Auxiliary mounting manipulator for electric power fittings

Abstract

The invention discloses an auxiliary mounting manipulator for electric power fittings, and relates to the technical field of manipulators. One end of the mounting frame is connected with the operating arm; the operation head is rotationally connected to one end of the mounting frame; the driving assembly is used for driving the operating head to rotate relative to the mounting rack; the tool kit comprises a mounting ring and a plurality of tool units rotationally arranged on the circumferential side of the mounting ring in a circumferential array mode. The servo motor is installed on the operation head, and when the servo motor rotates forwards, the installation ring is driven to rotate only through the first one-way transmission assembly so that any tool unit can be aligned with the circular through hole. When the servo motor rotates reversely, only through the second one-way transmission assembly, the rotary actuator on the tool unit of the quasi-circular through hole in the operation head is driven to penetrate through the circular through hole and rotate automatically to work. The replacement efficiency of the rotary actuators is high, the automation degree is high, the rotary actuators are not prone to being lost, and switching of the tool units and operation of any rotary actuator are achieved based on driving of the same servo motor.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to an electric hardware auxiliary installation manipulator. Background Art

[0002] Manipulators (also called mechanical arms or robots) are widely used in various large-scale industrial productions for routine repetitive, confined space or dangerous work due to their advantages such as high efficiency, precision and low cost. As a general tool, manipulators also need to be equipped with suitable end effectors to complete their work tasks. Generally speaking, the end effectors of manipulators are special tools, such as grippers, scissors, drills, grinding heads or socket wrenches, etc. Generally, one actuator can only complete the same type of work tasks. Among them, the manipulator equipped with a socket wrench is a tool used to disassemble and assemble parts of electrical fittings during the assembly and disassembly of mechanical equipment and electrical fittings. By replacing different types of wrenches, it can be used for the disassembly of various common types of nuts or bolts.

[0003] For example, the patent with announcement number CN213320206U and titled “A Parts Loading and Unloading Robot” includes a fixed base, a motor gear is arranged on the left side of the fixed base, a main motor is arranged above the motor gear, a steering gear is installed on one side of the motor gear, a main mechanical arm is arranged above the steering gear, and a connecting base is installed above the main mechanical arm, a hydraulic cylinder is arranged on one side of the connecting base, a secondary mechanical arm is arranged on one side of the hydraulic cylinder, a main telescopic rod is arranged below the secondary mechanical arm, and a rotary actuator is installed below the main telescopic rod. The rotating shaft, the middle part of the rotating shaft is connected with a rotating movable rod, the lower part of the rotating shaft is provided with a mounting base, and the interior of the mounting base is provided with a mounting groove, the interior of the mounting groove is provided with a mounting pin, and the lower part of the mounting pin is connected with a wrench, a connecting rod is fixed to one side of the main telescopic rod, and one side of the connecting rod is provided with a U-shaped buckle, a secondary telescopic rod is provided above the U-shaped buckle, and the upper part of the secondary telescopic rod is connected with a swivel, the interior of the swivel is connected with a rotating rod, and one side of the rotating rod is provided with a turntable, the middle part of the turntable is provided with a motor shaft, and one side of the motor shaft is provided with a secondary motor. Through the arrangement of the mounting pin and the mounting groove, the device can replace the wrench according to the model of the parts to be loaded and unloaded during use. Such an arrangement can facilitate the operation of replacing the wrench. At the same time, during use, the use range of the device is less restrictive to the model of the parts, and can meet the loading and unloading use of most parts.

[0004] In the prior art such as the above-mentioned patent, the wrench of the manipulator is usually replaced by cooperating with the mounting pin and the mounting slot, or by other detachable structures. However, there are limitations such as low efficiency of wrench replacement, manual dependence, and easy loss of replaced wrenches. Summary of the invention

[0005] The purpose of the present invention is to provide an electric power fittings auxiliary installation robot to solve the above-mentioned deficiencies in the prior art.

[0006] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: an electric hardware-assisted installation robot, comprising: an operating arm; a mounting frame, one end of which is connected to the free end of the operating arm; an operating head, which is rotatably connected to the end of the mounting frame away from the operating arm, and a circular through hole is provided on the operating head; a drive assembly, which is used to drive the operating head to rotate relative to the mounting frame; a tool kit, which comprises a mounting ring and a plurality of tool units rotatably arranged on the circumferential side of the mounting ring in a circular array; a servo motor, which is mounted on the operating head, and when the servo motor rotates forward, it only drives the mounting ring to rotate through the first one-way transmission assembly to align any tool unit with the circular through hole, and when the servo motor rotates reversely, it only drives the rotary actuator on the tool unit aligned with the circular through hole through the circular through hole and rotates to operate.

[0007] Furthermore, each of the tool units comprises: a central shaft, which is rotatably connected to a mounting ring, and the central shaft receives a rotational drive from a first one-way transmission assembly; a rotating ring, which is rotatably connected to the central shaft, and a limiting structure for limiting the rotational stroke is provided between the rotating ring and the central shaft; a first elastic member, the process of which recovers its deformation drives the rotating ring to rotate relative to the central shaft until it is limited by the limiting structure; a sliding sleeve, which is arranged on the rotating ring along the axial direction of the rotating ring, and the rotary actuator is arranged on the sliding sleeve; a guide groove, which is arranged on the circumferential side of the sliding sleeve, and the guide groove comprises a spiral annular groove and at least one spiral guide groove, and one end of the spiral guide groove is connected to the annular groove; a second elastic member, whose elastic force acts on the sliding sleeve or the rotating ring along the axis of the central shaft in a direction away from the mounting ring; a guide ball, which is fixedly arranged relative to the mounting ring, and the guide ball is movably matched with the guide groove.

[0008] Furthermore, the mounting ring is fixedly connected to a coaxial circular ring via a support rod, and the guide beads of each tool unit are arranged on the circular ring.

[0009] Further, the first one-way transmission component includes: a first rotating shaft, which is rotatably connected to the operating head and coaxially rotatably connected to the mounting ring, and the output shaft of the servo motor is coaxially fixedly connected to the first rotating shaft; a first ratchet, which is coaxially fixedly embedded in the mounting ring; a first pawl, which is elastically hinged on the first rotating shaft, and the first pawl cooperates with the first ratchet. Further, the second one-way transmission component includes: a first bevel gear, which is coaxially fixedly connected to the first rotating shaft; a second rotating shaft, which is rotatably connected to the operating head; a second bevel gear, which is coaxially fixedly connected to the second rotating shaft, and the second bevel gear meshes with the first bevel gear; a first gear, which is coaxially rotatably connected to the second rotating shaft; a second ratchet, which is coaxially fixedly embedded in the first gear; a second pawl, which is elastically hinged on the second rotating shaft, and the second pawl cooperates with the second ratchet; a plurality of second gears, which are coaxially fixedly connected to the central axis of each tool unit in a one-to-one correspondence, and the first gear meshes with the second gear of the tool unit aligned with the circular through hole.

[0010] Furthermore, a collar is coaxially fixedly connected to the mounting ring, and a plurality of arcuate grooves distributed in a circular array are provided on the circumferential side of the collar, each arcuate groove corresponds one-to-one to each tool unit, a ball head is slidably arranged on the operating head, and an elastic unit is arranged between the operating head and the ball head, and the process of the elastic unit restoring deformation drives the ball head into the arcuate groove.

[0011] Furthermore, the first elastic member includes a torsion spring, which is sleeved on the central shaft, with one end of the torsion spring fixedly connected to the central shaft and the other end of the torsion spring fixedly connected to the rotating ring.

[0012] Furthermore, the second elastic member includes a tension spring, the central shaft is a hollow shaft, the tension spring is located in the inner cavity of the central shaft, one end of the tension spring is fixedly connected to one end of the central shaft close to the mounting ring, and the other end is rotatably connected to the sliding sleeve or the rotary actuator.

[0013] Furthermore, the rotary actuator and the sliding sleeve are detachably connected.

[0014] Furthermore, the rotary actuator is a socket wrench.

[0015] In the above technical scheme, the present invention provides an electric hardware auxiliary installation robot. When the servo motor rotates forward, it drives the installation ring to rotate, so that any tool unit can be aligned with the circular through hole of the operating head, thereby realizing rapid and automatic replacement of the tool unit. When the servo motor is reversed, the rotary actuator on the tool unit aligned with the circular through hole can pass through the circular through hole and rotate to operate. The replacement efficiency of the rotary actuator is high, the degree of automation is high, and it is not easy to lose. In addition, the switching of the tool unit and the operation of any rotary actuator are all based on the drive of the same servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0017] Figure 1-2 A schematic diagram of the overall structure provided for an embodiment of the present invention;

[0018] Figure 3-5 A schematic diagram of switching a rotary actuator provided by an embodiment of the present invention;

[0019] Figure 6 The embodiment of the present invention provides Figure 5 Structural cross-section view along line AA;

[0020] Figure 7 The embodiment of the present invention provides Figure 6 A magnified view of the structure at C in the figure;

[0021] Figure 8-9 A schematic diagram of the structure of a tool kit provided by an embodiment of the present invention;

[0022] Fig.10 A schematic diagram of the structure of a ring and a guide bead provided in an embodiment of the present invention;

[0023] Fig.11 A schematic structural diagram of a first one-way transmission assembly provided in an embodiment of the present invention;

[0024] Fig.12 A schematic structural diagram of a second one-way transmission assembly provided in an embodiment of the present invention;

[0025] Figure 13-14 A schematic diagram of the structure of the rotary actuator provided by an embodiment of the present invention when in operation;

[0026] Fig.15 The embodiment of the present invention provides Fig.14 Structural cross-section view along the BB line;

[0027] Fig.16 The embodiment of the present invention provides Fig.15 Enlarged view of the structure at D in the middle.

[0028] Description of reference numerals:

[0029] 1. Operating arm; 2. Mounting frame; 3. Operating head; 3.1. Circular through hole; 4. Driving assembly; 5. Mounting ring; 6. Tool unit; 6.1. Central axis; 6.2. Rotating ring; 6.3. First elastic member; 6.4. Sliding sleeve; 6.5. Helical guide groove; 6.6. Annular groove; 6.7. Second elastic member; 6.8. Guide ball; 6.9. Rotary actuator; 7. Servo motor; 8. First one-way transmission assembly; 8.1. First rotating shaft;

[0030] 8.2, first ratchet; 8.3, first pawl; 9, second one-way transmission assembly; 9.1, first bevel gear; 9.2, second rotating shaft; 9.3, second bevel gear; 9.4, first gear; 9.5, second ratchet; 9.6, second pawl; 9.7, second gear; 10, support rod; 11, circular ring; 12, arc groove; 13, ball head; 14, elastic unit. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0032] See also Figure 1-16 An embodiment of the present invention provides an electric hardware-assisted installation manipulator, comprising an operating arm 1, a mounting frame 2, an operating head 3, a driving assembly 4, a tool kit and a servo motor 7, wherein the operating arm 1 is preferably a manipulator with multiple degrees of freedom in the prior art, one end of the mounting frame 2 is connected to the free end of the operating arm 1, and the specific connection method can be a fixed connection or a rotational connection. If it is a rotational connection, a motor and a controller for driving the mounting frame 2 to rotate relative to the operating arm 1 must be added; the operating head 3 is rotationally connected to the end of the mounting frame 2 away from the operating arm 1, and a circular through hole 3.1 is opened on the operating head 3, and the driving assembly 4 is used to drive the operating head 3 to rotate relative to the mounting frame 2, so as to adjust the angle of the operating head 3, and the driving assembly 4 is preferably a driving motor. The tool kit includes a mounting ring 5 and a plurality of tool units 6 that are rotatably arranged on the circumference of the mounting ring 5 in a circumferential array. The servo motor 7 is installed on the operating head 3. When the servo motor 7 rotates forward, it only drives the mounting ring 5 to rotate through the first one-way transmission component 8 so that any tool unit 6 is aligned with the circular through hole 3.1. When the servo motor 7 rotates backward, it only drives the rotary actuator 6.9 on the tool unit 6 aligned with the circular through hole 3.1 through the circular through hole 3.1 and rotates to perform the operation through the second one-way transmission component 9. The rotary actuator 6.9 is preferably a tool that performs a rotary operation such as a socket wrench, a drill bit or a grinding head. It should be noted that the forward and reverse rotation of the servo motor 7 are only opposite rotation directions, and cannot be understood as a specific clockwise rotation direction.

[0033] In the above technical scheme, the present invention provides an electric hardware auxiliary installation robot. When the servo motor 7 rotates forward, it drives the installation ring 5 to rotate, so that any tool unit 6 can be aligned with the circular through hole 3.1 of the operating head 3, so that the tool unit 6 can be quickly and automatically replaced. When the servo motor 7 is reversed, the rotary actuator 6.9 on the tool unit 6 aligned with the circular through hole 3.1 can pass through the circular through hole 3.1 and rotate to operate. The replacement efficiency of the rotary actuator 6.9 is high, the degree of automation is high, and it is not easy to lose. In addition, the switching of the tool unit 6 and the operation of any rotary actuator 6.9 are all based on the drive of the same servo motor 7.

[0034] As a preferred technical solution of the present invention, each tool unit 6 includes a central shaft 6.1, a rotating ring 6.2, a first elastic member 6.3, a sliding sleeve 6.4, a guide groove, a second elastic member 6.7 and a guide bead 6.8, wherein the central shaft 6.1 is rotatably connected to the mounting ring 5, the central shaft 6.1 is driven by the rotation of the first one-way transmission assembly 8, the rotating ring 6.2 is rotatably connected to the central shaft 6.1, and a limiting structure for limiting the rotation stroke is provided between the rotating ring 6.2 and the central shaft 6.1. Specifically, the limiting structure may preferably be two blocks, one of which is fixedly connected to the rotating ring 6.2, and the other is fixedly connected to the central shaft 6.1. The process of the first elastic member 6.3 restoring deformation drives the rotating ring 6.2 to rotate relative to the central shaft 6.1 until it is limited by the limiting structure. Specifically, the first elastic member 6.3 is preferably a torsion spring, which is sleeved on the central shaft 6.1, one end of the torsion spring is fixedly connected to the central shaft 6.1, and the other end is fixedly connected to the rotating ring 6.2. The sliding sleeve 6.4 is arranged on the rotating ring 6.2 along the axial direction of the rotating ring 6.2, and the outer diameter of the sliding sleeve 6.4 is adapted to the inner diameter of the circular through hole 3.1. The rotary actuator 6.9 is arranged on the sliding sleeve 6.4. Preferably, the rotary actuator 6.9 is fixedly connected to the sliding sleeve 6.4; another preferred embodiment is that the rotary actuator 6.9 is detachably connected to the sliding sleeve 6.4, so as to facilitate the replacement of the rotary actuator 6.9 of the same type or different types on the tool unit 6. For example, if the rotary actuator 6.9 is a socket wrench, a wrench model not included in the tool kit can be replaced, or the socket wrench can be replaced with a drill bit or a grinding head. The guide groove is arranged on the peripheral side surface of the sliding sleeve 6.4, and the guide groove includes a spiral annular groove 6.6 and at least one spiral guide groove 6.5, one end of the spiral guide groove 6.5 is connected to the annular groove 6.6, if there are multiple spiral guide grooves 6.5, such as 2, 3, 4 or more, then each spiral guide groove 6.5 is distributed in an annular array along the circumference of the sliding sleeve 6.4, and the end of each spiral guide groove 6.5 is connected to the annular groove 6.6, the elastic force of the second elastic member 6.7 acts on the sliding sleeve 6.4 or the rotating ring 6.2 along the axis of the central axis 6.1 in the direction away from the mounting ring 5, specifically, the second elastic member 6.7 is provided with a plurality of spiral guide grooves 6.5, such as 2, 3, 4 or more, and the spiral guide grooves 6.5 are arranged in an annular array along the circumference of the sliding sleeve 6.4, and the end of each spiral guide groove 6.5 is connected to the annular groove 6.6, and the elastic force of the second elastic member 6.7 acts on the sliding sleeve 6.4 or the rotating ring 6.2 along the axis of the central axis 6.1 in the direction away from the mounting ring 5, specifically, The second elastic member 6.7 is preferably a tension spring, the central shaft 6.1 is a hollow shaft, the tension spring is located in the inner cavity of the central shaft 6.1, one end of the tension spring is fixedly connected to one end of the central shaft 6.1 close to the mounting ring 5, and the other end is rotatably connected to the sliding sleeve 6.4 or the rotary actuator 6.9, and the guide bead 6.8 is slidably or rollingly matched with the guide groove, that is, the guide bead 6.8 can move along the spiral guide groove 6.5 and the annular groove 6.6, and the guide bead 6.8 is relatively fixedly arranged with the mounting ring 5. Specifically, the mounting ring 5 is fixedly connected with a coaxial circular ring 11 through a support rod 10, and the guide bead 6.8 of each tool unit 6 is arranged on the circular ring 11.

[0035] In the present technical solution, when the servo motor 7 rotates forward, the first one-way transmission assembly 8 drives the mounting ring 5 to rotate, so that any tool unit 6 can be aligned with the circular through hole 3.1 of the operating head 3; when the servo motor 7 rotates reversely, the second one-way transmission assembly 9 drives the central axis 6.1 of the tool unit 6 aligned with the circular through hole 3.1 to rotate. Due to the elastic force of the first elastic member 6.3, the central axis 6.1 will drive the rotating ring 6.2 to rotate together, and the rotating ring 6.2 drives the sliding sleeve 6.4 to rotate together. The sliding sleeve 6.4 cooperates with the movement of the guide ball 6.8 through the spiral guide groove 6.5 thereon, so that the sliding sleeve 6.4 overcomes the elastic force of the second elastic member 6.7 and moves axially relative to the rotating ring 6.2. The second elastic member 6.7 also further accumulates energy until the guide ball 6.8 slides into the annular groove 6.6, so that the sliding sleeve 6.4 drives the rotary actuator 6.9 to pass through the circular through hole 3.1 to reach the working station, and the rotary actuator 6 .9 and the parts of the electric hardware are in place, such as the rotary actuator 6.9 is a socket wrench, which fits with the nuts or bolts of the electric hardware. At this time, as the central shaft 6.1 continues to rotate, the parts of the electric hardware generate a reaction force (resistance) on the rotary actuator 6.9, and the central shaft 6.1 overcomes the elastic force of the first elastic member 6.3 and rotates relative to the rotating ring 6.2 to the reverse limit of the limit structure. The first elastic member 6.3 is also further energized, which enables the rotary actuator 6.9 to rotate, and the guide ball 6.8 rotates in the annular groove 6.6; in the aforementioned process, if the movement resistance of the guide ball 6.8 along the spiral guide groove 6.5 and the sliding resistance of the sliding sleeve 6.4 and the rotating ring 6.2 are large, the first elastic member 6.3 will undergo a small amount of further deformation before the central shaft 6.1 drives the rotating ring 6.2 to rotate together, thereby causing the central shaft 6.1 to rotate a small angle relative to the rotating ring 6.2.After the rotary actuator 6.9 extending out of the circular through hole 3.1 finishes its operation, the servo motor 7 stops outputting its rotary power, and the operating arm 1 drives the rotary actuator 6.9 to disengage from the part being operated. For the tool unit 6, if the guide bead 6.8 is just at the junction of the annular groove 6.6 and the spiral guide groove 6.5, the elastic force of the second elastic member 6.7 will cause the guide bead 6.8 to enter the spiral guide groove 6.5, and the sliding sleeve 6.4 will quickly slide relative to the rotating ring 6.2 (in the direction close to the mounting ring 5), so that the sliding sleeve 6.4 and the rotary actuator 6.9 are retracted from the circular through hole 3.1, and the elastic force of the second elastic member 6.7 is also released until the central axis 6.1 and the rotating ring 6.2 are positively limited by the limiting structure; if the guide bead 6.8 is not at the junction of the annular groove 6.6 and the spiral guide groove 6.5, the elastic force of the second elastic member 6.7 cannot immediately cause the guide bead 6.8 to enter the spiral guide groove 6.5, but the first elastic member The elastic member 6.3 releases the elastic force at the first time, so that the rotating ring 6.2, the sliding sleeve 6.4 and the rotary actuator 6.9 rotate relative to the central axis 6.1. When the rotating ring 6.2 rotates to the junction of the annular groove 6.6 and the spiral guide groove 6.5, the elastic force of the second elastic member will make the guide ball 6.8 enter the spiral guide groove 6.5, and the sliding sleeve 6.4 will slide rapidly relative to the rotating ring 6.2, so that the sliding sleeve 6.4 and the rotary actuator 6.9 are retracted from the circular through hole 3.1, and the elastic force of the second elastic member 6.7 is further released until the central axis 6.1 and the rotating ring 6.2 are positively limited by the limiting structure; at this time, it is convenient to adjust the position of the operating arm 1 and the operating head 3, and the rotary actuator 6.9 is retracted from the circular through hole 3.1 during the position adjustment process, so that the rotary actuator 6.9 will not be damaged by collision, and the appropriate rotary actuator 6.9 can be switched by the forward rotation of the servo motor 7.

[0036] As a preferred technical solution of the present invention, the first one-way transmission assembly 8 includes a first rotating shaft 8.1, a first ratchet 8.2 and a first pawl 8.3. The first rotating shaft 8.1 is rotatably connected to the operating head 3, and the first rotating shaft 8.1 is coaxially rotatably connected to the mounting ring 5. The rotation between the first rotating shaft 8.1 and the mounting ring 5 has damping. The output shaft of the servo motor 7 is coaxially fixedly connected to the first rotating shaft 8.1, and the first ratchet 8.2 is coaxially fixedly embedded in the mounting ring 5. The first pawl 8.3 is elastically hinged on the first rotating shaft 8.1, and the first pawl 8.3 cooperates with the first ratchet 8.2. Specifically, the first pawl 8.3 is hinged to the first rotating shaft 8.1, and a torsion spring is provided between the first pawl 8.3 and the first rotating shaft 8.1. The elastic force of the torsion spring makes the first pawl 8.3 and the first ratchet 8.2 cooperate.

[0037] Thus, in the present technical solution, when the servo motor 7 rotates forward, the output shaft of the servo motor 7 drives the first rotating shaft 8.1 to rotate, and the first rotating shaft 8.1 drives the first pawl 8.3 to rotate, and the first pawl 8.3 engages with the ratchet teeth of the ratchet wheel to rotate the mounting ring 5, thereby driving the tool unit 6 to rotate and realizing the switching of the rotary actuator 6.9; when the servo motor 7 rotates reversely, the output shaft of the servo motor 7 drives the first rotating shaft 8.1 to rotate together with the first pawl 8.3, and the arc surface of the first pawl 8.3 overcomes the elastic force of the torsion spring and rotates to slide over the ratchet teeth of the first ratchet wheel 8.2, thereby preventing the mounting ring 5 from rotating.

[0038] As a preferred technical solution of the present invention, the second one-way transmission assembly 9 includes a first bevel gear 9.1, a second rotating shaft 9.2, a second bevel gear 9.3, a first gear 9.4, a second ratchet 9.5, a second pawl 9.6 and a plurality of second gears 9.7, wherein the first bevel gear 9.1 is coaxially fixedly connected to the first rotating shaft 8.1, the second rotating shaft 9.2 is rotatably connected to the operating head 3, the second bevel gear 9.3 is coaxially fixedly connected to the second rotating shaft 9.2, and the second bevel gear 9.3 is coaxially fixedly connected to the first rotating shaft 8.1. The bevel gear 9.1 is meshed, the first gear 9.4 is coaxially rotatably connected to the second rotating shaft 9.2, the second ratchet 9.5 is coaxially fixedly embedded on the first gear 9.4, the second pawl 9.6 is elastically hinged on the second rotating shaft 9.2, the second pawl 9.6 cooperates with the second ratchet 9.5, each second gear 9.7 is coaxially fixedly connected to the central axis 6.1 of each tool unit 6 in a one-to-one correspondence, and the first gear 9.4 is meshed with the second gear 9.7 of the tool unit 6 aligned with the circular through hole 3.1.

[0039] Thus, in the present technical solution, when the servo motor 7 is reversed, the output shaft of the servo motor 7 drives the first rotating shaft 8.1 to rotate. On the one hand, the first pawl 8.3 and the first ratchet 8.2 slip off and the mounting ring 5 will not rotate. On the other hand, the first rotating shaft 8.1 rotates the second rotating shaft 9.2 through the meshing cooperation of the first bevel gear 9.1 and the second bevel gear 9.3. The second rotating shaft 9.2 rotates the first gear 9.4 through the engagement cooperation of the second pawl 9.6 and the second ratchet 9.5. The first gear 9.4 then rotates the corresponding central shaft 6.1 through the meshing with the second gear 9.7, so that the rotary actuator 6.9 can pass through the circular through hole 3.1 and rotate to operate. When the servo motor 7 is reversed, the servo motor 7 drives the first rotating shaft 8.1 to rotate synchronously. On the one hand, the first rotating shaft 8.1 rotates the mounting ring 5 through the engagement of the first pawl 8.3 and the first ratchet 8.2 to switch different types of rotary actuators 6.9. When any tool unit 6 is aligned with the circular through hole 3.1, the second gear 9.7 on the tool unit 6 aligned with the circular through hole 3.1 is just engaged with the first gear 9.4; on the other hand, the first rotating shaft 8.1 drives the second rotating shaft 9.2 to rotate through the engagement of the first bevel gear 9.1 and the second bevel gear 9.3, but the second pawl 9.6 and the second ratchet 9.5 that rotate with the second rotating shaft 9.2 will slip and will not cause the first gear 9.4 to rotate.

[0040] As a preferred technical solution of the present invention, a collar is coaxially fixedly connected to the mounting ring 5, and the collar is movably sleeved on the circumferential side of the first rotating shaft 8.1. A plurality of arcuate grooves 12 distributed in a circular array are opened on the circumferential side of the collar, and each arcuate groove 12 corresponds one by one to each tool unit 6. A ball head 13 is slidably arranged on the operating head 3, and an elastic unit 14 is arranged between the operating head 3 and the ball head 13. The process of the elastic unit 14 restoring the deformation drives the ball head 13 to enter the arcuate groove 12, and the elastic unit 14 is preferably a spring. The elastic force of the elastic unit 14 causes the ball head 13 to slide into the arc-shaped groove 12 and engage with the groove, so that the mounting ring 5 cannot be easily rotated, which is conducive to keeping the tool unit 6 on the mounting ring 5 in a state aligned with the circular through hole 3.1. When the servo motor 7 drives the mounting ring 5 to rotate in the forward direction, the mounting ring 5 drives the sleeve ring to rotate, and the arc-shaped groove 12 overcomes the elastic force of the elastic unit 14 and slides with the ball head 13. The ball head 13 slides out of the corresponding arc-shaped groove 12, so that the mounting ring 5 can rotate smoothly. When switching to a suitable tool unit 6, the elastic force of the elastic unit 14 causes the ball head 13 to slide into the arc-shaped groove 12 that is now facing.

[0041] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. An electric power hardware auxiliary installation manipulator, comprising an operating arm, characterized in that: Also includes: A mounting frame, one end of which is connected to the free end of the operating arm; An operating head is rotatably connected to an end of the mounting frame away from the operating arm, and a circular through hole is formed on the operating head; A drive assembly, used to drive the operating head to rotate relative to the mounting frame; A tool kit comprising a mounting ring and a plurality of tool units rotatably arranged on a circumferential side of the mounting ring in a circumferential array; A servo motor is mounted on the operating head. When the servo motor rotates forward, it only drives the mounting ring to rotate through the first one-way transmission component to align any tool unit with the circular through hole. When the servo motor rotates reversely, it only drives the rotary actuator on the tool unit aligned with the circular through hole through the circular through hole and rotates to work through the circular through hole through the second one-way transmission component.

2. The electric power hardware auxiliary installation manipulator according to claim 1, characterized in that: Each of the tool units comprises: A central shaft, which is rotatably connected to the mounting ring, and the central shaft is driven by the first one-way transmission assembly; A rotating ring is rotatably connected to the central shaft, and a limiting structure for limiting the rotation stroke is provided between the rotating ring and the central shaft; The first elastic member, in the process of restoring its deformation, drives the rotating ring to rotate relative to the central axis until it is limited by the limiting structure; A sliding sleeve is arranged on the rotating ring along the axial direction of the rotating ring, and the rotary actuator is arranged on the sliding sleeve; A guide groove, which is arranged on the peripheral side of the sliding sleeve, and the guide groove includes a spiral annular groove and at least one spiral guide groove, and one end of the spiral guide groove is connected to the annular groove; A second elastic member, whose elastic force acts on the sliding sleeve or the rotating ring along the axis of the central shaft in a direction away from the mounting ring; The guide bead is fixedly arranged relative to the mounting ring, and the guide bead is movably matched with the guide groove.

3. The electric power hardware auxiliary installation manipulator according to claim 2, characterized in that: The mounting ring is fixedly connected to a coaxial circular ring through a support rod, and the guide beads of each tool unit are arranged on the circular ring.

4. The electric power hardware auxiliary installation manipulator according to claim 2, characterized in that: The first one-way transmission assembly comprises: A first rotating shaft is rotatably connected to the operating head and is coaxially rotatably connected to the mounting ring, and an output shaft of the servo motor is coaxially fixedly connected to the first rotating shaft; A first ratchet wheel is coaxially fixedly embedded in the mounting ring; The first pawl is elastically hinged on the first rotating shaft, and the first pawl matches with the first ratchet wheel.

5. The electric power fittings auxiliary installation manipulator according to claim 4, characterized in that: The second one-way transmission assembly comprises: A first bevel gear, which is coaxially fixedly connected to the first rotating shaft; A second rotating shaft, which is rotatably connected to the operating head; A second bevel gear is coaxially fixedly connected to the second rotating shaft, and the second bevel gear is meshed with the first bevel gear; A first gear coaxially rotatably connected to the second rotating shaft; A second ratchet wheel is coaxially fixed and embedded on the first gear; A second pawl is elastically hinged on the second rotating shaft, and the second pawl cooperates with the second ratchet wheel; A plurality of second gears are coaxially fixedly connected with the central axis of each tool unit in a one-to-one correspondence, and the first gear is meshed with the second gear of the tool unit aligned with the circular through hole.

6. The electric power hardware auxiliary installation manipulator according to claim 4, characterized in that: A sleeve is coaxially fixedly connected to the mounting ring, and a plurality of arcuate grooves distributed in a circular array are provided on the circumferential side of the sleeve, each arcuate groove corresponds to each tool unit one by one, a ball head is slidably arranged on the operating head, and an elastic unit is arranged between the operating head and the ball head, and the process of the elastic unit restoring deformation drives the ball head into the arcuate groove.

7. The electric power hardware auxiliary installation manipulator according to claim 2, characterized in that: The first elastic member comprises a torsion spring which is sleeved on the central shaft, one end of the torsion spring is fixedly connected to the central shaft, and the other end of the torsion spring is fixedly connected to the rotating ring.

8. The electric power hardware auxiliary installation manipulator according to claim 2, characterized in that: The second elastic member includes a tension spring. The central shaft is a hollow shaft. The tension spring is located in the inner cavity of the central shaft. One end of the tension spring is fixedly connected to one end of the central shaft close to the mounting ring, and the other end is rotationally connected to the sliding sleeve or the rotary actuator.

9. The electric power hardware auxiliary installation manipulator according to claim 2, characterized in that: The rotary actuator and the sliding sleeve are detachably connected.

10. The electric power hardware auxiliary installation manipulator according to claim 2, characterized in that: The rotary actuator is a socket wrench.

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