Lightweight auxiliary operation mechanical arm

Abstract

The light-weight auxiliary operation mechanical arm comprises a first linear module, the moving end of the first linear module is fixedly connected with a second linear module, the moving end of the second linear module is fixedly connected with an electric rotating disc, the rotating end of the electric rotating disc is fixedly connected with a support, and an adjusting assembly is arranged on the support. The support is connected with a first connecting base through an adjusting assembly, a third linear module is fixedly connected to the first connecting base, a clamping assembly is installed at the moving end of the third linear module, and the adjusting assembly is used for adjusting the angle of the third linear module. Compared with the prior art, the multi-degree-of-freedom mechanical arm has the advantages that the third linear module is mounted through the electric rotating disc and the adjusting assembly, and the first linear module and the second linear module are matched to realize multi-degree-of-freedom control, so that the movement flexibility of the mechanical arm in the space is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of grid-assisted robotic arms, and particularly to a lightweight auxiliary operation robotic arm. Background Art

[0002] In live working on distribution networks, a knuckle boom lift is used to lift the operator below the overhead cable, and the operator operates by holding an insulating short rod. The insulating short rod avoids direct contact between the operator and the cable, improving the safety of the operator.

[0003] Existing insulating short rod operations are also carried out by robotic arms. The robotic arm is usually installed on the lifting cabin of the knuckle boom lift through a hook structure, replacing the operator to control the insulating short rod for live operation, thereby reducing the workload of the operator and achieving lightweight personnel work. However, the existing lightweight auxiliary operation robotic arm still has the following disadvantages when in use: 1. Existing robotic arms usually adopt a three-degree-of-freedom design. Although they basically meet the requirements for operating the insulating short rod, they lack sufficient flexibility, making it difficult to flexibly operate the insulating short rod and effectively complete tasks when facing complex power grid architectures and special-angle operation scenarios; 2. Most existing lightweight auxiliary operation robotic arms fix the insulating short rod through a clamping device. When installing the insulating short rod, the angle needs to be manually adjusted so that the rod head at its end is at the required angle, and then it is clamped and fixed by the clamping device. This manual angle adjustment completely depends on the experience and visual judgment of the operator, and cannot be adjusted again during subsequent operations, making it difficult to ensure that the angle of the rod head meets the operation requirements, resulting in the operator needing to repeatedly adjust and fix the insulating short rod, which undoubtedly increases the labor intensity of the operator and reduces the applicability of the robotic arm in actual operations; 3. The hook structure part of the existing robotic arm cannot be folded and stored, resulting in a large space occupied by the equipment when not in use, increasing the transportation and storage costs of the equipment; 4. The height position of the controller of the existing robotic arm is fixed and cannot be adjusted according to the needs of the operator, increasing the difficulty and inconvenience of operation, reducing the operation efficiency and comfort of operation. Summary of the Invention

[0004] The main purpose of the present invention is to provide a lightweight auxiliary operation robotic arm. By installing a third linear module through an electric turntable and an adjustment component, and then cooperating with the first linear module and the second linear module, multi-degree-of-freedom control is achieved, thereby improving the movement flexibility of the robotic arm in space.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: Lightweight auxiliary operation robotic arm, including a first linear module, the mobile end of the first linear module is fixedly connected with a second linear module, the mobile end of the second linear module is fixedly connected with an electric turntable, the rotating end of the electric turntable is fixedly connected with a support, an adjusting component is arranged on the support, the support is connected with a first connecting seat through the adjusting component, a third linear module is fixedly connected to the first connecting seat, a clamping component is installed on the mobile end of the third linear module, and the adjusting component is used to adjust the angle of the third linear module.

[0006] Further, the adjusting component includes a connecting shaft hinged to the support, a first worm gear is fixedly connected to the connecting shaft, a first worm is meshed with the first worm gear, and the first worm is rotatably connected to the support, a first motor is fixedly connected to the support, and the output end of the first motor is fixedly connected with the first worm, and the first connecting seat is fixedly connected with the first connecting seat.

[0007] Further, a second connecting seat is fixedly connected to the first linear module, an electric telescopic rod is hinged to the second connecting seat, the output end of the electric telescopic rod is fixedly connected with a fixing plate, two hooks are fixedly connected to the outer wall of one side of the fixing plate, a connecting plate is slidably connected to the outer wall of the other side of the fixing plate, and side plates are fixedly connected to both ends of the connecting plate.

[0008] Further, a first through groove is formed in one of the side plates, a clamping block is slidably connected in the first through groove, and the clamping block is clamped and fixed to the first linear module, a fixing block is fixedly connected to the clamping block, a connecting rod is fixedly connected to the fixing block, a mounting seat is slidably connected to the connecting rod, and the mounting seat is fixedly connected to the side plate.

[0009] Further, a second through groove is formed in the first linear module at a position corresponding to the first through groove, and the clamping block is clamped and fixed in the second through groove.

[0010] Further, a spring is sleeved on the connecting rod, and one end of the spring is arranged on the fixing block and the other end is arranged on the mounting seat.

[0011] Further, a slider is fixedly connected to the fixing plate, a guide rail is slidably connected to the slider, and the guide rail is fixedly connected to the connecting plate.

[0012] Further, rib plates are fixedly connected to both of the side plates, and the rib plates are fixedly connected to the connecting plate.

[0013] Furthermore, the clamping assembly includes a housing, a second motor, a second worm, a second worm gear, a hollow shaft, a threaded sleeve, elastic clamping blocks and a locking sleeve. The housing is fixedly connected to the output end of the third linear module. A second motor is fixedly connected to the housing. The output end of the second motor is fixedly connected to the second worm, and the second worm is rotatably connected to the housing. The second worm is meshed with the second worm gear. The second worm gear is fixedly connected with a hollow shaft, and the hollow shaft is rotatably connected to the housing. The hollow shaft is fixedly connected with a threaded sleeve. A plurality of elastic clamping blocks are evenly distributed on the threaded sleeve. A locking sleeve is threadedly connected to the threaded sleeve, and the elastic clamping blocks are sleeved in the locking sleeve.

[0014] Furthermore, it further includes a controller, which is electrically connected to the first linear module, the second linear module, the electric turntable, the first motor, the third linear module, the electric telescopic rod and the second motor respectively. A power switch is installed on the controller, and a plurality of operating handles are evenly distributed on the controller.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the third linear module is installed through the electric turntable and the adjusting assembly, and then cooperated with the first linear module and the second linear module to achieve multi-degree-of-freedom control, thereby improving the movement flexibility of the robotic arm in space.

[0016] The clamping assembly of the present invention is designed with a rotating function, which can control the self-rotation of the clamped and fixed insulating short rod so as to adjust the angular position of the rod head, improving the applicability of the robotic arm in actual operation.

[0017] The hook part of the present invention can be flipped and folded, which can greatly reduce the occupied space and lower the transportation and storage costs.

[0018] The first linear module of the present invention uses an electric telescopic rod for lifting, so that the controller can adjust to a suitable height according to the needs of the operator.

[0019] The first worm and the first worm gear of the present invention are used in combination, which can achieve accurate angles and have a good self-locking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is the overall three-dimensional structure schematic diagram of the present invention; Figure 2 is the overall top view structure schematic diagram of the present invention; Figure 3 is the overall front view structure schematic diagram of the present invention; Figure 4 is the overall side view sectional structure schematic diagram of the present invention; Figure 5 is Figure 4 the enlarged structure diagram of area A in Figure 6 For Figure 4 an enlarged view of the structure of area B in the figure; Figure 7 a schematic side view of the overall structure of the hook of the present invention in the folded state; Figure 8 a schematic perspective cut-away view of the clamping assembly of the present invention.

[0021] In the figure: 1, the first linear module; 11, the controller; 12, the power switch; 13, the operating handle; 14, the second linear module; 15, the electric turntable; 16, the support; 17, the connecting shaft; 18, the first worm gear; 19, the first motor; 110, the first worm; 111, the first connecting seat; 112, the third linear module; 2, the second connecting seat; 21, the electric telescopic rod; 22, the fixing plate; 23, the hook; 24, the slider; 25, the guide rail; 26, the connecting plate; 27, the side plate; 28, the rib plate; 29, the first through groove; 210, the clamping block; 211, the fixing block; 212, the connecting rod; 213, the mounting seat; 214, the spring; 215, the second through groove; 3, the clamping assembly; 31, the housing; 32, the second motor; 33, the second worm; 34, the second worm gear; 35, the hollow shaft; 36, the threaded sleeve; 37, the elastic clamping block; 38, the locking sleeve. Detailed implementation manners

[0022] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with the specific implementation manners.

[0023] As Figure 1-8 shown, a lightweight auxiliary operation robotic arm, including the first linear module 1, the mobile end of the first linear module 1 is fixedly connected with the second linear module 14, the mobile end of the second linear module 14 is fixedly connected with the electric turntable 15, the rotating end of the electric turntable 15 is fixedly connected with the support 16, an adjusting assembly is arranged on the support 16, the support 16 is connected with the first connecting seat 111 through the adjusting assembly, the third linear module 112 is fixedly connected to the first connecting seat 111, the mobile end of the third linear module 112 is provided with the clamping assembly 3, the adjusting assembly is used to adjust the angle of the third linear module 112, the adjusting assembly includes a connecting shaft 17 hinged to the support 16, a first worm gear 18 is fixedly connected to the connecting shaft 17, a first worm 110 is meshed with the first worm gear 18, and the first worm 110 is rotatably connected to the support 16, a first motor 19 is fixedly connected to the support 16, and the output end of the first motor 19 is fixedly connected with the first worm 110, the first connecting seat 111 is fixedly connected to the first connecting seat 111.

[0024] The first linear module 1 can drive the second linear module 14 to move. The second linear module 14 can drive the electric turntable 15 to move. The electric turntable 15 can drive the support 16 to rotate. The first worm 110 can be driven by the first motor 19. The first worm 110 drives the connecting shaft 17 via the first worm gear 18. The first connecting seat 111 on the connecting shaft 17 rotates accordingly. The third linear module 112 on the first connecting seat 111 also rotates accordingly. The third linear module 112 realizes adjustment from 0 to 90 degrees in the vertical direction.

[0025] The third linear module 112 can then drive the clamping assembly 3 to move. The clamping assembly 3 is used for clamping and fixing the insulating short rod. A second connecting seat 2 is fixedly connected to the first linear module 1. An electric telescopic rod 21 is hinged to the second connecting seat 2. The output end of the electric telescopic rod 21 is fixedly connected to a fixing plate 22. Two hooks 23 are fixedly connected to one outer wall of the fixing plate 22. A connecting plate 26 is slidably connected to the other outer wall of the fixing plate 22. Side plates 27 are fixedly connected to both ends of the connecting plate 26. The second connecting seat 2 is used for installing the electric telescopic rod 21. The electric telescopic rod 21 realizes the adjustment of the relative position between the fixing plate 22 and the first linear module 1. The hooks 23 are used for installing the robotic arm on the lifting cabin of the articulated boom lift. The connecting plate 26 is used for guiding the lifting of the first linear module 1. The side plates 27 are used for supporting the connecting plate 26 when the hooks 23 are folded. A first through groove 29 is formed in one of the side plates 27. A clamping block 210 is slidably connected in the first through groove 29, and the clamping block 210 is snap-fitted and fixed to the first linear module 1. A fixing block 211 is fixedly connected to the clamping block 210. A connecting rod 212 is fixedly connected to the fixing block 211. A mounting seat 213 is slidably connected to the connecting rod 212, and the mounting seat 213 is fixedly connected to the side plate 27. The first through groove 29 is used for accommodating the clamping block 210. The fixing block 211 is used for driving the clamping block 210. The mounting seat 213 is used for installing the connecting rod 212. A second through groove 215 is formed at the position corresponding to the first through groove 29 on the first linear module 1, and the clamping block 210 is snap-fitted and fixed in the second through groove 215. The second through groove 215 is used for snap-fitting and fixing with the clamping block 210. A spring 214 is sleeved on the connecting rod 212, and one end of the spring 214 is arranged on the fixing block 211, and the other end is arranged on the mounting seat 213. The connecting rod 212 is used for installing the spring 214. The spring 214 is used for providing a reset elastic force for the fixing block 211.

[0026] A slider 24 is fixedly connected to the fixing plate 22. A guide rail 25 is slidably connected to the slider 24, and the guide rail 25 is fixedly connected to the connecting plate 26. The slider 24 cooperates with the guide rail 25 to realize the sliding connection between the connecting plate 26 and the fixing plate 22.

[0027] Reinforcing plates 28 are fixedly connected to both side plates 27, and the reinforcing plates 28 are fixedly connected to the connecting plate 26. The reinforcing plates 28 are used to improve the connection strength between the side plates 27 and the connecting plate 26. The clamping assembly 3 includes a housing 31, a second motor 32, a second worm 33, a second worm gear 34, a hollow shaft 35, a threaded sleeve 36, elastic clamping blocks 37 and a locking sleeve 38. The housing 31 is fixedly connected to the output end of the third linear module 112. A second motor 32 is fixedly connected to the housing 31. The output end of the second motor 32 is fixedly connected to a second worm 33, and the second worm 33 is rotatably connected to the housing 31. A second worm gear 34 is meshed with the second worm 33. A hollow shaft 35 is fixedly connected to the second worm gear 34, and the hollow shaft 35 is rotatably connected to the housing 31. A threaded sleeve 36 is fixedly connected to the hollow shaft 35. A plurality of elastic clamping blocks 37 are evenly distributed on the threaded sleeve 36. A locking sleeve 38 is threadedly connected to the threaded sleeve 36, and the elastic clamping blocks 37 are sleeved in the locking sleeve 38. By driving the second worm 33 with the second motor 32, the second worm 33 rotates on the housing 31. The second worm 33 drives the second worm gear 34, and the hollow shaft 35 on the second worm gear 34 rotates accordingly. The threaded sleeve 36 on the hollow shaft 35 rotates accordingly, and the elastic clamping blocks 37 on the threaded sleeve 36 also rotate accordingly. By tightening the locking sleeve 38 on the threaded sleeve 36, the locking sleeve 38 can push and squeeze the elastic clamping blocks 37, so that the elastic clamping blocks 37 lock the insulating short rod.

[0028] A controller 11 is fixedly connected to the first linear module 1, and the controller 11 is electrically connected to the first linear module 1, the second linear module 14, the electric turntable 15, the first motor 19, the third linear module 112, the electric telescopic rod 21 and the second motor 32 respectively. The controller 11 is the control console of the robotic arm. A power switch 12 is installed on the controller 11. A plurality of operating handles 13 are evenly distributed on the controller 11. The power switch 12 is used to control the on and off of the power supply, and the operating handles 13 are used to manipulate the robotic arm to perform actions.

[0029] Working principle: When using the present invention for live distribution network operation, the power switch 12 can be turned on, and the electric telescopic rod 21 is controlled to extend and retract through the controller 11. Since the hook 23 is installed on the lifting cabin of the articulated boom lift truck, and one end of the electric telescopic rod 21 is installed on the fixed plate 22, the electric telescopic rod 21 can drive the first linear module 1 to lift relative to the lifting cabin, so as to adjust the controller 11 to an appropriate height for subsequent operation of the operating handle 13. During this process, the guide rail 25 slides on the slider 24, and the connecting plate 26 slides with the guide rail 25 to guide the lifting of the first linear module 1; Insert the insulating short rod into the hollow shaft 35, tighten the locking sleeve 38 on the threaded sleeve 36, and the locking sleeve 38 pushes the elastic clamping block 37, so that the elastic clamping block 37 locks the insulating short rod. The second worm 33 is driven by the second motor 32, and the second worm 33 rotates on the housing 31. The second worm 33 drives the second worm gear 34, and the hollow shaft 35 on the second worm gear 34 rotates accordingly. The threaded sleeve 36 on the hollow shaft 35 rotates accordingly, and the elastic clamping block 37 on the threaded sleeve 36 drives the insulating short rod to rotate, thereby realizing the angle adjustment of the rod head; The first linear module 1 can drive the second linear module 14 to move. The second linear module 14 can drive the electric turntable 15 to move. The electric turntable 15 can drive the support 16 to rotate. The first worm 110 is driven by the first motor 19. The first worm 110 drives the connecting shaft 17 through the first worm gear 18. The first connecting seat 111 on the connecting shaft 17 rotates accordingly. The third linear module 112 on the first connecting seat 111 also rotates accordingly. The third linear module 112 can be adjusted by 0-90° vertically, and the third linear module 112 can drive the clamping assembly 3 to move, thereby realizing the flexible control of the insulating short rod; When it is necessary to retract the hook 23, the robotic arm can be removed from the lifting cabin first, and then the first linear module 1 drives the second linear module 14 to move to a position far from the controller 11 to avoid the hook 23. Then, the electric telescopic rod 21 is retracted to the limit position, so that the two hooks 23 move to both sides of the first linear module 1. The fixed block 211 is toggled, so that the clamping block 210 disengages from the second through groove 215. At this time, the electric telescopic rod 21 can be rotated around the second connecting seat 2, so that the vertical connecting plate 26 rotates to the horizontal state and is supported by the side plate 27. Among them, the rib plate 28 is used to improve the connection strength between the side plate 27 and the connecting plate 26. The first through groove 29 is used to accommodate the clamping block 210. The mounting seat 213 is used to mount the connecting rod 212. The connecting rod 212 is used to mount the spring 214. The spring 214 is used to provide a reset elastic force for the fixed block 211.

[0030] The foregoing has shown and described 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, and what is described in the above embodiments and the specification is only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A lightweight auxiliary operation robot arm, comprising a first linear module (1), wherein a moving end of the first linear module (1) is fixedly connected to a second linear module (14), characterized in that: The movable end of the second linear module (14) is fixedly connected to an electric turntable (15), the rotating end of the electric turntable (15) is fixedly connected to a support (16), an adjustment component is arranged on the support (16), the support (16) is connected to a first connecting seat (111) via the adjustment component, the first connecting seat (111) is fixedly connected to a third linear module (112), the movable end of the third linear module (112) is installed with a clamping component (3), and the adjustment component is used to adjust the angle of the third linear module (112).

2. The lightweight auxiliary operation robot arm according to claim 1, characterized in that: The adjustment assembly comprises a connecting shaft (17) hinged on a support (16); a first worm wheel (18) is fixedly connected to the connecting shaft (17); a first worm gear (110) is meshingly connected to the first worm gear (18); the first worm gear (110) is rotatably connected to the support (16); a first motor (19) is fixedly connected to the support (16); an output end of the first motor (19) is fixedly connected to the first worm gear (110); and the first connecting seat (111) is fixedly connected to the first connecting seat (111).

3. The lightweight auxiliary operation robot arm according to claim 2, characterized in that: The first linear module (1) is fixedly connected to a second connection seat (2), an electric telescopic rod (21) is hingedly connected to the second connection seat (2), an output end of the electric telescopic rod (21) is fixedly connected to a fixing plate (22), one side outer wall of the fixing plate (22) is fixedly connected to two hooks (23), the other side outer wall of the fixing plate (22) is slidably connected to a connecting plate (26), and both ends of the connecting plate (26) are fixedly connected to side plates (27).

4. The lightweight auxiliary operation robot arm according to claim 3 is characterized in that: A first through slot (29) is formed on one of the side plates (27), a clamping block (210) is slidably connected in the first through slot (29), and the clamping block (210) is clamped and fixed on the first linear module (1), a fixed block (211) is fixedly connected to the clamping block (210), a connecting rod (212) is fixedly connected to the fixing block (211), a mounting seat (213) is slidably connected to the connecting rod (212), and the mounting seat (213) is fixedly connected to the side plate (27).

5. The lightweight auxiliary operation robot arm according to claim 4, characterized in that: A second through slot (215) is provided on the first linear module (1) at a position corresponding to the first through slot (29), and the clamping block (210) is clamped and fixed in the second through slot (215).

6. The lightweight auxiliary operation robot arm according to claim 3, characterized in that: A spring (214) is sleeved on the connecting rod (212), and one end of the spring (214) is arranged on the fixing block (211), and the other end is arranged on the mounting seat (213).

7. The lightweight auxiliary operation robot arm according to claim 3, characterized in that: A slider (24) is fixedly connected to the fixed plate (22), a guide rail (25) is slidably connected to the slider (24), and the guide rail (25) is fixedly connected to the connecting plate (26).

8. The lightweight auxiliary operation robot arm according to claim 3, characterized in that: The two side plates (27) are both fixedly connected with rib plates (28), and the rib plates (28) are fixedly connected to the connecting plate (26).

9. The lightweight auxiliary operation robot arm according to claim 1, characterized in that: The clamping assembly (3) comprises a housing (31), a second motor (32), a second worm (33), a second worm wheel (34), a hollow shaft (35), a threaded sleeve (36), an elastic clamp block (37) and a locking sleeve (38), wherein the housing (31) is fixedly connected to the output end of the third linear module (112), the housing (31) is fixedly connected to the second motor (32), the output end of the second motor (32) is fixedly connected to the second worm (33), and the second worm (33) rotates The second worm gear (33) is meshedly connected to a second worm wheel (34), a hollow shaft (35) is fixedly connected to the second worm wheel (34), and the hollow shaft (35) is rotatably connected to the housing (31). A threaded sleeve (36) is fixedly connected to the hollow shaft (35), a plurality of elastic clamping blocks (37) are evenly distributed on the threaded sleeve (36), a locking sleeve (38) is threadedly connected to the threaded sleeve (36), and the elastic clamping block (37) is sleeved in the locking sleeve (38).

10. The lightweight auxiliary operation robot arm according to claim 5, characterized in that: The invention also comprises a controller (11), wherein the controller (11) is electrically connected to the first linear module (1), the second linear module (14), the electric turntable (15), the first motor (19), the third linear module (112), the electric telescopic rod (21) and the second motor (32), respectively; a power switch (12) is installed on the controller (11), and a plurality of operating handles (13) are evenly distributed on the controller (11).

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