Mechanical arm for disassembling distribution transformer

Abstract

The invention discloses a mechanical arm for disassembling a distribution transformer, and relates to the field of mechanical arms, the mechanical arm comprises a mechanical arm body, a connecting seat is mounted on the mechanical arm body, two pneumatic shears and an air pipe are mounted on the connecting seat, the air pipe is connected to the pneumatic shears, and a mounting shell is mounted on the pneumatic shears; the device further comprises two deviation emergency stop devices, and the two deviation emergency stop devices are installed on the two installation shells correspondingly. It needs to be explained that in the embodiment of the invention, when the position of the pneumatic shear is wrong or air in the air pipe is too humid, the emergency stop switch is triggered, then the mechanical arm machine body is suddenly stopped, and the problems of insufficient shearing, damage and the like of the pneumatic shear caused by wrong shearing or too large moisture are avoided; in addition, air on one side of the pneumatic shear is dried through a drying agent box, the problem that the interior of the pneumatic shear is affected with damp and corroded due to the fact that air in an air pipe is humid is solved, and therefore safe use of the pneumatic shear is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular, to a robotic arm for disassembling distribution transformers. Background Art

[0002] A transformer is a power device that works based on the principle of electromagnetic induction. It is mainly used to change the voltage, current, and impedance value of alternating current, and at the same time, to achieve efficient transmission of electrical energy and circuit isolation. Its core function is to convert a certain value of alternating current electrical energy into electrical energy of the same frequency but different values through the difference in the number of turns of the primary and secondary coils, so as to meet the voltage adaptation requirements of each link from power generation to power consumption in the power system.

[0003] Furthermore, a large number of components and precious metals are contained inside the transformer. Therefore, when the transformer is damaged or needs to be replaced due to updates, the removed transformer has a high recycling value. And with the continuous development of China's economy, more and more removed transformers are being produced, and the disassembly of transformers has changed from the original manual operation to intelligent assembly line disassembly. Specifically, during the intelligent assembly line disassembly process, the transformer is conveyed by a conveying device, and multiple robotic arms are used to gradually disassemble the transformer. When processing the cables of the transformer, a pneumatic shear is operated by the robotic arm to cut the cables of the transformer. However, since the robotic arm is fully automated, during long-term use, due to equipment problems or software problems, position deviations are inevitable. Once the pneumatic shear has a position deviation, it is easy to cause incorrect cutting or cutting into hard objects, resulting in damage to the pneumatic shear or the transformer. And during the automated operation process, if these problems cannot be discovered in time, it will not only cause the stop of the transformer disassembly work, but also damage the parts that need to be recycled inside the transformer. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm for disassembling distribution transformers to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions: A robotic arm for disassembling distribution transformers, which includes a robotic arm body. A connecting seat is installed on the robotic arm body. Two pneumatic shears and air pipes are installed on the connecting seat. The air pipes are connected to the pneumatic shears, and an installation housing is installed on the pneumatic shears. It also includes two offset emergency stop devices, which are respectively installed on the two installation shells, and the offset emergency stop devices are used to perform an emergency stop on the robot arm body; the offset emergency stop device includes two offset detection frames, both of which are slidably installed in the installation shell, a valve is installed on the air pipe, a valve handle is installed on the valve, a push bar is slidably installed on one side of the installation shell, an opening and closing push frame is installed on the push bar, the opening and closing push frame is movably connected to the valve handle, a synchronous drive frame is rotatably installed on the push bar, synchronous push frames are installed on both of the two offset detection frames, and both of the synchronous push frames are movably installed on the synchronous drive frame, an emergency stop switch is installed on one side of the installation shell, and a trigger plate is installed on the emergency stop switch, and the synchronous drive frame rotates to push the trigger plate to move for triggering the emergency stop switch; A switching drying device is installed on the air pipe, and the switching drying device is used to seal the air pipe and dry the inside of the air pipe; the switching drying device includes a switching drying box installed on the air pipe, a transfer closing plate is installed in the switching drying box, a switching frame is rotatably installed on one side of the transfer closing plate, a connecting pipe and a drying cover are installed on the switching frame, a desiccant box is arranged in the drying cover, and the desiccant box dries the gas in the switching drying box and the air pipe.

[0006] Further, in a preferred embodiment of the present invention, push shafts are rotatably installed on both of the two synchronous push frames, and both of the push shafts are movably installed on the synchronous drive frame; A push groove is formed on one side of the installation shell, the push bar is slidably installed in the push groove, a return spring is installed on the inner wall of one side of the push groove, and the other end of the return spring is installed on the push bar.

[0007] Further, in a preferred embodiment of the present invention, a deflection shaft is installed on the push bar, and the synchronous drive frame is rotatably installed on the deflection shaft; Two push wheels are rotatably installed on the synchronous drive frame, and the synchronous drive frame rotates to squeeze the trigger plate through the push wheels.

[0008] Further, in a preferred embodiment of the present invention, an opening and closing sliding shaft is rotatably installed on the opening and closing push frame, and the opening and closing sliding shaft is movably installed on the valve handle.

[0009] Further, in a preferred embodiment of the present invention, a switching shaft is rotatably installed on the transfer closing plate, and the switching frame is installed on the switching shaft; A switching column is sleeved on the switching shaft, a switching trigger frame is movably installed on the switching drying box, and the switching trigger frame is movably installed on the switching column.

[0010] Further, in a preferred embodiment of the present invention, an arc-shaped driving groove is formed in the surface of the switching column along the circumferential direction, one end of the switching trigger frame extends into the driving groove, and the switching trigger frame moves in the driving groove to drive the switching column to rotate; An extrusion frame is installed on one side of the switching trigger frame. The opening and closing push frame moves to push the extrusion frame to move, and a return spring is connected between the switching drying box and the extrusion frame.

[0011] Further, in a preferred embodiment of the present invention, filters are installed on both sides of the drying hood, and the desiccant box is located between the two filters.

[0012] Further, in a preferred embodiment of the present invention, an auxiliary emergency stop device is installed on the switching drying device, and the auxiliary emergency stop device is used to perform an emergency stop on the robotic arm body.

[0013] Further, in a preferred embodiment of the present invention, the auxiliary emergency stop device includes an emergency stop driving frame. The emergency stop driving frame is movably installed on the switching drying box, and a pop-up rod is movably installed in the drying hood. The movement of the pop-up rod pushes the emergency stop driving frame to move, so as to push the trigger plate to move; A pop-up spring is installed on one side of the pop-up rod, and the other end of the pop-up spring is installed on the inner wall of the drying hood.

[0014] Further, in a preferred embodiment of the present invention, a locking groove is formed in the bottom side of the pop-up rod, and a plug rod is installed on the top side of the desiccant box. The plug rod is inserted into the locking groove to limit the pop-up rod; A bearing spring is installed on the bottom side of the desiccant box, and the bottom end of the bearing spring is installed on the bottom inner wall of the drying hood.

[0015] The beneficial effects of a robotic arm for disassembling a distribution transformer proposed by the present invention are: In the present invention, through the setting of the offset emergency stop device, when the position of the pneumatic shear is incorrect, only one offset detection frame is squeezed. At this time, any one of the offset detection frames moves, and a synchronous push frame drives the push shaft to move. The push shaft drives the synchronous drive frame to rotate, so that the synchronous drive frame pushes the trigger plate to move through the push runner, and then the trigger plate squeezes the emergency stop switch, thereby causing an emergency stop of the robotic arm body and avoiding the occurrence of problems such as incorrect shearing or insufficient shearing.

[0016] Furthermore, in the present invention, by switching the setting of the drying device, when the pushing bar drives the opening and closing push frame to move, the pushing and squeezing frame is driven to move. The squeezing frame drives the switching trigger frame to move and causes the reset spring to be stressed. The switching trigger frame moves in the driving groove, thereby driving the switching column to rotate. The switching column drives the switching frame to rotate through the switching shaft. The rotation of the switching frame causes the drying cover and the connecting pipe to rotate synchronously, and then aligns the connecting pipe with the air pipe, so as to achieve the purpose of sufficient air intake during shearing. Similarly, when the pneumatic shear is not shearing, the drying cover is aligned with the air pipe, so that the desiccant box in the drying cover dries the air on one side of the pneumatic shear, avoiding the problem that the gas in the air pipe is humid and causing the internal part of the pneumatic shear to be affected by moisture and corroded, thereby ensuring the safe use of the pneumatic shear.

[0017] Even further, in the present invention, by providing the auxiliary emergency stop device, when the air in the air pipe is too humid and causes the desiccant box to become damp quickly, the desiccant box is stressed and sinks, driving the bearing spring to contract under stress. At the same time, the downward movement of the desiccant box causes the insertion rod to disengage from the locking groove. At this time, the ejecting rod is unlocked, and under the resilience of the ejecting spring, the ejecting rod is driven to eject and push the emergency stop driving frame to move, so that the emergency stop driving frame squeezes the trigger plate, thereby triggering the emergency stop switch and causing the body of the robotic arm to stop urgently, thus avoiding the problem that the damp air causes damage to the pneumatic shear or the pneumatic shear cannot shear sufficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional structural schematic diagram of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention; Figure 2 is a structural schematic diagram of the connection between the pneumatic shear and the offset emergency stop device and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention; Figure 3 is a partial structural schematic diagram of the connection between the offset detection frame and the switching drying box and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention; Figure 4 is a partial structural schematic diagram of the connection between the synchronous pushing frame and the synchronous driving frame and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention; Figure 5 is a partial structural schematic diagram of the connection between the opening and closing push frame and the valve handle and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention; Figure 6 is a partial cross-sectional structural schematic diagram of the connection between the movable frame and the pushing bar and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention; Figure 7Partial structural schematic diagram of the connection between the transfer pipe of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention and structures such as a switching drying box; Figure 8 Partial structural schematic diagram of the connection between the transfer closing plate of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention and structures such as a switching frame; Figure 9 Partial sectional structural schematic diagram of the connection between the switching drying box of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention and structures such as a transfer closing plate; Figure 10 For a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention Figure 9 Schematic diagram of the structure of part A in it.

[0019] In the figure: 1 - robotic arm body; 2 - connecting seat; 3 - pneumatic shear; 4 - air pipe; 5 - installation housing; 6 - offset emergency stop device; 601 - offset detection frame; 602 - synchronous push frame; 603 - push groove; 604 - push bar; 605 - synchronous drive frame; 606 - offset shaft; 607 - push shaft; 608 - push runner; 609 - emergency stop switch; 610 - trigger plate; 611 - opening and closing push frame; 612 - valve; 613 - return spring; 614 - valve handle; 615 - opening and closing sliding shaft; 7 - switching drying device; 701 - switching drying box; 702 - transfer closing plate; 703 - switching frame; 704 - connecting pipe; 705 - drying cover; 706 - switching shaft; 707 - switching column; 708 - drive groove; 709 - switching trigger frame; 710 - extrusion frame; 711 - return spring; 712 - filter screen; 713 - desiccant box; 8 - auxiliary emergency stop device; 801 - emergency stop drive frame; 802 - ejecting rod; 803 - locking groove; 804 - inserting rod; 805 - ejecting spring; 806 - bearing spring. Detailed implementation manners

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0022] It should be noted that like reference numerals and letters refer to like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0023] In addition, in the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the product of the present invention is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0024] In addition, the terms "horizontal", "vertical", "perpendicular", etc. do not mean that the component is required to be absolutely vertical, but can be slightly inclined. For example, "vertical" only means that its direction is more vertical relative to "horizontal", and does not mean that the structure must be completely vertical, but can be slightly inclined.

[0025] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Please refer to the accompanying specification Figures 1 - 2 A robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention includes a robotic arm body 1. A connecting seat 2 is installed on the robotic arm body 1. Two pneumatic shears 3 and an air pipe 4 are installed on the connecting seat 2. The air pipe 4 is connected to the pneumatic shears 3, and an installation housing 5 is installed on the pneumatic shears 3.

[0027] Further, please refer to the accompanying specification Figures 3 - 7, a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention further includes two offset emergency stop devices 6, and the two offset emergency stop devices 6 are respectively installed on two installation housings 5. The offset emergency stop device 6 is used to perform an emergency stop on the robotic arm body 1; specifically, the offset emergency stop device 6 includes two offset detection frames 601, and the two offset detection frames 601 are both slidably installed in the installation housing 5. A valve 612 is installed on the air pipe 4, and a valve handle 614 is installed on the valve 612. A push bar 604 is slidably installed on one side of the installation housing 5. An opening and closing push frame 611 is installed on the push bar 604, and the opening and closing push frame 611 is movably connected to the valve handle 614. A synchronous drive frame 605 is rotatably installed on the push bar 604. Synchronous push frames 602 are installed on both of the two offset detection frames 601, and the two synchronous push frames 602 are both movably installed on the synchronous drive frame 605. An emergency stop switch 609 is installed on one side of the installation housing 5, and a trigger plate 610 is installed on the emergency stop switch 609. The synchronous drive frame 605 rotates to push the trigger plate 610 to move, which is used to trigger the emergency stop switch 609.

[0028] It should be noted that in the embodiment of the present invention, when the position of the pneumatic shear 3 is incorrect, only one offset detection frame 601 is squeezed. At this time, any one of the offset detection frames 601 moves, and a push shaft 607 is driven to move through a synchronous push frame 602. The push shaft 607 drives the synchronous drive frame 605 to rotate, so that the synchronous drive frame 605 pushes the trigger plate 610 to move through a push runner 608. Furthermore, the trigger plate 610 squeezes the emergency stop switch 609, thereby causing the robotic arm body 1 to perform an emergency stop and avoiding the occurrence of incorrect shearing problems.

[0029] More specifically, in the embodiment of the present invention, a switching drying device 7 is installed on the air pipe 4. The switching drying device 7 is used to seal the air pipe 4 and dry the inside of the air pipe 4; the switching drying device 7 includes a switching drying box 701, and the switching drying box 701 is installed on the air pipe 4. A transfer sealing plate 702 is installed inside the switching drying box 701. A switching frame 703 is rotatably installed on one side of the transfer sealing plate 702. A connecting pipe 704 and a drying cover 705 are installed on the switching frame 703. A desiccant box 713 is provided inside the drying cover 705, and the desiccant box 713 dries the gas inside the switching drying box 701 and the air pipe 4. It should be noted that in the embodiment of the present invention, when shearing is performed, the switching frame 703 rotates so that the drying cover 705 and the connecting pipe 704 rotate synchronously, and then the connecting pipe 704 is aligned with the air pipe 4, achieving the purpose of sufficient air intake during shearing; similarly, when the pneumatic shear 3 is not shearing, the drying cover 705 is aligned with the air pipe 4, so that the desiccant box 713 inside the drying cover 705 dries the air on one side of the pneumatic shear 3, avoiding the problem that the gas inside the air pipe 4 is humid and causing the inside of the pneumatic shear 3 to be affected by moisture and corroded, ensuring the safe use of the pneumatic shear 3.

[0030] Please continue to refer to the appended drawings of the specification Figures 3 - 7 Furthermore, for a robotic arm used for disassembling a distribution transformer provided by an embodiment of the present invention, driving shafts 607 are rotatably installed on both of the two synchronous pushing frames 602, and both of the two driving shafts 607 are movably installed on a synchronous driving frame 605; In addition, a pushing groove 603 is formed on one side of the installation housing 5, a pushing strip 604 is slidably installed in the pushing groove 603, a return spring 613 is installed on an inner wall on one side of the pushing groove 603, and the other end of the return spring 613 is installed on the pushing strip 604. It should be noted that in the embodiment of the present invention, when the two synchronous pushing frames 602 move, the synchronous driving frame 605 is driven to slide by the two driving shafts 607, the synchronous driving frame 605 horizontally moves in the pushing groove 603 through the pushing strip 604, and the return spring 613 is stressed. At the same time, the movement of the pushing strip 604 drives the opening and closing pushing frame 611 to move, thereby opening the valve 612 to achieve the purpose of automatic air intake.

[0031] More specifically, in the embodiment of the present invention, a deflecting shaft 606 is installed on the pushing strip 604, and the synchronous driving frame 605 is rotatably installed on the deflecting shaft 606; two driving rollers 608 are rotatably installed on the synchronous driving frame 605, and the synchronous driving frame 605 rotates to squeeze the trigger plate 610 through the driving rollers 608. It should be noted that in the embodiment of the present invention, when the position of the pneumatic shear 3 is incorrect, only one offset detection frame 601 is squeezed. At this time, the synchronous pushing frame 602 drives the driving shaft 607 to move, the driving shaft 607 drives the synchronous driving frame 605 to rotate, so that the synchronous driving frame 605 pushes the trigger plate 610 to move through the driving rollers 608, thereby squeezing the emergency stop switch 609 by the trigger plate 610 to achieve the purpose of quickly stopping the robotic arm body 1.

[0032] Even more specifically, in the embodiment of the present invention, an opening and closing sliding shaft 615 is rotatably installed on the opening and closing pushing frame 611, and the opening and closing sliding shaft 615 is movably installed on the valve handle 614. It should be noted that in the embodiment of the present invention, when shearing, the opening and closing pushing frame 611 drives the valve handle 614 to rotate through the opening and closing sliding shaft 615, so that the valve 612 is opened to achieve the purpose of automatic air intake.

[0033] Please refer to the appended drawings of the specification in combination Figure 3 and Figures 7 - 9, Further, for a robotic arm used for disassembling a distribution transformer provided by an embodiment of the present invention, a switching shaft 706 is rotatably installed on a transfer closing plate 702, and a switching frame 703 is installed on the switching shaft 706; in addition, a switching column 707 is sleeved on the switching shaft 706, and a switching trigger frame 709 is movably installed on a switching drying box 701, and the switching trigger frame 709 is movably installed on the switching column 707. It should be noted that in the embodiment of the present invention, when the switching trigger frame 709 moves, the switching trigger frame 709 moves in a driving groove 708, thereby driving the switching column 707 to rotate, and the switching column 707 drives the switching frame 703 to rotate through the switching shaft 706, achieving the purpose of automatically rotating the switching frame 703.

[0034] More specifically, in the embodiment of the present invention, an arc-shaped driving groove 708 is formed on the surface of the switching column 707 along the circumferential direction, one end of the switching trigger frame 709 extends into the driving groove 708, and the switching trigger frame 709 moves in the driving groove 708 for driving the switching column 707 to rotate; In addition, an extrusion frame 710 is installed on one side of the switching trigger frame 709, the opening and closing push frame 611 moves to push the extrusion frame 710 to move, and a return spring 711 is connected between the switching drying box 701 and the extrusion frame 710. It should be noted that in the embodiment of the present invention, when the pushing bar 604 drives the opening and closing push frame 611 to move, it pushes the extrusion frame 710 to move, the extrusion frame 710 drives the switching trigger frame 709 to move in the driving groove 708, thereby driving the switching column 707 to rotate, and the switching column 707 drives the switching frame 703 to rotate through the switching shaft 706, realizing the automatic switching of the drying cover 705 and the connecting pipe 704.

[0035] Please continue to refer to the attached instructions Figure 3 and Figures 7 - 9 , Even more specifically, in the embodiment of the present invention, filter nets 712 are installed on both sides of the drying cover 705, and a desiccant box 713 is located between the two filter nets 712. It should be noted that in the embodiment of the present invention, through the setting of the desiccant box 713, the purpose of drying the air in the air pipe 4 can be achieved.

[0036] Further, please refer to the attached instructions Figure 8 and Figure 10 , For a robotic arm used for disassembling a distribution transformer provided by an embodiment of the present invention, an auxiliary emergency stop device 8 is installed on a switching drying device 7, and the auxiliary emergency stop device 8 is used for emergency stopping of the robotic arm body 1. It should be noted that in the embodiment of the present invention, through the setting of the auxiliary emergency stop device 8, when the air in the air pipe 4 is too humid, the purpose of automatically emergency stopping the robotic arm body 1 can be achieved.

[0037] More specifically, in the embodiment of the present invention, the auxiliary emergency stop device 8 includes an emergency stop drive frame 801, which is movably mounted on the switch drying box 701, and an ejection rod 802 is movably mounted in the drying cover 705, and the ejection rod 802 moves to push the emergency stop drive frame 801 to move, so as to push the trigger plate 610 to move; in addition, an ejection spring 805 is mounted on one side of the ejection rod 802, and the other end of the ejection spring 805 is mounted on the inner wall of the drying cover 705. It should be noted that in the embodiment of the present invention, when the air in the air pipe 4 is too humid, the ejection rod 802 is driven to pop out under the rebound force of the ejection spring 805, and the emergency stop drive frame 801 is pushed to move, so that the emergency stop drive frame 801 squeezes the trigger plate 610, and then triggers the emergency stop switch 609, thereby achieving the purpose of automatic emergency stop of the robot arm body 1.

[0038] Please continue to refer to the instruction manual Figure 8 and Figure 10 , more specifically, in the embodiment of the present invention, a locking groove 803 is provided on the bottom side of the ejection rod 802, and an insertion rod 804 is installed on the top side of the desiccant box 713, and the insertion rod 804 is inserted into the locking groove 803 to limit the ejection rod 802; In addition, a bearing spring 806 is installed on the bottom side of the desiccant box 713, and the bottom end of the bearing spring 806 is installed on the bottom inner wall of the drying cover 705. It should be noted that in the embodiment of the present invention, when the desiccant box 713 is quickly dampened, the desiccant box 713 is forced to sink, and the bearing spring 806 is forced to contract. At the same time, the desiccant box 713 moves downward to drive the insertion rod 804 to disengage from the locking groove 803. At this time, the pop-up rod 802 is unlocked, so the pop-up rod 802 is driven to pop out under the rebound force of the pop-up spring 805, so as to achieve the purpose of automatically popping out the pop-up rod 802.

[0039] In summary, the working principle of a mechanical arm for disassembling a distribution transformer provided by an embodiment of the present invention is: When the pneumatic shears 3 cut the cable on the transformer, the robot body 1 drives the pneumatic shears 3 to move to the correct position, so that the cable squeezes the two offset detection frames 601 to move at the same time, and then the two offset detection frames 601 drive the two synchronous pushing frames 602 to move, and the two synchronous pushing frames 602 drive the synchronous driving frames 605 to slide through the two driving shafts 607, and the synchronous driving frames 605 move horizontally in the driving groove 603 through the driving bar 604, and drive the return spring 613 to be stressed, and at the same time, the driving bar 604 moves to drive the opening and closing pushing frame 611 to move, and the opening and closing pushing frame 611 drives the valve handle 614 to rotate through the opening and closing sliding shaft 615, so that the valve 612 is opened, and the purpose of automatic air intake is achieved, so that the pneumatic shears 3 can automatically intake air and cut when the position is correct, avoiding the problem of inaccurate position of the pneumatic shears 3, cutting the wrong cable, or cutting hard objects and damaging the pneumatic shears 3; In addition, if the pneumatic shear 3 is positioned incorrectly so that only one offset detection frame 601 is squeezed, then any one of the offset detection frames 601 moves, and a synchronous push frame 602 drives the push shaft 607 to move, and the push shaft 607 drives the synchronous drive frame 605 to rotate, so that the synchronous drive frame 605 pushes the trigger plate 610 to move through the push wheel 608, and then the trigger plate 610 squeezes the emergency stop switch 609, so that the robot arm body 1 stops urgently, avoiding the occurrence of the wrong shearing problem; Furthermore, when the push bar 604 drives the opening and closing push frame 611 to move, the extrusion frame 710 is pushed to move, and the extrusion frame 710 drives the switching trigger frame 709 to move, and drives the reset spring 711 to be stressed, and the switching trigger frame 709 moves in the driving groove 708, thereby driving the switching column 707 to rotate, and the switching column 707 drives the switching frame 703 to rotate through the switching shaft 706, and the rotation of the switching frame 703 makes the drying hood 705 and the connecting pipe 704 rotate synchronously, and then makes the connecting pipe 704 and the air pipe 4 aligned, so as to achieve the purpose of sufficient air intake during shearing; similarly, when the pneumatic shears 3 are not shearing, the drying hood 705 is aligned with the air pipe 4, so that the desiccant box 713 in the drying hood 705 dries the air on one side of the pneumatic shears 3, so as to avoid the problem of moisture in the air pipe 4, which causes the internal moisture corrosion of the pneumatic shears 3, and ensures the safe use of the pneumatic shears 3; It should be further explained that when the air in the trachea 4 is too humid and the desiccant box 713 is quickly dampened, the desiccant box 713 is forced to sink and drives the load-bearing spring 806 to contract. At the same time, the desiccant box 713 moves downward to drive the insertion rod 804 to disengage from the locking groove 803. At this time, the pop-up rod 802 is unlocked. Therefore, under the rebound force of the pop-up spring 805, the pop-up rod 802 is driven to pop out and push the emergency stop drive frame 801 to move, so that the emergency stop drive frame 801 squeezes the trigger plate 610, and then triggers the emergency stop switch 609, so that the robot arm body 1 is emergency stopped to avoid the problem of humid air causing damage to the pneumatic shears 3 or the pneumatic shears 3 cannot fully cut.

[0040] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robotic arm for disassembling a distribution transformer, characterized in that, It includes a robotic arm body, on which a connecting seat is installed. Two pneumatic shears and air pipes are installed on the connecting seat. The air pipes are connected to the pneumatic shears, and an installation shell is installed on the pneumatic shears; It also includes two offset emergency stop devices, which are respectively installed on the two installation shells. The offset emergency stop devices are used to perform an emergency stop on the robotic arm body. The offset emergency stop device includes two offset detection frames, both of which are slidably installed in the installation shell. A valve is installed on the air pipe, and a valve handle is installed on the valve. A push bar is slidably installed on one side of the installation shell, and an opening and closing push frame is installed on the push bar. The opening and closing push frame is movably connected to the valve handle. A synchronous driving frame is rotatably installed on the push bar. Synchronous push frames are installed on both of the two offset detection frames, and both of the synchronous push frames are movably installed on the synchronous driving frame. An emergency stop switch is installed on one side of the installation shell, and a trigger plate is installed on the emergency stop switch. The synchronous driving frame rotates to push the trigger plate to move, for triggering the emergency stop switch; A switching drying device is installed on the air pipe. The switching drying device is used to seal the air pipe and dry the inside of the air pipe. The switching drying device includes a switching drying box installed on the air pipe. A transfer closing plate is installed in the switching drying box. A switching frame is rotatably installed on one side of the transfer closing plate. A connecting pipe and a drying cover are installed on the switching frame. A desiccant box is arranged in the drying cover, and the desiccant box dries the gas in the switching drying box and the air pipe.

2. The robotic arm for disassembling a distribution transformer according to claim 1, characterized in that, Push shafts are rotatably installed on both of the two synchronous push frames, and both of the push shafts are movably installed on the synchronous driving frame; A push groove is formed on one side of the installation shell, and the push bar is slidably installed in the push groove. A return spring is installed on the inner wall of one side of the push groove, and the other end of the return spring is installed on the push bar.

3. The robotic arm for disassembling a distribution transformer according to claim 2, characterized in that, A deflection shaft is installed on the push bar, and the synchronous driving frame is rotatably installed on the deflection shaft; Two push wheels are rotatably installed on the synchronous driving frame, and the synchronous driving frame rotates to squeeze the trigger plate through the push wheels.

4. The robotic arm for disassembling a distribution transformer according to claim 3, characterized in that, An opening and closing sliding shaft is rotatably installed on the opening and closing push frame, and the opening and closing sliding shaft is movably installed on the valve handle.

5. A robotic arm for disassembling a distribution transformer according to claim 1, characterized in that, A switching shaft is rotatably installed on the transfer closing plate, and the switching frame is installed on the switching shaft; A switching column is sleeved on the switching shaft, and a switching trigger frame is movably installed on the switching drying box. The switching trigger frame is movably installed on the switching column.

6. The robotic arm for disassembling a distribution transformer according to claim 5, characterized in that, An arc-shaped driving groove is formed on the surface of the switching column along the circumferential direction. One end of the switching trigger frame extends into the driving groove, and the switching trigger frame moves in the driving groove, for driving the switching column to rotate; An extrusion frame is installed on one side of the switching trigger frame. The movement of the opening and closing push frame is used to push the extrusion frame to move. A return spring is connected between the switching drying box and the extrusion frame.

7. The robotic arm for disassembling a distribution transformer according to claim 6, characterized in that, Filter nets are installed on both sides of the drying hood, and the desiccant box is located between the two filter nets.

8. A robotic arm for disassembling a distribution transformer according to claim 1, characterized in that, An auxiliary emergency stop device is installed on the switching drying device, and the auxiliary emergency stop device is used to perform an emergency stop on the robot arm body.

9. The robotic arm for disassembling a distribution transformer according to claim 8, characterized in that, The auxiliary emergency stop device includes an emergency stop driving frame, the emergency stop driving frame is movably installed on the switching drying box, a pop-up rod is movably installed in the drying hood, and the movement of the pop-up rod pushes the emergency stop driving frame to move, for pushing the trigger plate to move; A pop-up spring is installed on one side of the pop-up rod, and the other end of the pop-up spring is installed on the inner wall of the drying hood.

10. The robotic arm for disassembling a distribution transformer according to claim 9, characterized in that, A locking groove is formed on the bottom side of the pop-up rod, and a plug rod is installed on the top side of the desiccant box, and the plug rod is inserted into the locking groove to limit the pop-up rod; A bearing spring is installed on the bottom side of the desiccant box, and the bottom end of the bearing spring is installed on the inner wall of the bottom side of the drying hood.

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