Precise positioning mechanical arm for disconnection and connection of single-line suspension type hot-line work robot

Abstract

The invention discloses an accurate positioning mechanical arm of a single-line suspension type hot-line work robot for fire disconnection and connection, and belongs to a mechanical arm in the technical field of fire disconnection and connection equipment, and the technical scheme is that the mechanical arm comprises a base plate; the swing adjusting assembly is provided with a main body frame, and a swing air cylinder assembly used for controlling swing of the main body frame is arranged on the base plate. The telescopic arm is movably arranged in the height direction of the main body frame through the lifting control assembly; a multi-degree-of-freedom claw body is arranged at the end of the telescopic arm, the connecting end of the multi-degree-of-freedom claw body is fixedly connected with the end of the telescopic arm, and a rotating hand grabbing assembly is arranged at the other end of the multi-degree-of-freedom claw body. According to the provided single-line suspension type hot-line work robot fire disconnection and connection precise positioning mechanical arm, control over lifting, contracting and swinging of the mechanical arm can be achieved, and through precise positioning of the mechanical arm at different positions, precise operation of the claw body on hot-line work at different positions is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire-breaking equipment, and in particular relates to a fire-breaking precise positioning mechanical arm of a single-line suspended live-working robot. Background Art

[0002] In live-line operations on distribution networks, disconnecting and connecting leads are the most common items, and among all types of disconnecting and connecting leads, the operations are the most complicated and have the most dangerous points. In the current operation and maintenance of overhead lines in distribution networks, the intermediate potential operation method of insulated boom trucks is widely used at live-line operations, and operators use manual tools to complete live-line operation tasks. However, this operation method is inefficient, high-risk and high-intensity. Even if the operators are experienced and equipped with protective measures, it is still difficult to guarantee the absolute personal safety of the operators. In recent years, in order to improve the automation level and safety of live-line operations, and reduce the labor intensity of operators working at high altitudes and the personal threat of strong electric fields to operators, the development of robots for live-line operations on distribution networks has been widely carried out.

[0003] When the single-wire suspension robot is walking at high altitude, the robot itself will shake to a certain extent due to the influence of external factors, and the mechanical arm of the single-wire suspension robot in the prior art will also shake. At this time, whether it is merging or unmerging the wires, the live wire clamp or hydraulic pliers carried by the front end of the mechanical arm cannot easily reach the specified position accurately and quickly. Summary of the invention

[0004] The object of the present invention is to provide a single-wire suspended live working robot with a precise positioning robot arm for disconnecting fire. A main frame that can be swung and adjusted is arranged on a base plate that is fixedly connected to the robot body, and a telescopic arm that can be raised and lowered is arranged on the main frame. The multi-degree-of-freedom claw arranged at the end of the telescopic arm can be controlled to rise and fall, and multi-degree-of-freedom positioning control of the multi-degree-of-freedom claw in space is provided. In addition, the multi-degree-of-freedom claw has multi-degree-of-freedom movement in space. The precise positioning of the robot arm at different positions can realize the operation of the claw on the wires in different positions.

[0005] The object of the present invention is achieved by providing a single-line suspended live working robot fire-removing and fire-removing precise positioning mechanical arm, comprising:

[0006] Base plate;

[0007] A swing adjustment component, wherein the swing adjustment component is provided with a main frame, the main frame is horizontally rotatably arranged on the base plate, and a swing cylinder component for swing control of the main frame is arranged on the base plate;

[0008] A telescopic arm, the telescopic arm being movably arranged in the height direction of the main frame through a lifting control component; and

[0009] A multi-degree-of-freedom claw body is arranged at the end of the telescopic arm, a connecting end of the multi-degree-of-freedom claw body is fixedly connected to the end of the telescopic arm, and a rotating hand grip assembly is arranged at the other end of the multi-degree-of-freedom claw body.

[0010] Furthermore, the main frame is vertically arranged, and the bottom of the main frame is horizontally rotatably connected to the base plate; the swing cylinder assembly includes a movable connecting plate fixedly arranged on the main frame and a swing cylinder horizontally rotatably arranged on the base plate, the movable connecting plate is provided with an arc groove, and the telescopic end of the swing cylinder is slidably connected to the arc groove.

[0011] Furthermore, the lifting control assembly includes two groups of guide rods arranged in the height direction of the main frame and a lifting cylinder vertically fixed on the main frame, guide cylinders are arranged on both sides of the telescopic arm, and the corresponding guide cylinders and guide rods are slidingly matched, and the telescopic end of the lifting cylinder is fixedly connected to the telescopic arm.

[0012] Furthermore, the telescopic arm includes a positioning plate fixedly mounted on the two guide cylinders and a movable rod slidably connected to the positioning plate via a guide rail. Horizontal telescopic guide cylinder assemblies are arranged on both sides of the positioning plate, and the telescopic end of the horizontal telescopic guide cylinder assembly is fixedly connected to the movable rod.

[0013] Furthermore, the horizontal telescopic guide cylinder assembly includes a horizontal cylinder fixedly arranged on one side of the positioning plate and a buffer cylinder arranged on the other side of the positioning plate, the telescopic end of the horizontal cylinder is fixedly connected to the connecting plate fixedly arranged on the movable rod, the buffer cylinder is arranged parallel to the horizontal cylinder, and the end of the buffer cylinder is arranged close to the connecting plate.

[0014] Furthermore, the multi-degree-of-freedom claw body includes a rotating connection base fixedly connected to the end of the telescopic arm, an arm group hinged to the rotating end of the rotating connection base, and the rotating hand grip assembly is rotatably arranged at the end of the arm group.

[0015] Furthermore, the rotating connection base includes a fixed frame, a connecting head rotatably arranged on the fixed frame, and a first servo motor fixedly arranged on the fixed frame, and the rotating shaft of the servo motor is fixedly connected to the connecting head on the rotating axis center of the connecting head.

[0016] Furthermore, the connecting head is provided with two symmetrical connecting plates, and the arm group includes two groups of symmetrical arm units. The two groups of arm units are respectively hinged to the connecting plates on the connecting head, and a second servo motor for rotating and driving the arm unit is fixedly provided on the connecting plate.

[0017] Furthermore, the arm unit includes a first arm plate, a second arm plate and a third arm plate which are hingedly arranged in sequence; the first arm plate is fixedly provided with a third servo motor for rotation control at the hinge of the first arm plate and the second arm plate, and the second arm plate is fixedly provided with a fourth servo motor for rotation control at the hinge of the second arm plate and the third arm plate.

[0018] Furthermore, the rotating hand grip assembly includes a hand grip main board and two grab rod groups symmetrically arranged on the hand grip main board. The two grab rod groups are movably arranged on the hand grip main board through mutually meshing gears, and any one of the gears is rotated and driven by a hand grip drive motor fixedly arranged on the hand grip main board; the end of the hand grip main board is fixedly connected to the rotating shaft of the rotating motor fixedly arranged on the third arm plate.

[0019] The beneficial effects of the present invention are embodied in:

[0020] 1. In the present invention, a main frame that can be swung and adjusted is arranged on a base plate that is fixedly connected to the robot body, and a telescopic arm that can be lifted and lowered is arranged on the main frame, so that the multi-degree-of-freedom claw body arranged at the end of the telescopic arm can be controlled to lift, retract and swing, and the multi-degree-of-freedom claw body is provided with multi-degree-of-freedom positioning control in space. In addition, the multi-degree-of-freedom claw body has multi-degree-of-freedom movement in space, so that the claw body can operate the wires in different positions through the precise positioning of the robot arm at different positions; more specifically, the swing adjustment component swings the entire main frame through the swing cylinder component on the base plate, so that the telescopic arm on the main frame can more easily and accurately reach some difficult-to-reach positions in space, and under the control of the telescopic arm on the extension and lifting of the multi-degree-of-freedom claw body, the multi-degree-of-freedom claw body is provided with the degree of freedom of movement; wherein, the multi-degree-of-freedom claw body has the function of extension and rotation in space, so that the rotating hand grip assembly connected to the end of the multi-degree-of-freedom claw body has a higher degree of freedom of movement in space, thereby better providing and satisfying the function of the live working robot to perform precise positioning operation of disconnecting the live wire.

[0021] 2. In the present invention, by arranging the main frame in the vertical direction and making the bottom of the main frame horizontally rotatably connected to the base plate, the freedom of swing control of the main frame relative to the base plate in the horizontal plane is provided. More specifically, since a swing cylinder is arranged on the base plate and the end of the swing cylinder is horizontally rotatably arranged on the base plate, the telescopic end of the telescopic end at the other end of the swing cylinder is slidably connected to the movable connecting plate on the main frame. Therefore, the movable connecting plate is provided with an arc groove, and the telescopic end is slidably arranged in the arc groove. Therefore, the swing control of the main frame can be achieved by controlling the swing cylinder.

[0022] 3. In the present invention, since two groups of guide rods are arranged in the lifting control assembly, the two groups of guide rods are relatively matched with the guide cylinders arranged on both sides of the telescopic arm, and the guide rods are slidably arranged in the guide cylinders, providing the telescopic arm with a lifting operation in the height direction along the main frame. At the same time, the main frame is fixedly provided with a lifting cylinder in the height direction, and the telescopic end of the lifting cylinder is fixedly connected to the telescopic arm. Therefore, by controlling the lifting cylinder, the lifting control of the telescopic arm in the height direction along the main frame is realized, thereby improving the freedom of precise positioning movement of the telescopic arm.

[0023] 4. In the present invention, a positioning plate is provided in the telescopic arm for limiting the horizontal position relative to the main frame, and a movable rod is slidably connected to the positioning plate through a guide rail, thereby providing the movable rod with freedom of movement in the horizontal direction relative to the main frame. At the same time, horizontal telescopic guide cylinder assemblies are provided on both sides of the positioning plate, and the telescopic ends of the horizontal telescopic guide cylinder assemblies are fixedly connected to the movable rod. Furthermore, by controlling the telescopic movement of the horizontal telescopic guide cylinder assembly, the movement control of the movable rod in the horizontal direction is realized, thereby improving the freedom of precise positioning movement of the telescopic arm.

[0024] 5. In the present invention, due to the horizontal cylinder arranged on one side of the positioning plate and the buffer cylinder arranged on the other side of the positioning plate in the horizontal telescopic guide cylinder assembly, the horizontal cylinder provides a driving force for the movable rod relative to the positioning plate, and the buffer cylinder provides a buffer for the movable rod relative to the positioning plate during its movement.

[0025] 6. In the present invention, by providing a rotating connection base fixedly connected to the end of the telescopic arm in the multi-degree-of-freedom claw body, the multi-degree-of-freedom claw body fixedly connected to the telescopic arm has the freedom and function of overall rotation. At the same time, an arm group is hingedly provided at the rotating end on the rotating connection base, and the arm group has a movement orientation with three degrees of freedom, and the rotating hand grip assembly is fixedly provided at the other end of the arm group, and then a clamping component with rotational freedom is provided on the arm group based on the movement orientation with three degrees of freedom, which greatly improves the multi-degree-of-freedom clamping operation of the overall multi-degree-of-freedom claw body in space and improves the precise positioning of the multi-degree-of-freedom claw body for live operations during work.

[0026] 7. In the present invention, since a fixed frame is arranged in the rotating connection base, one end of the fixed frame is fixedly connected to the end of the telescopic arm, and a connecting head is rotatably arranged on the fixed frame, and the connecting head is fixedly connected through the rotating shaft of the first servo motor fixedly arranged on the fixed frame, thereby realizing the rotation control of the connecting head relative to the fixed frame under the rotation control of the first servo motor, and two symmetrical connecting plates are arranged in the connecting head, and the two groups of arm units are respectively hinged to the connecting plates on the connecting head, and the rotating shafts at which the two groups of arm units are hinged to the connecting plates are driven to rotate relative to each other by the second servo motor fixed on the connecting plates, thereby providing a power source for rotation control at the hinge.

[0027] 8. In the present invention, by arranging a first arm plate, a second arm plate and a third arm plate which are hinged in sequence in the arm unit, and arranging a servo motor at the corresponding hinge, a power source for swing control of each hinge point is provided; further, the arm group is arranged to be symmetrically arranged by two arm units, and the corresponding servo motor for swing driving is fixedly arranged between the two arm units for rotation driving, which greatly improves the stability of the entire arm group in performing precise positioning movement in space.

[0028] 9. In the present invention, since a hand grip main board is provided in the rotating hand grip assembly, and two symmetrical gripping rod groups are provided on the hand grip main board, the two gripping rod groups are movably provided on the hand grip main board through mutually meshing gears. Thus, the relative opening and closing operation of the two gripping rod groups can be realized by driving any one of the gears. Since the driving is through the meshing of gears, not only the stability of the opening and closing is improved, but also the accuracy of the opening and closing operation is improved. At the same time, the end of the hand grip main board is fixedly connected to the rotating shaft of the rotating motor fixedly provided on the third arm plate, thereby realizing the freedom of rotation control of the rotating hand grip assembly as a whole relative to the arm groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0030] Figure 1 It is a schematic diagram of the overall structure of the mechanical arm of the present invention;

[0031] Figure 2 This is a schematic diagram of the installation structure of the telescopic arm and the main frame of the present invention;

[0032] Figure 3 It is a schematic diagram of the multi-degree-of-freedom claw structure of the present invention.

[0033] In the accompanying drawings, 1-base plate, 2-swing adjustment assembly, 3-main frame, 4-swing cylinder assembly, 5-telescopic arm, 6-lifting control assembly, 7-multi-degree-of-freedom claw body, 8-rotating hand grasping assembly, 9-active connecting plate, 10-swing cylinder, 11-arc groove, 12-telescopic end, 13-two sets of guide rods, 14-lifting cylinder, 15-guide cylinder, 16-positioning plate, 17-guide rail, 18-active rod, 19-horizontal telescopic guide cylinder assembly, 20-horizontal cylinder, 21-buffer cylinder, 22-end connecting plate, 23-rotating connecting base, 24-arm group, 25-fixed frame, 26-connecting head, 27-first servo motor, 28-connecting plate, 29-arm unit, 30-second servo motor, 31-first arm plate, 32-second arm plate, 33-third arm plate, 34-third servo motor, 35-fourth servo motor, 36-hand grip main board, 37-grip rod group, 38-gear, 39-hand grip drive motor, 40-rotating motor. DETAILED DESCRIPTION

[0034] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0035] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0036] Reference Figure 1-Figure 3 , a single-line suspended live working robot fire-breaking and precise positioning mechanical arm, comprising:

[0037] Base plate 1;

[0038] A swing adjustment component 2, wherein the swing adjustment component 2 is provided with a main frame 3, the main frame 3 is horizontally rotatably arranged on the base plate 1, and a swing cylinder component 4 for swing control of the main frame 3 is arranged on the base plate 1;

[0039] A telescopic arm 5, wherein the telescopic arm 5 is movably arranged in the height direction of the main frame 3 through a lifting control component 6; and

[0040] A multi-degree-of-freedom claw body 7 is provided at the end of the telescopic arm 5 , a connecting end of the multi-degree-of-freedom claw body 7 is fixedly connected to the end of the telescopic arm 5 , and a rotating hand grip assembly 8 is provided at the other end of the multi-degree-of-freedom claw body 7 .

[0041] Reference Figure 1 By arranging a swing-adjustable main frame 3 on a base plate 1 fixedly connected to the robot body, and arranging a lifting-controllable telescopic arm 5 on the main frame 3, the multi-degree-of-freedom claw 7 arranged at the end of the telescopic arm 5 can be controlled to lift, retract and swing, providing multi-degree-of-freedom positioning control of the multi-degree-of-freedom claw 7 in space. In addition, the multi-degree-of-freedom claw 7 has multi-degree-of-freedom movement in space, thereby realizing the operation of the claw on the wires in different positions through the precise positioning of the robot arm at different positions; more specifically, the swing adjustment component 2 is connected to the main frame 3 by a plurality of degrees of freedom. The entire main frame 3 is swung and controlled by the swing cylinder assembly 4 on the base plate 1, so that the telescopic arm 5 on the main frame 3 can more easily and accurately reach some hard-to-reach positions in space, and under the control of the telescopic arm 5 on the extension and lifting of the multi-degree-of-freedom claw 7, the multi-degree-of-freedom claw 7 is provided with freedom of movement; wherein, the multi-degree-of-freedom claw 7 has the function of extension and rotation in space, so that the rotating hand grasping assembly 8 connected to the end of the multi-degree-of-freedom claw 7 has a higher degree of freedom of movement in space, thereby better providing and satisfying the function of the live working robot to perform precise positioning operations for disconnecting live wires.

[0042] Preferably, the main frame 3 is vertically arranged, and the bottom of the main frame 3 is horizontally rotatably connected to the base plate 1;

[0043] The swing cylinder assembly 4 includes a movable connecting plate 9 fixedly arranged on the main frame 3 and a swing cylinder 10 horizontally rotatably arranged on the base plate 1. The movable connecting plate 9 is provided with an arc groove 11, and the telescopic end 12 of the swing cylinder 10 is slidably connected to the arc groove 11.

[0044] It can be understood that by setting the main frame 3 in the vertical direction and making the bottom of the main frame 3 connected to the base plate 1 in a horizontal rotation manner, the freedom of swing control of the main frame 3 relative to the base plate 1 in the horizontal plane is provided. More specifically, since a swing cylinder 10 is set on the base plate 1 and the end of the swing cylinder 10 is horizontally rotated on the base plate 1, the telescopic end 12 of the telescopic end at the other end of the swing cylinder 10 is slidably connected to the movable connecting plate 9 on the main frame 3; thus, the movable connecting plate 9 is provided with an arc groove 11, and the telescopic end 12 is slidably set in the arc groove 11; and then, the swing control of the main frame 3 can be achieved through the swing cylinder 10.

[0045] Preferably, the lifting control assembly 6 includes two groups of guide rods 13 arranged in the height direction of the main frame 3 and a lifting cylinder 14 vertically fixed on the main frame 3, and guide cylinders 15 are arranged on both sides of the telescopic arm 5. The corresponding guide cylinders 15 and guide rods 13 are slidingly matched, and the telescopic end of the lifting cylinder 14 is fixedly connected to the telescopic arm 5.

[0046] Combination Figure 1 and Figure 2 Since two groups of guide rods 13 are arranged in the lifting control assembly 6, the two groups of guide rods 13 are relatively matched with the guide cylinders 15 arranged on both sides of the telescopic arm 5, and the guide rods are slidably arranged in the guide cylinders 15, providing the telescopic arm 5 with a lifting operation in the height direction along the main frame 3. At the same time, the main frame 3 is fixedly provided with a lifting cylinder 14 in the height direction, and the telescopic end of the lifting cylinder 14 is fixedly connected to the telescopic arm 5; therefore, by controlling the lifting cylinder 14, the lifting control of the telescopic arm 5 in the height direction along the main frame 3 is realized, and the freedom of precise positioning movement of the telescopic arm 5 is improved.

[0047] Preferably, the telescopic arm 5 includes a positioning plate 16 fixedly mounted on the two guide cylinders 15 and a movable rod 18 slidably connected to the positioning plate 16 via a guide rail 17. Horizontal telescopic guide cylinder assemblies 19 are provided on both sides of the positioning plate 16, and the telescopic end of the horizontal telescopic guide cylinder assembly 19 is fixedly connected to the movable rod 18.

[0048] By setting a positioning plate 16 in the telescopic arm 5 that is relatively limited in the horizontal direction relative to the main frame 3, and making the positioning plate 16 slidably connected to a movable rod 18 through a guide rail 17; thereby, the movable rod 18 is provided with freedom of movement in the horizontal direction relative to the main frame 3. At the same time, horizontal telescopic guide cylinder assemblies 19 are set on both sides of the positioning plate 16, and the telescopic end of the horizontal telescopic guide cylinder assembly 19 is fixedly connected to the movable rod 18; further, by controlling the telescopic movement of the horizontal telescopic guide cylinder assembly 19, the movement control of the movable rod 18 in the horizontal direction is realized, thereby improving the freedom of precise positioning movement of the telescopic arm 5.

[0049] Preferably, the horizontal telescopic guide cylinder assembly 19 includes a horizontal cylinder 20 fixedly arranged on one side of the positioning plate 16 and a buffer cylinder 21 arranged on the other side of the positioning plate 16, the telescopic end of the horizontal cylinder 20 is fixedly connected to the end connecting plate 22 fixedly arranged on the movable rod 18, the buffer cylinder 21 is arranged parallel to the horizontal cylinder 20, and the end of the buffer cylinder 21 is arranged close to the end connecting plate 22.

[0050] It can be understood that since the horizontal cylinder 20 is arranged on one side of the positioning plate 16 and the buffer cylinder 21 is arranged on the other side of the positioning plate 16 in the horizontal telescopic guide cylinder assembly 19, the horizontal cylinder 20 provides a movable drive for the movable rod 18 relative to the positioning plate 16, and the buffer cylinder 21 provides a buffer for the movable rod 18 relative to the positioning plate 16 during the movement.

[0051] Preferably, the multi-degree-of-freedom claw body 7 includes a rotating connection base 23 fixedly connected to the end of the telescopic arm 5, an arm group 24 hingedly arranged at the rotating end of the rotating connection base 23, and the rotating hand grip assembly 8 is rotatably arranged at the end of the arm group 24.

[0052] By providing a rotating connection base 23 fixedly connected to the end of the telescopic arm 5 in the multi-degree-of-freedom claw body 7, the multi-degree-of-freedom claw body 7 fixedly connected to the telescopic arm 5 has the freedom and function of overall rotation; at the same time, an arm group 24 is hingedly provided at the rotating end on the rotating connection base 23, and the arm group 24 has a movement orientation with three degrees of freedom, and a rotating hand grip assembly 8 is fixedly provided at the other end of the arm group 24, and then a clamping component with rotational freedom is provided on the arm group 24 based on the movement orientation with three degrees of freedom, which greatly improves the multi-degree-of-freedom clamping operation of the overall multi-degree-of-freedom claw body 7 in space, and improves the precise positioning of the multi-degree-of-freedom claw body 7 for live operations during work.

[0053] Preferably, the rotating connection base 23 includes a fixed frame 25, a connecting head 26 rotatably arranged on the fixed frame 25 and a first servo motor 27 fixedly arranged on the fixed frame 25, and the rotating shaft of the first servo motor 27 is fixedly connected to the connecting head 26 on the rotating axis center of the connecting head 26.

[0054] Preferably, the connecting head 26 is provided with two symmetrical connecting plates 28, and the arm group 24 includes two groups of symmetrical arm units 29, which are respectively hinged to the connecting plates 28 on the connecting head 26, and a second servo motor 30 for rotating and driving the arm unit 29 is fixedly provided on the connecting plate 28.

[0055] Since a fixed frame 25 is set in the rotating connection base 23, one end of the fixed frame 25 is fixedly connected to the end of the telescopic arm 5, and a connecting head 26 is rotatably set on the fixed frame 25, and the connecting head 26 is fixedly connected through the rotating shaft of the first servo motor 27 fixedly set on the fixed frame 25, thereby realizing the rotation control of the connecting head 26 relative to the fixed frame 25 under the rotation control of the first servo motor 27; and, two symmetrical end connecting plates 22 are set in the connecting head 26, and two groups of arm units 29 are respectively hinged to the end connecting plates 22 on the connecting head 26, and the two groups of arm units 29 are relatively driven to rotate on the rotating shaft hinged to the end connecting plates 22 by the second servo motor 30 fixed on the end connecting plates 22, providing a power source for rotation control at the hinge.

[0056] Preferably, the arm unit 29 includes a first arm plate 31, a second arm plate 32 and a third arm plate 33 which are hingedly arranged in sequence; the first arm plate 31 is fixedly provided with a third servo motor 34 for rotation control at the hinge of the first arm plate 31 and the second arm plate 32, and the second arm plate 32 is fixedly provided with a fourth servo motor 35 for rotation control at the hinge of the second arm plate 32 and the third arm plate 33.

[0057] By arranging a first arm plate 31, a second arm plate 32 and a third arm plate 33 which are hinged in sequence in the arm unit 29, and arranging a first servo motor 27 at the corresponding hinge, a power source for swing control of each hinge point is provided; further, the arm group 24 is arranged to be symmetrically arranged by two arm units 29, and the first servo motor 27 for swing drive is fixedly arranged between the two arm units 29 for rotation drive, which greatly improves the stability of the entire arm group 24 in performing precise positioning movement in space.

[0058] Preferably, the rotating hand grip assembly 8 includes a hand grip main board 36 and two grab rod groups 37 symmetrically arranged on the hand grip main board 36. The two grab rod groups 37 are movably arranged on the hand grip main board 36 through mutually meshing gears 38. Any one of the gears is rotated and driven by a hand grip drive motor 39 fixedly arranged on the hand grip main board 36. The end of the hand grip main board 36 is fixedly connected to the rotating shaft of a rotating motor 40 fixedly arranged on the third arm plate 33.

[0059] Reference Figure 3 Since a hand grip main board 36 is provided in the rotating hand grip assembly 8, and two symmetrical grip rod groups 37 are provided on the hand grip main board 36, the two grip rod groups 37 are movably provided on the hand grip main board 36 through mutually meshing gears 38; thus, the relative opening and closing operation of the two grip rod groups 37 can be realized by driving any one of the gears 38. Due to the driving through the meshing of the gears 38, not only the stability of the opening and closing is improved, but also the accuracy of the opening and closing operation is improved; at the same time, the end of the hand grip main board 36 is fixedly connected to the rotating shaft of the rotating motor 40 fixedly provided on the third arm plate 33, thereby realizing the freedom of rotation control of the rotating hand grip assembly 8 as a whole relative to the arm group 24.

[0060] Working principle and working process of the present invention:

[0061] The single-wire suspended live-working robot fire-untangling precise positioning robot arm provided by the present invention, when in use, has a main frame 3 that can be swung and adjusted on a base plate 1 that is fixedly connected to the robot body, and a telescopic arm 5 that can be lifted and lowered is provided on the main frame 3, thereby enabling a multi-degree-of-freedom claw 7 provided at the end of the telescopic arm 5 to be lifted and lowered, contracted and swung, providing multi-degree-of-freedom positioning control of the multi-degree-of-freedom claw 7 in space; in addition, the multi-degree-of-freedom claw 7 has multi-degree-of-freedom movement in space, thereby realizing the precise positioning of the robot arm at different positions to control the claw body to wires in different positions. operation; more specifically, the swing adjustment component 2 controls the swing of the entire main frame 3 through the swing cylinder component 4 on the base plate 1, so that the telescopic arm 5 on the main frame 3 can more easily and accurately reach some difficult-to-reach positions in space, and under the control of the telescopic arm 5 on the extension and lifting of the multi-degree-of-freedom claw 7, the multi-degree-of-freedom claw 7 is provided with freedom of movement; wherein the multi-degree-of-freedom claw 7 has the function of extension and rotation in space, so that the rotating hand grasping component 8 connected to the end of the multi-degree-of-freedom claw 7 has a higher degree of freedom of movement in space, thereby better providing and satisfying the function of the live working robot to perform precise positioning operations for disconnecting live wires.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A single-line suspended live working robot fire-breaking and precise positioning mechanical arm, characterized in that: include: Base plate (1); A swing adjustment component (2), the swing adjustment component (2) being provided with a main frame (3), the main frame (3) being arranged on the base plate (1) for horizontal rotation, and the base plate (1) being provided with a swing cylinder component (4) for controlling the swing of the main frame (3); A telescopic arm (5), wherein the telescopic arm (5) is movably arranged in the height direction of the main frame (3) through a lifting control component (6); and A multi-degree-of-freedom claw body (7) is provided at the end of the telescopic arm (5); a connecting end of the multi-degree-of-freedom claw body (7) is fixedly connected to the end of the telescopic arm (5); and a rotating hand grip assembly (8) is provided at the other end of the multi-degree-of-freedom claw body (7).

2. The single-line suspension type live working robot fire-breaking and precise positioning mechanical arm according to claim 1 is characterized in that: The main frame (3) is arranged vertically, and the bottom of the main frame (3) is connected to the base plate (1) in a horizontally rotatable manner; The swing cylinder assembly (4) comprises a movable connecting plate (9) fixedly arranged on the main frame (3) and a swing cylinder (10) horizontally rotatably arranged on the base plate (1); the movable connecting plate (9) is provided with an arc groove (11); and a telescopic end (12) of the swing cylinder (10) is slidably connected to the arc groove (11).

3. The single-line suspension type live working robot fire-breaking and precise positioning mechanical arm according to claim 2 is characterized in that: The lifting control assembly (6) comprises two groups of guide rods (13) arranged in the height direction of the main frame (3) and a lifting cylinder (14) vertically fixed on the main frame (3); guide cylinders (15) are arranged on both sides of the telescopic arm (5); the corresponding guide cylinders (15) and guide rods (13) are slidably matched; the telescopic end of the lifting cylinder (14) is fixedly connected to the telescopic arm (5).

4. The single-line suspension type live working robot fire-breaking and precise positioning mechanical arm according to claim 3 is characterized in that: The telescopic arm (5) comprises a positioning plate (16) fixedly arranged with the two guide cylinders (15) and a movable rod (18) slidably connected with the positioning plate (16) via a guide rail (17); horizontal telescopic guide cylinder assemblies (19) are arranged on both sides of the positioning plate (16); and the telescopic end of the horizontal telescopic guide cylinder assembly (19) is fixedly connected with the movable rod (18).

5. The single-line suspension type live working robot fire-disconnection and precise positioning mechanical arm according to claim 4 is characterized in that: The horizontal telescopic guide cylinder assembly (19) comprises a horizontal cylinder (20) fixedly arranged on one side of the positioning plate (16) and a buffer cylinder (21) arranged on the other side of the positioning plate (16), the telescopic end of the horizontal cylinder (20) is fixedly connected to an end connecting plate (22) fixedly arranged on the movable rod (18), the buffer cylinder (21) is arranged parallel to the horizontal cylinder (20), and the end of the buffer cylinder (21) is arranged close to the end connecting plate (22).

6. The single-line suspended live working robot fire-disconnection and precise positioning mechanical arm according to any one of claims 1 to 5, characterized in that: The multi-degree-of-freedom claw body (7) comprises a rotating connection base (23) fixedly connected to the end of the telescopic arm (5), an arm group (24) hingedly arranged at the rotating end of the rotating connection base (23), and the rotating hand gripping assembly (8) is rotatably arranged at the end of the arm group (24).

7. The single-line suspension type live working robot fire-disconnection and precise positioning mechanical arm according to claim 6 is characterized in that: The rotating connection base (23) comprises a fixed frame (25), a connecting head (26) rotatably arranged on the fixed frame (25), and a first servo motor (27) fixedly arranged on the fixed frame (25), wherein the rotating shaft of the first servo motor (27) is fixedly connected to the connecting head (26) at the rotating axis of the connecting head (26).

8. The single-line suspension type live working robot fire-disconnection and precise positioning mechanical arm according to claim 7 is characterized in that: The connecting head (26) is provided with two symmetrical connecting plates (28), and the arm group (24) includes two groups of symmetrical arm units (29). The two groups of arm units (29) are respectively hinged to the connecting plates (28) on the connecting head (26), and a second servo motor (30) for rotating and driving the arm units (29) is fixedly provided on the connecting plates (28).

9. The single-line suspension type live working robot fire-disconnection and precise positioning mechanical arm according to claim 8, characterized in that: The arm unit (29) comprises a first arm plate (31), a second arm plate (32) and a third arm plate (33) which are hingedly arranged in sequence; the first arm plate (31) is fixedly provided with a third servo motor (34) for controlling the rotation of the hinged joint between the first arm plate (31) and the second arm plate (32); the second arm plate (32) is fixedly provided with a fourth servo motor (35) for controlling the rotation of the hinged joint between the second arm plate (32) and the third arm plate (33).

10. The single-line suspension type live working robot fire-breaking and precise positioning mechanical arm according to claim 9, characterized in that: The rotating hand grip assembly (8) comprises a hand grip main board (36), and two gripping rod groups (37) symmetrically arranged on the hand grip main board (36); the two gripping rod groups (37) are movably arranged on the hand grip main board (36) via mutually meshing gears (38); any one of the gears is rotationally driven by a hand grip driving motor (39) fixedly arranged on the hand grip main board (36); and an end of the hand grip main board (36) is fixedly connected to a rotating shaft of a rotating motor (40) fixedly arranged on the third arm plate (33).

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