A kind of live working auxiliary mechanical arm

Abstract

The invention discloses an auxiliary robot arm for live working, which relates to the technical field of mechanized electrical working, and comprises a main robot arm, wherein a plate-shaped robot arm is fixedly arranged at the arm end of the main robot arm; an intermediate positioner is fixedly arranged at the lower front side of the plate-shaped robot arm; two groups of movable positioners are slidingly arranged at the front side of the plate-shaped robot arm in cooperation with a guide rail; an L-shaped frame is fixedly arranged below the adjacent surfaces of the movable positioners on both sides; the invention is provided with a cutting knife, and provides an automatic circular cutting function without affecting assembly. When a driving motor is started to drive a control gear and an outer gear ring to rotate, the rotating arc frame can be moved and rotated half a circle, and the traveling motor is used to drive the traveling gear to rotate, so that the inner moving seat moves half a circle inside the rotating arc frame, thereby realizing full-circle adjustment of the cutting knife position. During this period, the electric cylinder C is gradually extended to push the cutting knife, so that the outer skin of the cable can be quantitatively cut, and the automation effect is good, thereby solving the problem that the existing robot arm lacks the automatic circular cutting function.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanized electrical operations, and in particular to a live-operation auxiliary mechanical arm. Background Art

[0002] When dividing a live cable, a robotic arm is usually used to partially cut the outer insulation layer of the cable, and then the line connection is made, and the line is led out from the cable for extension connection.

[0003] The currently used robotic arms have the following disadvantages:

[0004] 1. The existing robotic arm cutting mainly performs circular cutting by moving the joints of the robotic arm, which is easily limited, the circular cutting effect is not good, and there is a lack of automatic circular cutting function that does not affect assembly;

[0005] 2. It is inconvenient to detect the cable diameter during the cable fixing process and adjust the cutting depth by measuring the cable size;

[0006] 3. It is inconvenient to adjust to a fixed position according to cutting needs. Summary of the invention

[0007] The object of the present invention is to provide a live working auxiliary robot arm, which has two sets of cutting knives, and the spacing can be adjusted, and can rotate and move to adapt to the appearance of the cable, so as to quantitatively cut the outer skin of the cable.

[0008] In order to achieve the above-mentioned purpose, the present invention provides an auxiliary robot arm for live working, specifically including a main robot arm, a plate-shaped robot arm is fixedly provided at the arm end of the main robot arm; an intermediate positioner is fixedly provided at the lower front side of the plate-shaped robot arm; two groups of mobile positioners are slidably provided at the front side of the plate-shaped robot arm in cooperation with the guide rail; an L-shaped frame is fixedly provided below the adjacent surfaces of the mobile positioners on both sides; a rotating shift seat is fixedly provided at the top of the L-shaped frame, two groups of load-bearing T wheels are rotatably provided on both sides of the top of the rotating shift seat, and a rotating shift arc frame is provided above the load-bearing T wheels; a T-shaped groove is opened in the middle of the inner arc surface of the rotating shift arc frame; an inner shift seat, two groups of maintaining rollers A and one group of maintaining rollers B are rotatably provided on the outside of the inner shift seat, and the inner shift seat is slidably provided in the T-shaped groove through the two groups of maintaining rollers A and one group of maintaining rollers B.

[0009] Optionally, two sets of side screws are rotatably arranged at both ends of the front side of the plate-shaped manipulator, and screw motors for driving the side screws are fixedly arranged at both ends of the front side of the plate-shaped manipulator. The side screws are threadedly connected to nut blocks on the outside, and the nut blocks are fixedly connected to the mobile locator.

[0010] Optionally, two groups of guide rods are fixedly provided on the top of the intermediate locator, and two groups of movable clamping fingers are slidably provided outside the two groups of guide rods; two groups of electric cylinders A are fixedly provided on the top of the intermediate locator, and the telescopic ends of the electric cylinders A are fixedly connected to adjacent movable clamping fingers; two groups of trapezoidal auxiliary clamping blocks are fixedly provided on adjacent surfaces of the movable clamping fingers on both sides; two groups of ranging resistor rods are fixedly provided at the middle and lower parts of the rear movable clamping fingers, and a connecting plate is fixedly provided at the middle and lower parts of the front movable clamping fingers, and the ranging resistor rods pass through the connecting plate.

[0011] Optionally, a fixed cable roller is rotatably arranged in a bracket extending forward above the rear side of the mobile locator; an extension guide groove is integrally arranged at the front lower part of the mobile locator; an electric cylinder B is fixedly arranged at the front lower part of the mobile locator; a mobile seat is slidably arranged above the extension guide groove, and the telescopic end of the electric cylinder B is fixedly connected to the mobile seat; a mobile cable roller is rotatably arranged at the rear side of the mobile seat; the middle of the outside of the fixed cable roller and the mobile cable roller are both C-shaped annular groove structures.

[0012] Optionally, a driving motor is fixedly arranged on the top of one side of the rotation seat, and a control gear is fixedly arranged on the shaft end of the driving motor; and two groups of external brushes are fixedly arranged on the top of the rotation seat.

[0013] Optionally, an inner gear ring is integrally provided on one side of the inner arc surface of the rotating arc frame; an outer gear ring is integrally provided on the other side of the rotating arc frame, and the control gear is meshed with the outer gear ring; two sets of live wire edges are fixedly provided in the middle of the rotating arc frame.

[0014] Optionally, two sets of inner brushes are fixedly provided at one end of the inner moving seat located in the rotating arc frame; a traveling motor is fixedly provided on one side of the inner moving seat, a traveling gear is fixedly provided on the shaft end of the traveling motor, and the traveling gear is meshed with the inner gear ring; an electric cylinder C is fixedly provided at the outer end of the inner moving seat, and a cutting knife is fixedly provided at the telescopic end of the electric cylinder C.

[0015] Optionally, the outer brush and the inner brush are both arranged by means of spring rods and are fitted on both inner and outer sides of the live edge.

[0016] The beneficial effects are as follows:

[0017] 1. The present invention is provided with a cutting knife, which provides an automatic circular cutting function without affecting assembly. By starting the driving motor to drive the control gear and the outer gear ring to rotate, the rotating arc frame can be moved and rotated half a circle. The traveling motor is used to drive the traveling gear to rotate, so that the inner moving seat moves half a circle inside the rotating arc frame, thereby realizing full-circle adjustment of the cutting knife position. During this period, the electric cylinder C is gradually extended to advance the cutting knife, so that the outer skin of the cable can be quantitatively cut, and the automation effect is good.

[0018] 2. Set up an intermediate positioner to measure the cable size while positioning. Start the two groups of electric cylinders A to bring the two groups together to clamp the cable. Stop when the electric cylinder A can no longer extend. During this period, adjust the position of the connecting piece outside the ranging resistor rod and change the resistance value to feedback the diameter of the measured cable. The cable model can be obtained according to the diameter ratio, and the cable sheath thickness can be analyzed through the program.

[0019] 3. Set up a mobile positioner that can adjust to the fixed position according to the cutting needs. Contract the electric cylinder B to move the mobile cable roller closer to the fixed cable roller. Use the fixed cable roller and the mobile cable roller to clamp and fix the cable. Then start the screw motor to drive the side screw to rotate, and move the mobile positioners on both sides closer together, thereby adjusting the position of the L-shaped frame to facilitate cutting. The distance between the two cutting positions can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of an overall structure provided for the implementation of the present invention;

[0021] Figure 2 A schematic diagram showing a three-dimensional structure of a plate-shaped manipulator in an embodiment of the present invention is provided for the implementation of the present invention;

[0022] Figure 3 A schematic diagram of the axonometric structure of a plate-shaped manipulator provided for the implementation of the present invention;

[0023] Figure 4 A schematic diagram of the three-dimensional structure of an intermediate positioner provided for the implementation of the present invention;

[0024] Figure 5 A schematic diagram of the three-dimensional structure of an intermediate positioner provided for the implementation of the present invention;

[0025] Figure 6 A schematic diagram of the three-dimensional structure of a rotating arc frame provided for the implementation of the present invention;

[0026] Figure 7 A schematic diagram of a side elevation structure of a rotating arc frame provided for the implementation of the present invention;

[0027] Figure 8 A three-dimensional structural schematic diagram of an inner shifting seat provided for the implementation of the present invention.

[0028] Reference numerals list

[0029] 1. Main robot arm; 2. Plate-shaped robot; 201. Side lead screw; 202. Lead screw motor; 203. Screw nut block; 3. Intermediate positioner; 301. Guide rod; 302. Mobile clamping finger; 303. Electric cylinder A; 304. Auxiliary clamping block; 305. Distance measuring resistor rod; 306. Connecting piece; 4. Mobile positioner; 401. Fixed cable roller; 402. Extended guide groove; 403. Electric cylinder B; 404. Mobile seat; 405. Mobile Cable roller; 5. L-shaped frame; 501. Rotational shift seat; 502. Load-bearing T wheel; 503. Driving motor; 504. Control gear; 505. External brush; 6. Rotational shift arc frame; 601. Internal gear ring; 602. External gear ring; 603. Electric wire edge; 7. Internal shift seat; 701. Maintaining roller A; 702. Maintaining roller B; 703. Internal brush; 704. Traveling motor; 705. Traveling gear; 706. Electric cylinder C; 707. Cutting knife. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below through the accompanying drawings and specific embodiments.

[0031] Embodiment 1:

[0032] like Figures 1 to 8 As shown:

[0033] The present invention proposes an auxiliary robot arm for live working, comprising a main robot arm 1, at the arm end of which a plate-shaped robot 2 is fixedly arranged; an intermediate positioner 3 is fixedly arranged at the lower front side of the plate-shaped robot 2; two groups of mobile positioners 4 are slidably arranged at the front side of the plate-shaped robot 2 in cooperation with a guide rail; L-shaped frames 5 are fixedly arranged below the adjacent surfaces of the mobile positioners 4 on both sides; a rotating seat 501 is fixedly arranged on the top of the L-shaped frame 5, two groups of load-bearing T wheels 502 are rotatably arranged on both sides of the top of the rotating seat 501, and a rotating arc frame 6 is arranged above the load-bearing T wheel 502; a T-shaped groove is opened in the middle of the inner arc surface of the rotating arc frame 6; an inner shift seat 7, two groups of maintaining rollers A701 and one group of maintaining rollers B702 are rotatably arranged on the outside of the inner shift seat 7, and the inner shift seat 7 is slidably arranged in the T-shaped groove through the two groups of maintaining rollers A701 and one group of maintaining rollers B702.

[0034] Among them, two sets of side screws 201 are rotatably arranged at both ends of the front side of the plate-shaped manipulator 2, and screw motors 202 for driving the side screws 201 are fixedly arranged at both ends of the front side of the plate-shaped manipulator 2. The side screws 201 are externally threadedly connected with nut blocks 203, and the nut blocks 203 are fixedly connected to the mobile locator 4.

[0035] Among them, two groups of guide rods 301 are fixedly arranged on the top of the intermediate locator 3, and two groups of movable clamping fingers 302 are slidably arranged outside the two groups of guide rods 301; two groups of electric cylinders A303 are fixedly arranged on the top of the intermediate locator 3, and the telescopic ends of the electric cylinders A303 are fixedly connected to the adjacent movable clamping fingers 302; two groups of trapezoidal auxiliary clamping blocks 304 are fixedly arranged on the adjacent surfaces of the movable clamping fingers 302 on both sides; two groups of ranging resistor rods 305 are fixedly arranged in the middle and lower part of the rear movable clamping fingers 302, and a connecting plate 306 is fixedly arranged in the middle and lower part of the front movable clamping fingers 302, and the ranging resistor rod 305 passes through the connecting plate 306.

[0036] Among them, a fixed cable roller 401 is rotatably arranged in a bracket extending forward from the upper rear side of the mobile locator 4; an extension guide groove 402 is integrally arranged at the front lower part of the mobile locator 4; an electric cylinder B403 is fixedly arranged at the front lower part of the mobile locator 4; a mobile seat 404 is slidably arranged above the extension guide groove 402, and the telescopic end of the electric cylinder B403 is fixedly connected to the mobile seat 404; a mobile cable roller 405 is rotatably arranged at the rear side of the mobile seat 404; the outer middle of the fixed cable roller 401 and the mobile cable roller 405 are both C-shaped annular groove structures.

[0037] A driving motor 503 is fixedly arranged on the top of one side of the rotation seat 501 , and a control gear 504 is fixedly arranged on the shaft end of the driving motor 503 ; two sets of external brushes 505 are fixedly arranged on the top of the rotation seat 501 .

[0038] Among them, an inner gear ring 601 is integrally provided on one side of the inner arc surface of the rotating arc frame 6; an outer gear ring 602 is integrally provided on the other side of the rotating arc frame 6, and the control gear 504 is meshed with the outer gear ring 602; two sets of live wire edges 603 are fixedly provided in the middle of the rotating arc frame 6.

[0039] Among them, two groups of inner brushes 703 are fixedly provided at one end of the inner moving seat 7 located in the rotating arc frame 6; a traveling motor 704 is fixedly provided on one side of the inner moving seat 7, and a traveling gear 705 is fixedly provided on the shaft end of the traveling motor 704, and the traveling gear 705 is meshed with the inner gear ring 601; an electric cylinder C706 is fixedly provided at the outer end of the inner moving seat 7, and a cutting knife 707 is fixedly provided at the telescopic end of the electric cylinder C706.

[0040] The outer brush 505 and the inner brush 703 are both arranged by means of spring rods and are attached to the inner and outer sides of the live edge 603 .

[0041] like Figure 1-4As shown, the main robot arm 1 is controlled to move the plate-shaped robot 2 to the outside of the cable, and the plate-shaped robot 2 is raised from the bottom to the top, and the mobile clamping fingers 302, the fixed cable roller 401 and the mobile cable roller 405 are moved to both sides of the cable, and the two groups of electric cylinders A303 are started to bring the two groups together to clamp the cable. When the electric cylinder A303 can no longer extend, it stops. During this period, the position of the connecting piece 306 outside the ranging resistor rod 305 is adjusted to change the resistance value to feedback the measured cable diameter. The cable model can be known according to the diameter ratio, and the outer skin thickness of the cable can be analyzed through the program.

[0042] Embodiment 2:

[0043] On the basis of Example 1, Figure 5 As shown, the electric cylinder B403 is retracted to move the movable cable roller 405 toward the fixed cable roller 401, and the cable is clamped and fixed by the fixed cable roller 401 and the movable cable roller 405. Then the screw motor 202 is started to drive the side screw 201 to rotate, and the movable positioners 4 on both sides are moved together to adjust the position of the L-shaped frame 5.

[0044] Embodiment 3:

[0045] On the basis of Example 1, Figure 6-8 As shown, according to the needs of cutting cables, the angle of the rotary cutting can be controlled, and full-angle cutting or half-angle cutting can be performed;

[0046] The driving motor 503 is started to drive the control gear 504 to rotate, and the control gear 504 drives the outer gear ring 602 to rotate, so that the rotating arc frame 6 can be moved and rotated half a circle. At the same time, the traveling motor 704 is started to drive the traveling gear 705 to rotate, and the traveling gear 705 cooperates with the inner gear ring 601 to make the inner moving seat 7 move half a circle inside the rotating arc frame 6, so as to achieve the full-circle adjustment of the position of the cutting knife 707. During this period, the electric cylinder C706 is gradually extended to push the cutting knife 707, so that the outer skin of the cable can be quantitatively cut by the cutting knife 707, and the two places on the outside of the cable can be cut. Then, when manually wiring, it is only necessary to cut the outer skin of the cable horizontally. Two sets of ring grooves are cut in advance, the cutting line is stable, and excessive cutting can be avoided when manually cutting horizontally; the outer brush 505 and the inner brush 703 are both set by spring rods and fit on the inner and outer sides of the wired edge 603, so that power supply can be maintained. The ring cutting can be controlled by remote control to achieve power supply during movement.

[0047] Specific usage and function of this embodiment: In the present invention, when in use, the main robot arm 1 is controlled to move the plate-shaped robot 2 to the outside of the cable, the plate-shaped robot 2 is raised from the bottom to the top, the mobile clamping finger 302, the fixed cable roller 401 and the mobile cable roller 405 are moved to both sides of the cable, and the two groups of electric cylinders A303 are started to bring the two groups together to clamp the cable. When the electric cylinder A303 can no longer extend, it stops. During this period, the position of the connecting piece 306 outside the ranging resistor rod 305 is adjusted to change the resistance value to feedback the diameter of the measured cable. The cable model can be known according to the diameter ratio, and the outer skin thickness of the cable can be analyzed through the program;

[0048] The electric cylinder B403 is retracted to move the movable cable roller 405 closer to the fixed cable roller 401, and the fixed cable roller 401 and the movable cable roller 405 are used to clamp and fix the cable, and then the screw motor 202 is started to drive the side screw 201 to rotate, so as to move the two side movable positioners 4 closer and merge, thereby adjusting the position of the L-shaped frame 5;

[0049] According to cutting needs, the cutting angle can be controlled and full-angle cutting can be performed;

[0050] The driving motor 503 is started to drive the control gear 504 to rotate, and the control gear 504 drives the outer gear ring 602 to rotate, so that the rotating arc frame 6 can be moved and rotated half a circle. At the same time, the traveling motor 704 is started to drive the traveling gear 705 to rotate, and the traveling gear 705 cooperates with the inner gear ring 601 to make the inner moving seat 7 move half a circle inside the rotating arc frame 6, so as to achieve full-circle adjustment of the position of the cutting knife 707. During this period, the electric cylinder C706 is gradually extended to push the cutting knife 707, so that the outer skin of the cable can be quantitatively cut by the cutting knife 707, and two places on the outside of the cable can be cut. Then, when manually wiring, it is only necessary to cut the outer skin of the cable horizontally. Two sets of ring grooves are cut in advance, and the cutting line is stable, and excessive cutting can be avoided during manual horizontal cutting.

[0051] The outer brush 505 and the inner brush 703 are both arranged by means of a spring rod and fit on the inner and outer sides of the power-carrying edge 603 to maintain power supply. The power supply can be realized during the movement by controlling the ring cutting by remote control.

[0052] The above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A live working auxiliary robot arm, characterized in that: The invention comprises a main mechanical arm (1), wherein a plate-shaped mechanical arm (2) is fixedly provided at the arm end of the main mechanical arm (1); an intermediate positioner (3) is fixedly provided at the lower front side of the plate-shaped mechanical arm (2); two groups of movable positioners (4) are slidably provided at the front side of the plate-shaped mechanical arm (2) in cooperation with a guide rail; an L-shaped frame (5) is fixedly provided below the adjacent surfaces of the movable positioners (4) on both sides; a rotation seat (501) is fixedly provided at the top of the L-shaped frame (5), and two groups of bearing T-shaped support members are rotatably provided on both sides of the top of the rotation seat (501). The invention relates to a wheel (502), a rotating arc frame (6) is arranged above the bearing T wheel (502); a T-shaped sliding groove is provided in the middle of the inner arc surface of the rotating arc frame (6); an inner shift seat (7), two groups of maintaining rollers A (701) and one group of maintaining rollers B (702) are arranged on the outer side of the inner shift seat (7), and the inner shift seat (7) is slidably arranged in the T-shaped sliding groove through the two groups of maintaining rollers A (701) and one group of maintaining rollers B (702); a driving motor (503) is fixedly arranged on the top of one side of the rotating seat (501), and the driving motor (503) ) is fixedly provided with a control gear (504) at the shaft end; two groups of external brushes (505) are fixedly provided at the top of the rotational displacement seat (501); an inner gear ring (601) is integrally provided on one side of the inner arc surface of the rotational displacement arc frame (6); an outer gear ring (602) is integrally provided on the other side of the rotational displacement arc frame (6), and the control gear (504) meshes with the outer gear ring (602); two groups of live wire edges (603) are fixedly provided in the middle of the rotational displacement arc frame (6); two groups of inner gear rings (603) are fixedly provided on one end of the inner displacement seat (7) located inside the rotational displacement arc frame (6) A brush (703); a travel motor (704) is fixedly arranged on one side of the inner moving seat (7); a travel gear (705) is fixedly arranged on the shaft end of the travel motor (704); the travel gear (705) is meshed with the inner gear ring (601); an electric cylinder C (706) is fixedly arranged on the outer end of the inner moving seat (7); a cutting knife (707) is fixedly arranged on the telescopic end of the electric cylinder C (706); the outer brush (505) and the inner brush (703) are both arranged through a spring rod and are attached to the inner and outer sides of the electric wire edge (603).

2. A live working auxiliary robot arm as claimed in claim 1, characterized in that: Two sets of side lead screws (201) are rotatably arranged at both ends of the front side of the plate-shaped manipulator (2), lead screw motors (202) for driving the side lead screws (201) are fixedly arranged at both ends of the front side of the plate-shaped manipulator (2), and nut blocks (203) are threadedly connected to the outside of the side lead screws (201), and the nut blocks (203) are fixedly connected to the mobile positioner (4).

3. A live working auxiliary robot arm as claimed in claim 1, characterized in that: Two groups of guide rods (301) are fixedly arranged on the top of the intermediate positioner (3), and two groups of movable clamping fingers (302) are slidably arranged outside the two groups of guide rods (301); two groups of electric cylinders A (303) are fixedly arranged on the top of the intermediate positioner (3), and the telescopic ends of the electric cylinders A (303) are fixedly connected to adjacent movable clamping fingers (302); two groups of trapezoidal auxiliary clamping blocks (304) are fixedly arranged on adjacent surfaces of the movable clamping fingers (302) on both sides; two groups of distance measuring resistance rods (305) are fixedly arranged at the middle and lower parts of the rear movable clamping fingers (302), and a connecting piece (306) is fixedly arranged at the middle and lower parts of the front movable clamping fingers (302), and the distance measuring resistance rods (305) pass through the connecting piece (306).

4. A live working auxiliary robot arm as claimed in claim 1, characterized in that: A fixed cable roller (401) is rotatably arranged in a bracket extending forward above the rear side of the mobile positioner (4); an extension guide groove (402) is integrally arranged at the front lower part of the mobile positioner (4); an electric cylinder B (403) is fixedly arranged at the front lower part of the mobile positioner (4); a mobile seat (404) is slidably arranged above the extension guide groove (402), and the telescopic end of the electric cylinder B (403) is fixedly connected to the mobile seat (404); a mobile cable roller (405) is rotatably arranged at the rear side of the mobile seat (404); the outer middle of the fixed cable roller (401) and the mobile cable roller (405) are both C-shaped annular groove structures.

Images