Combined type operation robot capable of being rapidly installed

Abstract

The invention relates to the technical field of robots, in particular to a combined operation robot capable of being rapidly installed, which comprises a lifting chamber and a cleaning assembly, a lifting platform is arranged at the top of the lifting chamber, a cleaning ring is arranged below the lifting chamber, a first telescopic rod is fixedly connected between the cleaning rings, and a second telescopic rod is fixedly connected between the first telescopic rod and the second telescopic rod. A lifting device used for extending the robot is arranged in the lifting chamber, a lifting assembly used for limiting the sweeping assembly is arranged in the lifting device, and a shifting plate used for limiting branches and forks is arranged in the sweeping assembly. The robot is stretched or shortened through the lifting assembly and the sweeping table, and meanwhile branches are cleaned through the sweeping assembly and the shifting plate.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a quickly installed combined working robot. Background Art

[0002] Working robots, especially industrial robots and special robots for specific application scenarios, are used in many fields, including electronic technology, computer technology, automation technology, artificial intelligence technology, etc. Among them, high-voltage live-working robots are special equipment developed based on the combination of advanced robotics technology and power engineering technology. They combine precise mechanical structure, efficient drive system, accurate perception system and intelligent control system, and can perform various live-working operations on high-voltage power lines, such as inspection, maintenance, testing, etc.;

[0003] The Chinese announcement number is: CN114770556B, which discloses a quickly installed combined live-working robot, including a guide sleeve and a rotating sleeve, the guide sleeve can be rotated to open, and the inner wall of the guide sleeve is installed with multiple sets of clamping wheels and clamping cylinders, and the clamping wheels are rotatably connected to the output ends of the clamping cylinders, and one side of the rotating sleeve is connected to an extension arm. This patent enables the robot to move on the ground through the driving wheel when the robot is on the ground, so that the robot moves to the outside of the electric pole where the operation is required, fixes the guide sleeve to the outside of the electric pole, and starts the rotating motor to set the support plate horizontally. At this time, the driving wheel is aligned with the transmission wheel, and the transmission cylinder is started to make the transmission wheel and the driving wheel engage with each other. When the robot needs to move outside the electric pole, the driving wheel drives the transmission wheel to rotate, and the transmission wheel drives the clamping wheel to rotate through the transmission belt, thereby driving the guide sleeve to move upward along the outside of the electric pole;

[0004] Although the above patent uses guide sleeves, transmission wheels, support plates, drive wheels and other components to effectively solve the problem of the inconvenience of moving the working robot on the utility pole, it is necessary to consider that when performing insulation coating operations on high-altitude wires, there are many obstacles around the wires, such as tree branches. When blocked by obstacles, the wires may be pulled during the operation, causing the wires to break, and even worse, dangerous situations such as electric shock may occur.

[0005] In view of this, we propose a modular working robot that can be quickly installed. Summary of the invention

[0006] The object of the present invention is to provide a quickly assembled combined working robot to solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above-mentioned object, the present invention provides a quickly installed combined working robot, comprising a lifting chamber and a cleaning component, wherein a lifting platform is arranged on the top of the lifting chamber, a cleaning ring is arranged below the lifting chamber, a No. 1 telescopic rod is fixedly connected between the cleaning rings, a lifting device for extending the robot is arranged inside the lifting chamber, a lifting component for limiting the cleaning component is arranged inside the lifting device, and a toggle plate for limiting branches and twigs is included in the cleaning component, wherein:

[0008] Through the operation of the lifting device, the lifting component and the cleaning platform are used to extend or shorten the robot, and the cleaning component and the shifting plate are used to clean the branches.

[0009] As a preferred embodiment of the present invention, a fixing part and a coating part are installed on the top of the lifting platform, a cleaning chamber is arranged at the bottom of the lifting chamber, and a cleaning component is arranged in the cleaning chamber.

[0010] As a preferred embodiment of the present invention, the lifting device includes a No. 1 motor, the output end of the No. 1 motor is fixedly connected to a rotating roller, the outer wall of the rotating roller is sleeved with a transmission belt, the other end of the transmission belt is sleeved on the outer wall of the rotating roller on the other side, the rotating roller is fixedly connected to a No. 1 connecting rod on the side away from the No. 1 motor, and the No. 1 connecting rod is rotatably connected to a sliding roller at the end away from the rotating roller.

[0011] As a preferred embodiment of the present invention, an electric slide rail No. 1 is provided in the lifting device, and the electric slide rail No. 1 is fixedly connected to the bottom inner wall of the lifting chamber, and the top of the electric slide rail No. 1 is slidably connected to a sliding member No. 1, and the inner side of the sliding member No. 1 is rotatably connected to a threaded rod, and the outer wall of the threaded rod is threadedly connected to a sliding member No. 2, and the sliding member No. 2 is slidably connected to the top of the sliding member No. 1.

[0012] As a preferred embodiment of the present invention, the top of the No. 1 electric slide rail is fixedly connected to the No. 2 motor, the output end of the No. 2 motor is fixedly connected to one end of the threaded rod, the bottom of the No. 1 sliding member is fixedly connected to the No. 2 telescopic rod, the middle end outer wall of the No. 2 telescopic rod is fixedly connected to a push bar, and the cleaning ring is fixedly connected to the lower end of the No. 2 telescopic rod.

[0013] As a preferred embodiment of the present invention, a lifting assembly is provided in the lifting device, and the lifting assembly includes a No. 1 rotating column and a No. 2 rotating column. The No. 1 rotating column and the No. 2 rotating column are fixedly connected by a connecting column passing through a No. 2 sliding member. The outer walls of the No. 1 rotating column and the No. 2 rotating column are both provided with a strip groove, and the rotating roller is located in the strip groove.

[0014] As a preferred embodiment of the present invention, a sliding block is slidably connected inside the No. 2 rotating column, a No. 2 connecting rod is rotatably connected to one side of the sliding block, the No. 2 connecting rod is rotatably connected to the inner wall of the lifting chamber at the end away from the sliding block, and a spring is fixedly connected between the sliding block and the center position of the No. 2 rotating column on both sides.

[0015] As a preferred embodiment of the present invention, the cleaning assembly includes a pad, the pad is fixedly connected to the bottom of the lifting chamber, the bottom of the pad is fixedly connected to a No. 2 electric slide rail, one side of the No. 2 electric slide rail is slidably connected to multiple sliding plates, the bottoms of the multiple sliding plates are all fixedly connected to a No. 1 raised column, the multiple sliding plates and the No. 1 raised column are symmetrically arranged on one side of the No. 2 electric slide rail, and the No. 1 raised column and the push bar are on the same horizontal plane.

[0016] As a preferred embodiment of the present invention, the bottom of the No. 2 electric slide rail is slidably connected to a sliding table, the bottom of the sliding table is fixedly connected to a plurality of No. 2 raised columns, the plurality of No. 2 raised columns are symmetrically distributed on the sliding table, the sliding table is rotatably connected to a rotating ring, and fixed columns are fixedly connected to both sides of the rotating ring.

[0017] As a preferred embodiment of the present invention, one side of the rotating ring is convex, the sliding platform is fixedly connected with a fixing column at a peripheral position of the rotating ring, and the fixing column is fixedly connected with a touch sensor at a side close to the rotating ring.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. In the quickly installed combined working robot, the roller and the connecting rod rotate under the drive of the No. 1 motor, and at the same time, the sliding roller is driven to slide in the strip groove of the No. 1 rotating column, and the No. 1 rotating column and the No. 2 rotating column are driven to pry upward together, and the lifting platform is driven to lift upward. At this time, the entire lifting device is extended, and when the No. 2 telescopic rod is extended to the longest position, the lifting device is in the longest extended state. At the same time, the No. 2 telescopic rod will drive the cleaning ring to slide downward, and the branches and twigs will be pushed to both sides through the peripheral position of the cleaning ring, and the branches and twigs will be cut off by the small electric saw installed on the No. 1 telescopic rod.

[0020] 2. In the quickly installed combined working robot, when the No. 1 sliding member slides inward, it will drive the No. 2 telescopic rods on both sides to move inward closer to each other. At this time, the No. 2 telescopic rod will drive the push bar to push the sliding plate inward to the minimum position, which makes the position between the sliding plates on both sides reach the minimum. At the same time, the rotation angle of the toggle plate is also the minimum position. At this time, when the branches and twigs pass through the toggle plate, they will be blocked by the toggle plate, and the small electric saw on the No. 1 telescopic rod will be used to cut off the branches and twigs.

[0021] 3. In the quickly installed combined working robot, the tree branch will push the toggle plate to rotate to one side. During the rotation of the toggle plate, the raised position of the rotating ring will touch the touch sensor. At this time, the touch sensor sends a signal and the lifting device starts to retract again. At this time, during the retraction process, the rotation angle of the toggle plate gradually increases, and the tree branch will gradually become smaller, causing the size of the tree branch cut by the toggle plate and the small electric saw on the No. 1 telescopic rod to become smaller. This makes the robot encounter less resistance during operation, and the electric saw will also be smoother in the process of cutting branches and branches. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall three-dimensional schematic diagram of the quick-installable combined working robot of the present invention;

[0023] Figure 2 It is a transverse cross-sectional schematic diagram of the quick-installable combined working robot of the present invention;

[0024] Figure 3 It is a longitudinal cross-sectional schematic diagram of the quick-installable combined working robot of the present invention;

[0025] Figure 4 It is a three-dimensional schematic diagram of the internal lifting device of the quick-installable combined working robot of the present invention;

[0026] Figure 5 A detailed schematic diagram of a lifting device capable of quickly installing a combined working robot according to the present invention;

[0027] Figure 6 It is a schematic diagram of the expansion of the lifting device of the present invention that can quickly install the combined working robot;

[0028] Figure 7 It is a schematic diagram of some details of the lifting device of the present invention that can quickly install the combined working robot;

[0029] Figure 8 It is a three-dimensional schematic diagram of the cleaning component of the quick-installable combined working robot of the present invention;

[0030] The meaning of each number in the figure is:

[0031] 1. Lifting chamber; 11. Lifting platform; 111. Fixing part; 112. Coating part; 12. Cleaning ring; 13. Telescopic rod No. 1; 2. Cleaning chamber; 3. Lifting device; 31. Motor No. 1; 32. Rotating roller; 321. Driving belt; 33. Connecting rod No. 1; 331. Sliding roller; 34. Electric slide rail No. 1; 341. Sliding part No. 1; 3411. Motor No. 2; 342. Threaded rod; 343. Sliding part No. 2; 344. Telescopic rod No. 2; 3441. Push bar; 35. Lifting assembly; 351. Rotating column No. 1; 3511. Strip groove; 352. Rotating column No. 2; 36. Connecting rod No. 2; 361. Sliding block; 362. Spring;

[0032] 4. Cleaning assembly; 41. Pad; 42. No. 2 electric slide rail; 421. Sliding plate; 422. No. 1 raised column; 43. Sliding table; 431. No. 2 raised column; 433. Rotating ring; 434. Toggle plate; 44. Fixed column; 441. Touch sensor. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] Embodiment 1

[0036] See also Figure 1-Figure 8As shown, this embodiment provides a quickly installed combined working robot, including a lifting chamber 1 and a cleaning component 4, a lifting platform 11 is arranged on the top of the lifting chamber 1, a cleaning ring 12 is arranged below the lifting chamber 1, a No. 1 telescopic rod 13 is fixedly connected between the cleaning rings 12, a lifting device 3 for extending the robot is arranged inside the lifting chamber 1, a lifting component 35 for limiting the cleaning component 4 is arranged inside the lifting device 3, and a toggle plate 434 for limiting branches and twigs is included in the cleaning component 4, wherein: through the operation of the lifting device 3, the lifting component 35 and the lifting platform 11 are used to extend or shorten the robot, and the cleaning component 4 and the toggle plate 434 are used to clean the branches, a fixing part 111 and a coating part 112 are installed on the top of the lifting platform 11, a cleaning chamber 2 is arranged at the bottom of the lifting chamber 1, and a cleaning component 4 is arranged in the cleaning chamber 2.

[0037] like Figure 4-Figure 6 As shown, the lifting device 3 includes a No. 1 motor 31, the output end of the No. 1 motor 31 is fixedly connected to a rotating roller 32, the outer wall of the rotating roller 32 is sleeved with a transmission belt 321, the other end of the transmission belt 321 is sleeved on the outer wall of the rotating roller 32 on the other side, the rotating roller 32 is fixedly connected to a No. 1 connecting rod 33 on the side away from the No. 1 motor 31, the No. 1 connecting rod 33 is rotatably connected to a sliding roller 331 at the end away from the rotating roller 32, and a No. 1 electric slide rail 34 is provided in the lifting device 3, the No. 1 electric slide rail 34 is fixedly connected to the bottom inner wall of the lifting chamber 1, the top of the No. 1 electric slide rail 34 is slidably connected to a No. 1 sliding member 341, the inner side of the No. 1 sliding member 341 is rotatably connected to a threaded rod 342, the outer wall of the threaded rod 342 is threadedly connected to a No. 2 sliding member 343, and the No. 2 sliding member 343 is slidably connected to the top of the No. 1 sliding member 341.

[0038] like Figure 7As shown, the top of the No. 1 electric slide rail 34 is fixedly connected to the No. 2 motor 3411, the output end of the No. 2 motor 3411 is fixedly connected to one end of the threaded rod 342, the bottom of the No. 1 sliding member 341 is fixedly connected to the No. 2 telescopic rod 344, the middle end outer wall of the No. 2 telescopic rod 344 is fixedly connected to the push bar 3441, the cleaning ring 12 is fixedly connected to the lower end of the No. 2 telescopic rod 344, and the lifting device 3 is provided with a lifting assembly 35, which includes a No. 1 rotating column 351 and a No. 2 rotating column 352, and the No. 1 rotating column 351 and the No. 2 rotating column 352 are fixedly connected. The rotating column 352 is fixedly connected to the No. 2 sliding member 343 through a connecting column. The outer walls of the No. 1 rotating column 351 and the No. 2 rotating column 352 are both provided with a strip groove 3511. The rotating roller 32 is located in the strip groove 3511. The No. 2 rotating column 352 is slidably connected with a sliding block 361. One side of the sliding block 361 is rotatably connected with a No. 2 connecting rod 36. The No. 2 connecting rod 36 is rotatably connected to the inner wall of the lifting chamber 1 at the end away from the sliding block 361. A spring 362 is fixedly connected between the sliding block 361 and the center position of the No. 2 rotating column 352 on both sides.

[0039] like Figure 8 As shown, the cleaning assembly 4 includes a pad 41, the pad 41 is fixedly connected to the bottom of the lifting chamber 1, the bottom of the pad 41 is fixedly connected to the second electric slide rail 42, one side of the second electric slide rail 42 is slidably connected to multiple sliding plates 421, the bottoms of the multiple sliding plates 421 are all fixedly connected to the first protruding column 422, the multiple sliding plates 421 and the first protruding column 422 are symmetrically arranged on one side of the second electric slide rail 42, the first protruding column 422 and the push bar 3441 are on the same horizontal plane, and the second electric slide rail 4 2 is slidably connected to a sliding table 43 at the bottom, a plurality of No. 2 raised columns 431 are fixedly connected to the bottom of the sliding table 43, and the plurality of No. 2 raised columns 431 are symmetrically distributed on the sliding table 43. A rotating ring 433 is rotatably connected to the sliding table 43, and fixed columns 44 are fixedly connected to both sides of the rotating ring 433. One side of the rotating ring 433 is convex, and the sliding table 43 is fixedly connected to the fixed columns 44 at the peripheral position of the rotating ring 433. The fixed columns 44 are fixedly connected to a touch sensor 441 on the side close to the rotating ring 433.

[0040] It can be seen that after the staff uses a crane to hang the robot on the wire, when it needs to clean the surrounding branches and twigs during operation, Figure 4-Figure 7As shown, under the drive of the No. 1 motor 31, the rotating rollers 32 on both sides rotate together through the transmission belt 321, and at the same time, the rotating rollers 32 will drive the No. 1 connecting rod 33 to rotate. At this time, the No. 1 connecting rod 33 will drive the sliding roller 331 to slide in the strip groove 3511 of the No. 1 rotating column 351 during the rotation process, and after rotating to a certain angle, it drives the No. 1 rotating column 351 and the No. 2 rotating column 352 to pry upward together. At this time, the No. 1 rotating column 351 and the No. 2 rotating column 352 on both sides are tightened inwardly to lift the lifting platform 11 upward (the entire device is extended during operation). At this time, the entire lifting device 3 is extended, and when the No. 2 telescopic rod 344 is extended to the longest position, the lifting device 3 is in the longest extended state (that is, the state most likely to contact branches and twigs). At the same time, the No. 2 telescopic rod 344 will drive the cleaning ring 12 to slide downward, and the branches and twigs will be pushed to both sides through the peripheral position of the cleaning ring 12, and the branches and twigs will be cut off by a small electric saw installed on the No. 1 telescopic rod 13;

[0041] It should be noted that: when the No. 1 sliding member 341 slides inward, it will drive the No. 2 telescopic rods 344 on both sides to move closer to each other inward. At this time, the No. 2 telescopic rod 344 will drive the push bar 3441 to push the sliding plate 421 inward to the minimum position, which makes the position between the sliding plates 421 on both sides reach the minimum, and the rotation angle of the toggle plate 434 is also the minimum position. At this time, when the branches and twigs pass through the toggle plate 434, they will be blocked by the toggle plate 434, and the small electric saw on the No. 1 telescopic rod 13 will be used to cut off the branches and twigs.

[0042] Embodiment 2

[0043] like Figure 8 As shown, when passing the position of the tree branch, the tree branch will push the toggle plate 434 to rotate to one side. During the rotation of the toggle plate 434, the raised position of the rotating ring 433 will touch the touch sensor 441. At this time, the touch sensor 441 sends a signal to start the lifting device 3 again to retract. At this time, during the retraction process, the rotation angle of the toggle plate 434 gradually increases, and the angle affected by the tree branch will gradually decrease, causing the size of the tree branch cut by the toggle plate 434 and the small electric saw on the No. 1 telescopic rod 13 to become smaller. This makes the robot encounter less resistance during operation, and the electric saw will also be smoother in cutting branches and branches.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended 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, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A quickly installable combined working robot, comprising a lifting chamber (1) and a cleaning assembly (4), characterized in that: A lifting platform (11) is arranged on the top of the lifting chamber (1), a cleaning ring (12) is arranged below the lifting chamber (1), a first telescopic rod (13) is fixedly connected between the cleaning rings (12), a lifting device (3) for extending the robot is arranged inside the lifting chamber (1), a lifting component (35) for limiting the cleaning component (4) is arranged inside the lifting device (3), and the cleaning component (4) includes a toggle plate (434) for limiting branches and twigs, wherein: Through the operation of the lifting device (3), the lifting component (35) and the cleaning platform (11) are used to extend or shorten the robot, while the cleaning component (4) and the shifting plate (434) are used to clean the branches.

2. A quickly installable combined working robot according to claim 1, characterized in that: A fixing part (111) and a coating part (112) are installed on the top of the lifting platform (11), a cleaning chamber (2) is arranged at the bottom of the lifting chamber (1), and a cleaning component (4) is arranged in the cleaning chamber (2).

3. The quickly installable combined working robot according to claim 1, characterized in that: The lifting device (3) comprises a No. 1 motor (31), the output end of the No. 1 motor (31) is fixedly connected to a rotating roller (32), the outer wall of the rotating roller (32) is sleeved with a transmission belt (321), the other end of the transmission belt (321) is sleeved on the outer wall of the rotating roller (32) on the other side, the rotating roller (32) is fixedly connected to a No. 1 connecting rod (33) on a side away from the No. 1 motor (31), and the No. 1 connecting rod (33) is rotatably connected to a sliding roller (331) at an end away from the rotating roller (32).

4. The quickly installable combined working robot according to claim 3, characterized in that: The lifting device (3) is provided with a No. 1 electric slide rail (34), which is fixedly connected to the bottom inner wall of the lifting chamber (1), and the top of the No. 1 electric slide rail (34) is slidably connected to a No. 1 sliding member (341), the inner side of the No. 1 sliding member (341) is rotatably connected to a threaded rod (342), the outer wall of the threaded rod (342) is threadedly connected to a No. 2 sliding member (343), and the No. 2 sliding member (343) is slidably connected to the top of the No. 1 sliding member (341).

5. The quickly installable combined working robot according to claim 4, characterized in that: The top of the No. 1 electric slide rail (34) is fixedly connected to a No. 2 motor (3411), the output end of the No. 2 motor (3411) is fixedly connected to one end of a threaded rod (342), the bottom of the No. 1 sliding member (341) is fixedly connected to a No. 2 telescopic rod (344), the middle end outer wall of the No. 2 telescopic rod (344) is fixedly connected to a push bar (3441), and the cleaning ring (12) is fixedly connected to the lower end of the No. 2 telescopic rod (344).

6. The quickly installable combined working robot according to claim 5, characterized in that: The lifting device (3) is provided with a lifting assembly (35), and the lifting assembly (35) includes a first rotating column (351) and a second rotating column (352). The first rotating column (351) and the second rotating column (352) are fixedly connected via a connecting column penetrating through a second sliding member (343). The outer walls of the first rotating column (351) and the second rotating column (352) are both provided with a strip groove (3511), and the rotating roller (32) is located in the strip groove (3511).

7. The quickly installable combined working robot according to claim 6, characterized in that: A sliding block (361) is slidably connected inside the No. 2 rotating column (352), and a No. 2 connecting rod (36) is rotatably connected to one side of the sliding block (361). The No. 2 connecting rod (36) is rotatably connected to the inner wall of the lifting chamber (1) at one end away from the sliding block (361), and a spring (362) is fixedly connected between the sliding block (361) and the center position of the No. 2 rotating column (352) on both sides.

8. The quickly installable combined working robot according to claim 5, characterized in that: The cleaning assembly (4) includes a pad (41), the pad (41) is fixedly connected to the bottom of the lifting chamber (1), the bottom of the pad (41) is fixedly connected to a No. 2 electric slide rail (42), one side of the No. 2 electric slide rail (42) is slidably connected to a plurality of sliding plates (421), the bottoms of the plurality of sliding plates (421) are all fixedly connected to a No. 1 protruding column (422), the plurality of sliding plates (421) and the No. 1 protruding column (422) are symmetrically arranged on one side of the No. 2 electric slide rail (42), and the No. 1 protruding column (422) and the push bar (3441) are on the same horizontal plane.

9. The quickly installable combined working robot according to claim 8, characterized in that: The bottom of the No. 2 electric slide rail (42) is slidably connected to a sliding platform (43), the bottom of the sliding platform (43) is fixedly connected to a plurality of No. 2 raised columns (431), the plurality of No. 2 raised columns (431) are symmetrically distributed on the sliding platform (43), the sliding platform (43) is rotatably connected to a rotating ring (433), and fixed columns (44) are fixedly connected to both sides of the rotating ring (433).

10. The quickly installable combined working robot according to claim 9, characterized in that: One side of the rotating ring (433) is in a convex shape, the sliding platform (43) is fixedly connected to a fixing column (44) at a peripheral position of the rotating ring (433), and the fixing column (44) is fixedly connected to a touch sensor (441) at a side close to the rotating ring (433).

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