Eight-split spacer gripping device

Abstract

The eight-split spacer grabbing device comprises an unmanned aerial vehicle, a fixing frame and a mechanical arm, a fixing pipe is arranged at the bottom of the fixing frame and extends out of the fixing frame, an opening is formed in the lower portion of the fixing pipe, a movable adjusting assembly is arranged in the fixing pipe, and the end of the mechanical arm is connected to the movable adjusting assembly. According to the mechanical gripper, the mechanical arm is arranged on the movable adjusting assembly below the fixing frame, so that when the mechanical gripper is used, the movable adjusting assembly is controlled to drive the mechanical arm to move axially, the movement range of the mechanical gripper is enlarged, and the flexibility of the mechanical gripper is improved.

Description

Technical Field

[0001] The invention relates to the technical field of high-voltage line operation equipment, in particular to an eight-split spacer rod grabbing device. Background Art

[0002] High-voltage transmission lines are supported by several towers. The conductors are laid on each tower to form a high-voltage transmission network. There is a large height difference between the high-voltage line and the ground to ensure a safe distance between the high-voltage line and the ground. High-voltage lines also require irregular maintenance, such as removing damaged or aging spacers and installing new spacers to achieve safe and stable power transmission.

[0003] The existing installation methods are manual or automated equipment installation. Manual installation is inefficient and dangerous, while the automated equipment installation process is completed through the entire material preparation, grabbing, fixing, locking and energy supply modules. The grabbing module needs to cooperate with other modules. Therefore, the adjacent mechanisms have compact structures and limited space, which greatly reduces the flexibility of the grabbing mechanism. If the situation is slightly complicated, the work cannot be completed. Summary of the invention

[0004] The present invention aims to solve the above problems and provide an eight-split spacer rod grabbing device.

[0005] The present invention includes a drone, a fixing frame and a manipulator, wherein a fixing tube is arranged at the bottom of the fixing frame, the fixing tube extends to the outside of the fixing frame, the fixing tube is opened at the bottom, and a movable adjustment component is arranged inside, and the end of the manipulator is connected to the movable adjustment component. By arranging the manipulator on the movable adjustment component below the fixing frame, the manipulator can be driven to perform axial movement by controlling the movable adjustment component during use, thereby increasing the range of motion of the mechanical claw and improving the flexibility of the mechanical claw.

[0006] Specifically, the movable adjustment component includes a movable adjustment shaft, a movable adjustment motor and a movable adjustment seat. The fixed tube is in an inverted "U" shape, and a movable adjustment rail is arranged on the top thereof. The adjustment motor is fixed to one end portion of the fixed tube, and the movable adjustment shaft is rotatably arranged in the fixed tube. The manipulator is fixed on the movable adjustment seat, and the movable adjustment seat is slidably arranged on the movable adjustment rail and is threadedly connected to the movable adjustment shaft. The output shaft of the movable adjustment motor is connected to the input shaft of the movable adjustment shaft. Driving the movable adjustment motor can drive the movable adjustment shaft to rotate, and then drive the movable adjustment seat and the manipulator to move axially along the movable adjustment shaft. The inverted "U"-shaped fixed tube is arranged to make the overall structure compact, thereby protecting the internal movable adjustment component and preventing internal objects from being collided.

[0007] Specifically, the movable adjustment seat is in a "U" shape, and a connecting groove is provided at one end thereof. The connecting groove is used to connect the movable adjustment rail, and a threaded hole is provided on the adjacent side. The movable adjustment shaft is a threaded shaft, and the movable adjustment seat is threadedly connected to the movable adjustment shaft. Through the threaded connection between the two, the position of the manipulator can be adjusted through continuous movement during use, thereby realizing linear adjustment rather than sudden movement, thereby greatly enhancing the continuity of the manipulator's activity.

[0008] Specifically, the robot comprises a robot arm and a clamping claw, wherein the robot arm is a multi-joint robot arm, and the robot arm can drive the clamping claw to clamp the spacer rod and move at any angle.

[0009] Specifically, the clamp includes a hydraulic motor and a clamp, the hydraulic motor is fixed on the mechanical arm, and the clamp is symmetrically slidably arranged on the hydraulic motor. Driving the hydraulic motor can drive the clamps to move closer to or away from each other.

[0010] Specifically, connecting frames are arranged on both sides of the drone, and the connecting frames are fixed on the fixing frames, so that the drone can be driven to be launched as a whole.

[0011] Specifically, a horizontal adjustment component, a horizontal adjustment seat, a clamping wheel, a vertical adjustment component, a vertical adjustment seat and a roller are provided at the bottom of the fixed frame. The horizontal adjustment component is provided at the front and rear sides of the fixed frame. The horizontal adjustment seat is slidably installed on the horizontal adjustment component. The clamping wheel is provided on the horizontal adjustment seat. The vertical adjustment component is provided in the horizontal adjustment seat. The vertical adjustment seat is slidably provided on the vertical adjustment component and extends to the outside. A roller is provided on the vertical adjustment seat.

[0012] Specifically, the horizontal adjustment component includes a horizontal adjustment motor, a horizontal adjustment shaft and a horizontal adjustment rail. The horizontal adjustment rail is arranged at the bottom of the fixed frame, and the horizontal adjustment shaft is located below the horizontal adjustment rail. The output shaft of the horizontal adjustment motor is connected to the input shaft of the horizontal adjustment shaft. The top of the horizontal adjustment seat is slidably arranged on the horizontal adjustment rail, and a horizontal connecting hole is arranged on the horizontal adjustment seat. The horizontal connecting hole is engaged with the horizontal adjustment shaft. Driving the horizontal adjustment motor can drive the horizontal adjustment shaft to rotate, and then engage with the horizontal connecting hole, thereby driving the horizontal adjustment seat to move laterally.

[0013] Specifically, the vertical adjustment component is arranged in the horizontal adjustment seat, and the vertical adjustment component includes a vertical adjustment motor, a vertical adjustment shaft and a vertical adjustment rail. The vertical adjustment rail and the vertical adjustment shaft are arranged in the horizontal adjustment seat, and the vertical adjustment motor is arranged outside the horizontal adjustment seat, and its output shaft is connected with the input shaft of the vertical adjustment shaft. The vertical adjustment seat is arranged on the vertical adjustment shaft, and the roller is arranged on the vertical adjustment seat. Driving the vertical adjustment motor can drive the vertical adjustment shaft to rotate, and drive the vertical adjustment seat and the roller axis to approach or move away from the clamping wheel.

[0014] Specifically, support rods are provided at the four corners of the fixing frame, and the support rods can support the whole frame off the ground.

[0015] Compared with the prior art, the beneficial effect of the present design is as follows: by arranging the manipulator on the movable adjustment component under the fixed frame, the manipulator can be driven to move axially by controlling the movable adjustment component during use, thereby increasing the range of motion of the mechanical claw and improving the flexibility of the mechanical claw. In addition, the two threaded connections can make it possible to adjust the position of the manipulator through continuous movement during use, thereby achieving linear adjustment rather than sudden movement, thereby greatly enhancing the continuity of the manipulator's activity. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 for Figure 1 A structural diagram from another perspective; Figure 3 It is a structural schematic diagram of the connection relationship between the manipulator and the mobile adjustment component of the present invention; Figure 4 It is a structural schematic diagram of the manipulator of the present invention; Figure 5 It is a schematic diagram of the structure of the horizontal adjustment component of the present invention in working state; Figure 6 It is a schematic diagram of the internal structure of the vertical adjustment assembly of the present invention; Figure 7 Based Figure 6 A schematic diagram of the structure from another perspective.

[0017] Among them: 10, UAV; 101, connecting frame; 20, fixed frame; 30, mobile adjustment component; 301, fixed tube; 302, mobile adjustment shaft; 303, mobile adjustment seat; 304, mobile adjustment motor; 305, mobile adjustment rail; 40, manipulator; 401, mechanical arm; 402, hydraulic motor; 403, clamp; 50, support rod; 60, roller; 70, horizontal adjustment component; 701, horizontal adjustment motor; 702, horizontal adjustment rail; 703, horizontal adjustment shaft; 80, horizontal adjustment seat; 90, vertical adjustment component; 901, vertical adjustment motor; 902, vertical adjustment shaft; 903, vertical adjustment seat; 904, vertical adjustment rail; 100, clamping wheel. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] In the description of the present invention, it should be noted that the terms "middle", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc., are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0020] Embodiment 1: The present invention aims to provide an eight-split spacer gripping device: Please combine Figure 1-7 Referring to the present invention, a drone 10, a fixed frame 20 and a manipulator 40 are provided. A fixed tube 301 is provided at the bottom of the fixed frame 20. The fixed tube 301 extends to the outside of the fixed frame 20. The fixed tube 301 is opened at the bottom and a movable adjustment component 30 is provided inside. The end of the manipulator 40 is connected to the movable adjustment component 30. By arranging the manipulator 40 on the movable adjustment component 30 below the fixed frame 20, the manipulator 40 can be driven to move axially by controlling the movable adjustment component 30 during use, thereby increasing the range of motion of the mechanical claw and improving the flexibility of the mechanical claw.

[0021] Specifically, the movable adjustment component 30 includes a movable adjustment shaft 302, a movable adjustment motor 304 and a movable adjustment seat 303. The fixed tube 301 is in an inverted "U" shape, and a movable adjustment rail 305 is arranged on the top thereof. The adjustment motor is fixed to one end of the fixed tube 301, and the movable adjustment shaft 302 is rotatably arranged in the fixed tube 301. The manipulator 40 is fixed on the movable adjustment seat 303, and the movable adjustment seat 303 is slidably arranged on the movable adjustment rail 305 and is threadedly connected to the movable adjustment shaft 302. The output shaft of the movable adjustment motor 304 is connected to the input shaft of the movable adjustment shaft 302. Driving the movable adjustment motor 304 can drive the movable adjustment shaft 302 to rotate, and then drive the movable adjustment seat 303 and the manipulator 40 to move axially along the movable adjustment shaft 302. The inverted "U"-shaped fixed tube 301 is arranged to make the overall structure compact, thereby protecting the internal movable adjustment component 30 and preventing internal objects from being collided.

[0022] Specifically, the movable adjustment seat 303 is in a "U" shape, and a connecting groove is provided at one end thereof. The connecting groove is used to connect the movable adjustment rail 305, and a threaded hole is provided on the adjacent side. The movable adjustment shaft 302 is a threaded shaft, and the movable adjustment seat 303 is threadedly connected to the movable adjustment shaft 302. Through the threaded connection between the two, the position of the manipulator 40 can be adjusted through continuous movement during use, that is, linear adjustment can be achieved rather than sudden movement, thereby greatly enhancing the continuity of the movement of the manipulator 40.

[0023] Specifically, the robot 40 includes a robot arm 401 and a clamp. The robot arm 401 is a multi-joint robot arm 401. The robot arm 401 can drive the clamp to clamp the spacer rod and move at any angle.

[0024] Specifically, the clamp includes a hydraulic motor 402 and a clamp 403. The hydraulic motor 402 is fixed on the mechanical arm 401. The clamp 403 is symmetrically slidably arranged on the hydraulic motor 402. Driving the hydraulic motor 402 can drive the clamp 403 to move closer to or away from each other.

[0025] Specifically, connecting frames 101 are provided on both sides of the drone 10, and the connecting frames 101 are fixed on the fixing frames 20, so that the drone 10 can be driven to be lifted into the air as a whole.

[0026] Specifically, a horizontal adjustment component 70, a horizontal adjustment seat 80, a clamping wheel 100, a vertical adjustment component 90, a vertical adjustment seat 903 and a roller 60 are provided at the bottom of the fixed frame 20. The horizontal adjustment component 70 is provided at the front and rear sides of the fixed frame, the horizontal adjustment seat 80 is slidably installed on the horizontal adjustment component 70, the clamping wheel 100 is provided on the horizontal adjustment seat 80, the vertical adjustment component 90 is provided in the horizontal adjustment seat 80, the vertical adjustment seat 903 is slidably provided on the vertical adjustment component 90 and extends to the outside, and the vertical adjustment seat 903 is provided with a roller 60.

[0027] It can be understood that the fixing frame 20 is composed of an inverted "U"-shaped square steel, and the whole is square, including horizontal square steel and vertical square steel. The horizontal adjustment component 70 is arranged in the horizontal square steel, so that when the whole equipment is running, it can ensure that the horizontal adjustment component 70 is not entangled by flying debris or debris on the wire when working in the field, thereby reducing the construction efficiency. At the same time, by adopting the "U"-shaped square steel, the overall weight can be reduced, which can ensure the smooth operation of the drone 10 during the online process and the overall weight on the wire.

[0028] Specifically, the horizontal adjustment component 70 includes a horizontal adjustment motor 701, a horizontal adjustment shaft 703 and a horizontal adjustment rail 702. The horizontal adjustment rail 702 is arranged at the bottom of the fixed frame 20, and the horizontal adjustment shaft 703 is located below the horizontal adjustment rail 702. The output shaft of the horizontal adjustment motor 701 is connected to the input shaft of the horizontal adjustment shaft 703. The top of the horizontal adjustment seat 80 is slidably arranged on the horizontal adjustment rail 702, and a horizontal connecting hole is arranged on the horizontal adjustment seat 80. The horizontal connecting hole is engaged with the horizontal adjustment shaft 703. Driving the horizontal adjustment motor 701 can drive the horizontal adjustment shaft 703 to rotate, and then engage with the horizontal connecting hole, thereby driving the horizontal adjustment seat 80 to move laterally.

[0029] Specifically, the vertical adjustment component 90 is arranged in the horizontal adjustment seat 80, and the vertical adjustment component 90 includes a vertical adjustment motor 901, a vertical adjustment shaft 902 and a vertical adjustment rail 904. The vertical adjustment rail 904 and the vertical adjustment shaft 902 are arranged in the horizontal adjustment seat 80. The vertical adjustment motor 901 is arranged outside the horizontal adjustment seat 80, and its output shaft is connected to the input shaft of the vertical adjustment shaft 902. The vertical adjustment seat 903 is arranged on the vertical adjustment shaft 902, and the roller 60 is arranged on the vertical adjustment seat 903. Driving the vertical adjustment motor 901 can drive the vertical adjustment shaft 902 to rotate, and drive the vertical adjustment seat 903 and the roller 60 to axially approach or move away from the clamping wheel 100.

[0030] Specifically, support rods 50 are provided at the four corners of the fixing frame 20, and the support rods 50 can support the whole off the ground. By supporting the whole off the ground through the support rods 50, the stability and fixation of the whole can be ensured, thereby improving the safety during the launch and improving the stability of the line.

[0031] In specific applications: the whole is located on the ground and supported by the support rod 50. At this time, the clamping hole on the single spacer rod is matched and clamped on the clamp 403 through the clamp 403, and the spacer rod is adjusted to be perpendicular to the length direction of the fixed frame 20. According to the overall situation, the movable adjustment motor 304 is adjusted to rotate, driving the movable adjustment shaft 302 to rotate, prompting the adjustment seat engaged with the movable adjustment shaft 302 to move horizontally, until the whole is balanced, and the movable adjustment motor 304 is controlled to be turned off.

[0032] Then, the drone 10 is controlled to take off and drive the entire drone to rise into the air so that the lowest point of the entire drone is higher than the wire. At this time, the horizontal adjustment motor 701 is controlled to rotate forward to drive the horizontal adjustment shaft 703 to rotate, and drive the horizontal adjustment seats 80 on both sides to move away from each other on the horizontal adjustment rail 702. At this time, since the horizontal adjustment seats 80 on both sides are away from each other, the clamping wheels 100 and rollers 60 fixed on the horizontal adjustment seats 80 are away from each other until the spacing between the rollers 60 on both sides is much larger than the spacing between the wires. The drone 10 is controlled to fly horizontally until the wires are completely located between the rollers 60 on both sides. At this time, the drone 10 is controlled to fly downward until the bottom of the fixing frame 20 contacts the wire. At this time, the horizontal adjustment shaft 703 is controlled to reverse. At this time, the horizontal adjustment seats 80 on both sides are close to each other, and the distance between the two is The spacing decreases until the horizontal adjustment seats 80 on both sides touch the wires, and then the horizontal adjustment motor 701 is turned off to maintain the current state, and then the vertical adjustment assembly 90 is controlled, specifically: the vertical adjustment motor 901 is controlled to rotate, driving the vertical adjustment shaft 902 to rotate, and then driving the vertical adjustment seat 903 to move downward on the vertical adjustment rail 904. At this time, as the vertical adjustment seat 903 moves axially downward, the roller 60 also follows the vertical adjustment seat 903 to move axially downward until the roller 60 falls on the wire, and then the vertical adjustment motor 901 is continued to be controlled to rotate in this direction. Since the roller 60 continues to move axially downward, the whole can contact the wire through the roller 60. At this time, the fixed frame 20 contacts the wire through the roller 60, so a certain distance will be maintained between the fixed frame 20 and the wire, and work can begin.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention; technicians in this industry should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected; the scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. An eight-split spacer gripping device, comprising a drone (10), a fixing frame (20) and a manipulator (40), characterized in that: A fixing tube (301) is arranged at the bottom of the fixing frame (20), and the fixing tube (301) extends to the outside of the fixing frame (20). The fixing tube (301) is open at the bottom, and a movable adjustment component (30) is arranged inside. The end of the manipulator (40) is connected to the movable adjustment component (30).

2. The eight-split spacer gripping device according to claim 1, characterized in that: The movable adjustment component (30) comprises a movable adjustment shaft (302), a movable adjustment motor (304) and a movable adjustment seat (303); the fixed tube (301) is in an inverted "U" shape, and a movable adjustment rail (305) is arranged on the top of the fixed tube (301); the adjustment motor is fixed to one end of the fixed tube (301); the movable adjustment shaft (302) is rotatably arranged in the fixed tube (301); the manipulator (40) is fixed to the movable adjustment seat (303); the movable adjustment seat (303) is slidably arranged on the movable adjustment rail (305) and is threadedly connected to the movable adjustment shaft (302); the output shaft of the movable adjustment motor (304) is connected to the input shaft of the movable adjustment shaft (302); driving the movable adjustment motor (304) can drive the movable adjustment shaft (302) to rotate, thereby driving the movable adjustment seat (303) and the manipulator (40) to perform axial movement along the movable adjustment shaft (302).

3. The eight-split spacer gripping device according to claim 2 is characterized in that: The movable adjustment seat (303) is in a "U" shape, one end of which is provided with a connection groove, the connection groove is used to connect the movable adjustment rail (305), and the adjacent side thereof is provided with a threaded hole, the movable adjustment shaft (302) is a threaded shaft, and the movable adjustment seat (303) is threadedly connected to the movable adjustment shaft (302).

4. The eight-split spacer gripping device according to claim 1, characterized in that: The robot (40) comprises a robot arm (401) and a clamping claw. The robot arm (401) is a multi-joint robot arm (401). The robot arm (401) can drive the clamping claw to clamp the spacer rod and move at any angle.

5. The eight-split spacer gripping device according to claim 4, characterized in that: The clamp comprises a hydraulic motor (402) and a clamp (403), wherein the hydraulic motor (402) is fixed on the mechanical arm (401), and the clamp (403) is symmetrically slidably arranged on the hydraulic motor (402), and driving the hydraulic motor (402) can drive the clamp (403) to move closer to or away from each other.

6. The eight-split spacer gripping device according to claim 1, characterized in that: Connecting frames (101) are arranged on both sides of the drone (10), and the connecting frames (101) are fixed on the fixing frames (20), so that the drone (10) can be driven to be lifted into the air as a whole.

7. The eight-split spacer gripping device according to claim 1, characterized in that: The bottom of the fixed frame (20) is provided with a horizontal adjustment component (70), a horizontal adjustment seat (80), a clamping wheel (100), a vertical adjustment component (90), a vertical adjustment seat (903) and a roller (60), wherein the horizontal adjustment component (70) is arranged at the front and rear sides of the fixed frame (20), the horizontal adjustment seat (80) is slidably mounted on the horizontal adjustment component (70), the clamping wheel (100) is arranged on the horizontal adjustment seat (80), the vertical adjustment component (90) is arranged in the horizontal adjustment seat (80), the vertical adjustment seat (903) is slidably arranged on the vertical adjustment component (90) and extends to the outside, and the vertical adjustment seat (903) is provided with a roller (60).

8. The eight-split spacer gripping device according to claim 7, characterized in that: The horizontal adjustment component (70) comprises a horizontal adjustment motor (701), a horizontal adjustment shaft (703) and a horizontal adjustment rail (702); the horizontal adjustment rail (702) is arranged at the bottom of the fixing frame (20); the horizontal adjustment shaft (703) is located below the horizontal adjustment rail (702); the output shaft of the horizontal adjustment motor (701) is connected to the input shaft of the horizontal adjustment shaft (703); the top of the horizontal adjustment seat (80) is slidably arranged on the horizontal adjustment rail (702); and a horizontal connection hole is arranged on the horizontal adjustment seat (80); the horizontal connection hole is engaged with the horizontal adjustment shaft (703); driving the horizontal adjustment motor (701) can drive the horizontal adjustment shaft (703) to rotate, thereby engaging with the horizontal connection hole, and driving the horizontal adjustment seat (80) to move horizontally.

9. The eight-split spacer gripping device according to claim 7, characterized in that: The vertical adjustment component (90) is arranged in the horizontal adjustment seat (80), and the vertical adjustment component (90) comprises a vertical adjustment motor (901), a vertical adjustment shaft (902) and a vertical adjustment rail (904). The vertical adjustment rail (904) and the vertical adjustment shaft (902) are arranged in the horizontal adjustment seat (80). The vertical adjustment motor (901) is arranged outside the horizontal adjustment seat (80), and its output shaft is connected to the input shaft of the vertical adjustment shaft (902). The vertical adjustment seat (903) is arranged on the vertical adjustment shaft (902), and the roller (60) is arranged on the vertical adjustment seat (903). Driving the vertical adjustment motor (901) can drive the vertical adjustment shaft (902) to rotate, and drive the vertical adjustment seat (903) and the roller (60) to axially approach or move away from the clamping wheel (100).

10. The eight-split spacer gripping device according to claim 1, characterized in that: Support rods (50) are arranged at the four corners of the fixing frame (20), and the support rods (50) can support the whole off the ground.

Images