electronic airbags 311 to act and burst, and the force generated by the explosion will pull the supporting rods 312 from the seat connecting plates 313 and break, and by controlling the time interval of the explosion of the plurality of electronic airbags 311, the direction control of the pop-up of the operating chair 300 can be achieved, and the falling point of the operating table 200 can be achieved, ensuring that the personnel can be far away from the electric leakage point of the operating manipulator, and protecting the life safety of the operator.

[0065] In the present example: the mechanical clamp 420 comprises a fourth hinge seat 421 and a fifth hinge seat 422 installed on the other end of the hollow small arm 415, a rotating arm 4221 is rotatably connected between one end of the fourth hinge seat 421 and the fifth hinge seat 422, a T-shaped seat 423 is fixedly installed at the end of the fifth hinge seat 422, a first speed reducer motor 424 is installed in the T-shaped seat 423, an L-shaped seat 425 is connected with the first speed reducer motor 424 through a speed reducer, two oppositely positioned clamp arms 426 are rotatably connected with the top of the L-shaped seat 425 through a plug-in pin, one end of each of the two clamp arms 426 is fixedly connected with a toothed cam 427 arranged on the same rotating axis as the plug-in pin, and the two toothed cams 427 are meshingly connected, one end of one of the two clamp arms 426 is rotatably connected with a connecting rod 428 through a plug-in pin, an industrial steering engine 429 is rotatably connected with one end of the connecting rod 428, and the industrial steering engine 429 is fixedly installed in the L-shaped seat 425.

[0066] For details, please refer to Figure 2 and Figure 8, the fourth electric hydraulic cylinder 233 can be controlled by the corresponding control button to control the first speed reducer motor 424 to work, the first speed reducer motor 424 drives the L-shaped seat 425 to rotate through the speed reducer, and then the rotation of the two clamping arms 426 can be adjusted, so that the clamping arm 426 can be aligned with the cable of the power grid or other equipment, and then the corresponding control button can be used to control the industrial steering engine 429, the industrial steering engine 429 can drive the connecting rod 428 and one of the clamping arms 426 to rotate, and when one of the clamping arms 426 rotates, the transmission of the two toothed cams 427 can drive the other clamping arm 426 to rotate synchronously, thereby realizing the opening and closing of the two clamping arms 426, and through the opening and closing of the two clamping arms 426, the operations such as grabbing, fixing and moving the workpiece can be realized. The power grid line clamping or circuit equipment operation can be realized, and the operation and maintenance of the power grid can be realized;

[0067] Of course, the clamping arm 426 can also clamp the test instrument for power grid test, and the operation and maintenance of the power grid equipment can also be realized. Further, the mechanical clamp 420 can also be replaced by other equipment, and is not limited to the mechanical clamp 420.

[0068] In the embodiment, the telescopic support leg 500 includes two leg supports 510 slidably arranged inside the support leg mounting profile 110. One end of the leg support 510 is fixedly connected with a anti-disengagement plate 520.

[0069] Please refer to Figure 9 The anti-disengagement plate 520 can prevent the leg support 510 from disengaging from the support leg mounting profile 110 after being fully extended.

[0070] In the embodiment, the gear meshing driving mechanism 600 includes a rack 610 fixedly connected to the inside of the leg support 510. The inside of the two racks 610 is meshingly connected with a second driving tooth 620. The second driving tooth 620 is fixedly connected with a second speed reducer motor 630. The second speed reducer motor 630 is fixedly connected with the top of the leg support 510 through a motor mounting seat.

[0071] When it is necessary to adjust the telescopic support leg 500, the corresponding control button can be used to control the second speed reducer motor 630. The second speed reducer motor 630 drives the second driving tooth 620 to rotate. The rotating second driving tooth 620 is meshingly connected with the rack 610, thereby driving the leg support 510 to slide inside the support leg mounting profile 110 for adjustment, realizing the telescopic adjustment of the leg support 510 relative to the support leg mounting profile 110.

[0072] In the embodiment, the support leg 700 comprises a hydraulic cylinder mounting base 710 fixedly connected to the top of the other end of the leg support 510, the top of the hydraulic cylinder mounting base 710 is provided with a fifth electric hydraulic cylinder 720, the telescopic end of the fifth electric hydraulic cylinder 720 is fixedly provided with a support plate 730, and the bottom of the support plate 730 is threadedly connected with a ground cone 740.

[0073] For details, please refer to Figure 4 and Figure 9 The corresponding control button is used for controlling the extension and retraction of the fifth electric hydraulic cylinder 720, so that the ground cone 740 can penetrate into the ground when the non-paved ground is used, and the support plate 730 is used for stable support on the ground, and the length of each fifth electric hydraulic cylinder 720 can be adjusted individually, so that the support plate 730 can be stably supported on the ground and the operation table 200 can be kept horizontal.

[0074] For the paved hard ground, the ground cone 740 can be removed, so that the support plate 730 can be stably supported on the ground.

[0075] In the embodiment, a plurality of electric leakage sensors 800 are mounted on the surface of the second connecting base 222, and the electric leakage sensors 800 are electrically connected with the electronic air bag 311 through the standby storage battery.

[0076] For details, please refer to Figure 3 , Figure 4 and Figure 9 When the electric leakage sensors 800 arranged in the plurality of electric leakage sensors 800 detect that the robot hand 400 is electrified, the risk according to the size of the voltage and current is instantaneously fed back to the controller, the electronic air bag 311 is controlled to be opened by the controller, and the operation chair 300 is bounced away from the operation table 200. In order to better determine the optimal bouncing direction of the operation chair 300, a plurality of laser radar sensors 900 electrically connected with the controller are mounted on the outside of the chassis 100, the ground environment outside the chassis 100 is detected by the laser radar sensors 900, and it is ensured that the operation chair 300 can bounce onto the safe ground.

[0077] The controller, the electric leakage sensors 800, the electronic air bag 311 and the laser radar sensors 900 are all powered by separately installed direct-current power supplies (storage batteries, etc.), so as to prevent the above-mentioned components from being damaged and disabled due to leakage of the power grid equipment, and further protect the life safety of the operating personnel.

[0078] The above is only a preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robotic arm for power grid operation and maintenance, characterized in that, include: A triangular base (100) is provided, and a set of support leg mounting profiles (110) are fixedly installed at each corner of the base (100). One end of each of the support leg mounting profiles (110) is fixedly connected to a hexagonal base (120). The top of the hexagonal base (120) is fixedly installed with a hexagonal support (130) through multiple connecting columns (121). An operating table (200) made of insulating material is fixedly connected to the top of a hexagonal support (130), and a rotating table (220) is connected to the middle of the operating table (200) through a rotating mechanism (210). A first connecting seat (221) and a second connecting seat (222) are respectively installed on the top of the rotating table (220). A braking mechanism (230) is provided inside the operating table (200) and installed at the bottom of the hexagonal support (130) to brake the rotating mechanism (210). An operating chair (300) is provided, the bottom of which is fixedly connected to the top of a first connecting seat (221) via a safety pop-out mechanism (310). A control console (320) is installed on one side armrest of the operating chair (300), and multiple roll guards (330) are fixedly installed on the top of the armrests on both sides of the operating chair (300). A safety belt (340) is installed at the seat of the operating chair (300). A robotic arm (400) includes a protective box (410) fixedly mounted on the top of a second connecting seat (222). A first hinge seat (411) is installed inside the protective box (410). A hollow arm (412) is hinged to the middle of the first hinge seat (411). A first electric hydraulic cylinder (413) is rotatably connected to the top of the first hinge seat (411). One end of the first electric hydraulic cylinder (413) is rotatably connected to the top of a second hinge seat (414) at the top of the middle of the hollow arm (412). One end of the hollow arm (412) rotates... A hollow forearm (415) is dynamically connected. A second electric hydraulic cylinder (416) is hinged to one end of the hollow forearm (415). One end of the second electric hydraulic cylinder (416) is hinged to the bottom of a second hinge seat (414). A third hinge seat (417) is fixedly connected to the top of one end of the hollow forearm (415). A third electric hydraulic cylinder (418) is hinged inside the third hinge seat (417). A mechanical clamp (420) is rotatably connected to one end of the third electric hydraulic cylinder (418). One end of the mechanical clamp (420) is rotatably connected to the other end of the hollow forearm (415). Multiple telescopic outriggers (500) are placed inside corresponding outrigger mounting profiles (110). The telescopic outriggers (500) are also slidably connected to the outrigger mounting profiles (110) through a gear meshing drive mechanism (600). One end of the telescopic outriggers (500) is equipped with a telescopic support foot (700).

2. The robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The chassis (100) is fixedly connected to three sides with lugs (140), and the chassis (100) is fixedly installed with wheels (150) on the inner bottom of the three corners.

3. The robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The rotating mechanism (210) includes an annular groove (211) formed in the middle of the operating table (200) and the rotating table (220). A toothed ring (212) rotates inside the annular groove (211). A first driving tooth (213) is meshed with the inner side of the toothed ring (212). The top of the toothed ring (212) is fixedly connected to the bottom of the rotating table (220). A drive motor (214) is fixedly connected to the middle of the first driving tooth (213). The bottom of the drive motor (214) passes through the annular groove (211) and is fixedly connected to the hexagonal base (120). A protective cover (215) is fixedly installed on the top of the rotating table (220) at the top of the annular groove (211).

4. The robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The braking mechanism (230) includes a ring-shaped disc (231) fixedly connected to the outside of the toothed ring (212). A U-shaped chuck (232) is fitted on the outer side of the ring-shaped disc (231). Both the ring-shaped disc (231) and the U-shaped chuck (232) are placed in the internal cavity of the operating table (200). A fourth electric hydraulic cylinder (233) is fixedly connected to the bottom of the U-shaped chuck (232). The bottom of the cylinder body of the fourth electric hydraulic cylinder (233) penetrates the operating table (200) and is fixedly connected to the hexagonal support (130).

5. A robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The safety ejection mechanism (310) includes multiple electronic airbags (311) fixedly installed on the top of the first connecting seat (221). Multiple support rods (312) are installed on the top of the first connecting seat (221) outside the electronic airbags (311). A seat connecting plate (313) is fixedly connected to the top of the support rod (312). Multiple seat connecting plates (313) are fixedly connected to the seat at the bottom of the operating chair (300) by screws.

6. A robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The mechanical clamp (420) includes a fourth hinge seat (421) and a fifth hinge seat (422) mounted on the other end of the hollow forearm (415). A rotating arm (4221) is rotatably connected between one end of the fourth hinge seat (421) and the fifth hinge seat (422). A T-shaped seat (423) is fixedly mounted at one end of the fifth hinge seat (422). A first reduction motor (424) is installed inside the T-shaped seat (423). The first reduction motor (424) is connected to an L-shaped seat (425) through a reducer. The top of the L-shaped base (425) is rotatably connected to two opposing clamping arms (426) via a pin. One end of each clamping arm (426) is fixedly connected to a toothed cam (427) with the same rotation axis as the pin, and the two toothed cams (427) are meshed together. One end of one clamping arm (426) is rotatably connected to a connecting rod (428) via a pin. One end of the connecting rod (428) is rotatably connected to an industrial servo motor (429), which is fixedly installed inside the L-shaped base (425).

7. A robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The telescopic outrigger (500) includes two leg frames (510) that are slidably placed inside the outrigger mounting profile (110), and one end of each leg frame (510) is fixedly connected to an anti-detachment plate (520).

8. A robotic arm for power grid operation and maintenance as described in claim 7, characterized in that, The gear meshing drive mechanism (600) includes a rack (610) fixedly connected to the inner side of the leg frame (510). The inner sides of the two racks (610) are meshed with a second drive tooth (620). The second drive tooth (620) is fixedly connected to a second reduction motor (630). The second reduction motor (630) is fixedly connected to the top of the leg frame (510) through a motor mounting seat.

9. A robotic arm for power grid operation and maintenance as described in claim 1, characterized in that, The support leg (700) includes a hydraulic cylinder mounting base (710) fixedly connected to the top of the other end of the leg frame (510). A fifth electric hydraulic cylinder (720) is mounted on the top of the hydraulic cylinder mounting base (710). A support plate (730) is fixedly mounted on the telescopic end of the fifth electric hydraulic cylinder (720). A ground cone (740) is threadedly connected to the bottom of the support plate (730).

10. A robotic arm for power grid operation and maintenance according to claim 1, characterized in that, The second connector (222) is equipped with a plurality of leakage current sensors (800), which are electrically connected to the electronic airbag (311) via a backup battery.

Images