A robotic arm for disassembling distribution transformers

Abstract

The present invention discloses a robotic arm for disassembling distribution transformers, which relates to the field of robotic arms, and includes a robotic arm body, a connecting seat installed on the robotic arm body, two pneumatic shears and an air pipe installed on the connecting seat, the air pipe connected to the pneumatic shears, and a mounting shell installed on the pneumatic shears; and also includes two offset emergency stop devices, the two offset emergency stop devices are respectively mounted on the two mounting shells. It should be noted that in an embodiment of the present invention, when the pneumatic shears are in the wrong position or the air in the air pipe is too humid, the emergency stop switch is triggered, and then the robotic arm body is emergency stopped, avoiding the occurrence of problems such as insufficient shearing and damage of the pneumatic shears caused by wrong shearing or excessive moisture; in addition, the air on one side of the pneumatic shears is dried by a desiccant box to avoid the problem that the gas in the air pipe is humid and the internal corrosion of the pneumatic shears is caused by moisture, thereby ensuring the safe use of the pneumatic shears.

Description

Technical Field

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

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

[0003] Furthermore, the transformer contains a large number of parts and precious metals. Therefore, when the transformer is damaged or needs to be replaced due to an update, the disassembled transformer has a high recycling value. With the continuous development of my country's economy, more and more transformers are disassembled, and the disassembly of transformers has changed from the original manual operation to intelligent assembly line disassembly. Specifically, during the disassembly process of the intelligent assembly line, the transformer is transported by a conveying device and gradually disassembled by multiple robotic arms. When processing the cables of the transformer, the pneumatic shears are operated by the robotic arms to cut the cables of the transformer. However, since the robotic arms are fully automated, position deviations are inevitable during long-term use due to equipment problems or software problems. Once the pneumatic shears have position deviations, they are prone to miscutting or cutting hard objects, causing damage to the pneumatic shears or the transformer. In the process of automated operation, if these problems cannot be discovered in time, it will not only cause the transformer disassembly work to stop, but also damage the parts that need to be recycled in the transformer. Summary of the Invention

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

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A robotic arm for disassembling a distribution transformer, comprising a robotic arm body, a connecting base mounted on the robotic arm body, two pneumatic shears and an air pipe mounted on the connecting base, the air pipe being connected to the pneumatic shears, and a mounting housing mounted on the pneumatic shears;

[0007] It also includes two offset emergency stop devices, the two offset emergency stop devices are respectively installed on the two mounting shells, and the offset emergency stop device is used to emergency stop the robot arm fuselage; the offset emergency stop device includes two offset detection frames, the two offset detection frames are slidably installed in the mounting shell, the air pipe is installed with a valve, the valve handle is installed on the valve, a push bar is slidably installed on one side of the mounting 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 driving frame is rotatably installed on the push bar, and a synchronous pushing frame is installed on the two offset detection frames. The two synchronous pushing frames are movably installed on the synchronous driving frame, an emergency stop switch is installed on one side of the mounting shell, and a trigger plate is installed on the emergency stop switch. The synchronous driving frame rotates to push the trigger plate to move, so as to trigger the emergency stop switch;

[0008] 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, which is installed on the air pipe, and a transfer sealing plate is installed in the switching drying box, and a switching frame is rotatably installed on one side of the transfer sealing plate, and a connecting pipe and a drying hood are installed on the switching frame, and a desiccant box is provided in the drying hood, and the desiccant box dries the gas in the switching drying box and the air pipe.

[0009] Furthermore, in a preferred embodiment of the present invention, a driving shaft is rotatably mounted on each of the two synchronous driving frames, and the two driving shafts are movably mounted on the synchronous driving frame;

[0010] A push groove is provided on one side of the mounting shell, the push bar is slidably installed in the push groove, a return spring is installed on an inner wall of one side of the push groove, and the other end of the return spring is installed on the push bar.

[0011] Furthermore, in a preferred embodiment of the present invention, a deflection shaft is mounted on the pushing bar, and the synchronous driving frame is rotatably mounted on the deflection shaft;

[0012] Two pushing wheels are rotatably mounted on the synchronous driving frame, and the synchronous driving frame rotates to squeeze the trigger plate through the pushing wheels.

[0013] Furthermore, in a preferred embodiment of the present invention, an opening and closing slide shaft is rotatably mounted on the opening and closing push frame, and the opening and closing slide shaft is movably mounted on the valve handle.

[0014] Furthermore, in a preferred embodiment of the present invention, a switching shaft is rotatably mounted on the transfer closing plate, and the switching frame is mounted on the switching shaft;

[0015] A switching column is sleeved on the switching shaft, a switching trigger frame is movably mounted on the switching drying box, and the switching trigger frame is movably mounted on the switching column.

[0016] Furthermore, in a preferred embodiment of the present invention, 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 to drive the switching column to rotate;

[0017] An extrusion frame is installed on one side of the switching trigger frame, and the movement of the opening and closing push frame is used to push the extrusion frame to move. A reset spring is connected between the switching drying box and the extrusion frame.

[0018] Furthermore, in a preferred embodiment of the present invention, filter screens are installed on both sides of the drying cover, and the desiccant box is located between the two filter screens.

[0019] Furthermore, 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 robot arm body.

[0020] Furthermore, in a preferred embodiment of the present invention, the auxiliary emergency stop device includes an emergency stop drive frame, the emergency stop drive frame is movably mounted on the switching drying box, an ejection rod is movably mounted in the drying cover, and the movement of the ejection rod drives the emergency stop drive frame to move, thereby driving the trigger plate to move;

[0021] 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 cover.

[0022] Furthermore, in a preferred embodiment of the present invention, a locking groove is provided on the bottom side of the ejection rod, and an insertion rod is installed on the top side of the desiccant box, and the insertion rod is inserted into the locking groove to restrict the ejection rod;

[0023] 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 cover.

[0024] The beneficial effects of the robotic arm for disassembling a distribution transformer proposed by the present invention are:

[0025] In the present invention, through the setting of the offset emergency stop device, when the position of the pneumatic shear is wrong, only one offset detection frame is squeezed. At this time, any one of the offset detection frames moves, and a synchronous pushing frame drives the pushing shaft to move, and the pushing shaft drives the synchronous driving frame to rotate, so that the synchronous driving frame pushes the trigger plate to move through the pushing wheel, and then the trigger plate squeezes the emergency stop switch, so that the robot arm body is stopped urgently, avoiding the occurrence of wrong shearing or insufficient shearing.

[0026] Furthermore, in the present invention, by setting the switching drying device, when the push bar drives the opening and closing push frame to move, the extrusion frame is pushed to move, the extrusion frame drives the switching trigger frame to move, and drives the reset spring to be stressed, the switching trigger frame moves in the driving groove, and then drives 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 hood and the connecting pipe to rotate synchronously, and then the connecting pipe is aligned with the air pipe, thereby achieving the purpose of sufficient air intake during shearing; similarly, when the pneumatic shears are not shearing, the drying hood is aligned with the air pipe, so that the desiccant box in the drying hood dries the air on one side of the pneumatic shears, avoiding the problem of moisture in the air pipe, causing moisture corrosion inside the pneumatic shears, thereby ensuring the safe use of the pneumatic shears.

[0027] Furthermore, in the present invention, through the setting of the auxiliary emergency stop device, when the air in the trachea is too humid and the desiccant box is quickly dampened, the desiccant box is forced to sink, and the load-bearing spring is forced to contract. At the same time, the desiccant box moves downward to drive the insertion rod out of the locking groove. At this time, the pop-up rod is unlocked, and under the rebound force of the pop-up spring, the pop-up rod is driven to pop out and push the emergency stop drive frame to move, so that the emergency stop drive frame squeezes the trigger plate, and then triggers the emergency stop switch, causing the robot arm body to stop suddenly, thereby avoiding the problem of humid air causing damage to the pneumatic shears or the pneumatic shears to fail to cut fully. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of the three-dimensional structure of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the structure of a pneumatic shear and an offset emergency stop device connected to a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention;

[0030] Figure 3 A schematic diagram of the partial structure of a robot arm for disassembling a distribution transformer provided by an embodiment of the present invention, wherein the offset detection frame is connected to a switching drying box and other structures;

[0031] Figure 4 A schematic diagram of the partial structure of the connection between the synchronous pushing frame and the synchronous driving frame of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention;

[0032] Figure 5 A schematic diagram of the partial structure 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;

[0033] Figure 6A schematic partial cross-sectional view of the connection between a movable frame and a push bar and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention;

[0034] Figure 7 A schematic diagram of the partial structure of a transfer tube of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention, connected to a switching drying box and other structures;

[0035] Figure 8 A schematic diagram of the partial structure of a transfer closing plate and a switching frame and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention;

[0036] Figure 9 A schematic diagram of a partial cross-section of the connection between a switching drying box and a transfer closing plate and other structures of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention;

[0037] Figure 10 A mechanical arm for disassembling a distribution transformer provided by an embodiment of the present invention Figure 9 Schematic diagram of the structure of part A.

[0038] Figure: 1-Robot body; 2-Connecting seat; 3-Pneumatic shears; 4-Trachea; 5-Mounting shell; 6-Offset emergency stop device; 601-Offset detection frame; 602-Synchronous push frame; 603-Push slot; 604-Push bar; 605-Synchronous drive frame; 606-Deflection shaft; 607-Push shaft; 608-Push wheel; 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 slide shaft; 7-Cutter Change drying device; 701- switch drying box; 702- transfer closing plate; 703- switch frame; 704- connecting pipe; 705- drying hood; 706- switch shaft; 707- switch column; 708- drive slot; 709- switch trigger frame; 710- extrusion frame; 711- reset spring; 712- filter screen; 713- desiccant box; 8- auxiliary emergency stop device; 801- emergency stop drive frame; 802- eject rod; 803- locking slot; 804- plug rod; 805- eject spring; 806- load spring. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0042] In addition, in the description of the present invention, it should be noted that the terms "center," "upper," "lower," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is typically placed when in use. These terms are used solely to facilitate the description of the present invention and to simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," "third," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0043] Furthermore, the terms "horizontal," "vertical," and "perpendicular" do not necessarily imply that a component must be absolutely vertical, but rather that it can be slightly tilted. For example, "vertical" simply means that its direction is more vertical than "horizontal," and does not mean that the structure must be completely vertical, but rather that it can be slightly tilted.

[0044] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0045] Please refer to the attached manual Figure 1-Figure 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 base 2 is installed on the robotic arm body 1, two pneumatic shears 3 and an air pipe 4 are installed on the connecting base 2, the air pipe 4 is connected to the pneumatic shears 3, and the pneumatic shears 3 is installed with a mounting shell 5.

[0046] For further information, please refer to the attached manual. Figure 3-Figure 7The embodiment of the present invention provides a robotic arm for disassembling a distribution transformer, further comprising two offset emergency stop devices 6, which are respectively mounted on two mounting housings 5. The offset emergency stop devices 6 are used to urgently stop the robotic arm body 1. Specifically, the offset emergency stop device 6 includes two offset detection frames 601, both of which are slidably mounted within the mounting housing 5. A valve 612 is mounted on the air pipe 4, and a valve handle 614 is mounted on the valve 612. A push bar 604 is slidably mounted on one side of the mounting 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 driving frame 605 is rotatably installed on the push bar 604. Both offset detection frames 601 are installed with synchronous pushing frames 602. Both synchronous pushing frames 602 are movably installed on the synchronous driving frame 605. An emergency stop switch 609 is installed on one side of the mounting shell 5, and a trigger plate 610 is installed on the emergency stop switch 609. The synchronous driving frame 605 rotates to push the trigger plate 610 to move, so as to trigger the emergency stop switch 609.

[0047] It should be noted that, in the embodiment of the present invention, when the pneumatic shears 3 are in the wrong position, only one offset detection frame 601 is squeezed. At this time, any one of the offset detection frames 601 moves, and a synchronous pushing frame 602 drives the driving shaft 607 to move, and 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 by pushing the rotating wheel 608, and then the trigger plate 610 squeezes the emergency stop switch 609, so that the robot arm body 1 is emergency stopped to avoid the occurrence of wrong shearing problems.

[0048] More specifically, in an embodiment of the present invention, a switching drying device 7 is installed on the air pipe 4, and 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, which is installed on the air pipe 4, and a transfer sealing plate 702 is installed in the switching drying box 701, and a switching rack 703 is rotatably installed on one side of the transfer sealing plate 702, and a connecting pipe 704 and a drying hood 705 are installed on the switching rack 703, and a desiccant box 713 is provided in the drying hood 705, and the desiccant box 713 dries the gas in 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 hood 705 and the connecting pipe 704 rotate synchronously, and then the connecting pipe 704 is aligned with the air pipe 4, 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, avoiding the problem of moisture in the air pipe 4, causing moisture corrosion inside the pneumatic shears 3, and ensuring the safe use of the pneumatic shears 3.

[0049] Please continue to refer to the instructions attached Figure 3-Figure 7 Furthermore, an embodiment of the present invention provides a robotic arm for disassembling a distribution transformer, wherein two synchronous driving frames 602 are rotatably mounted with driving shafts 607, and both driving shafts 607 are movably mounted on a synchronous driving frame 605;

[0050] In addition, a push groove 603 is formed on one side of the mounting housing 5, and a push bar 604 is slidably mounted in the push groove 603. A return spring 613 is mounted on the inner wall of one side of the push groove 603, and the other end of the return spring 613 is mounted on the push bar 604. It should be noted that in the embodiment of the present invention, when the two synchronous push racks 602 move, the two push shafts 607 drive the synchronous driving rack 605 to slide, and the synchronous driving rack 605 moves horizontally in the push groove 603 through the push bar 604, and drives the return spring 613 to be stressed. At the same time, the movement of the push bar 604 drives the opening and closing push rack 611 to move, thereby opening the valve 612 and achieving the purpose of automatic air intake.

[0051] More specifically, in the embodiment of the present invention, a deflection shaft 606 is mounted on the push bar 604, and a synchronous driving frame 605 is rotatably mounted on the deflection shaft 606. Two driving wheels 608 are rotatably mounted on the synchronous driving frame 605, and the synchronous driving frame 605 rotates to squeeze the trigger plate 610 via the driving wheels 608. It should be noted that in the embodiment of the present invention, when the pneumatic shears 3 is positioned incorrectly, only one offset detection frame 601 is squeezed. At this time, the synchronous driving frame 602 drives the driving shaft 607 to move, and 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 via the driving wheels 608, and then the trigger plate 610 squeezes the emergency stop switch 609, thereby achieving the purpose of emergency stop of the robot arm body 1.

[0052] More specifically, in the embodiment of the present invention, an opening and closing slide shaft 615 is rotatably mounted on the opening and closing push frame 611, and the opening and closing slide shaft 615 is movably mounted on the valve handle 614. It should be noted that in the embodiment of the present invention, when shearing is performed, the opening and closing push frame 611 drives the valve handle 614 to rotate via the opening and closing slide shaft 615, so that the valve 612 opens, thereby achieving the purpose of automatic air intake.

[0053] Please refer to the attached manual Figure 3 and Figure 7-Figure 9Furthermore, an embodiment of the present invention provides a robotic arm for disassembling a distribution transformer. A switching shaft 706 is rotatably mounted on a transfer sealing plate 702, and a switching frame 703 is mounted on the switching shaft 706. Furthermore, a switching post 707 is sleeved on the switching shaft 706, and a switching trigger frame 709 is movably mounted on the switching drying box 701. The switching trigger frame 709 is movably mounted on the switching post 707. It should be noted that in this embodiment of the present invention, when the switching trigger frame 709 moves, it moves within a drive slot 708, thereby driving the switching post 707 to rotate. The switching post 707 drives the switching frame 703 to rotate via the switching shaft 706, thereby achieving the purpose of automatic rotation of the switching frame 703.

[0054] 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. The switching trigger frame 709 moves in the driving groove 708 to drive the switching column 707 to rotate.

[0055] In addition, an extrusion frame 710 is mounted on one side of the switching trigger frame 709. The movement of the opening and closing push frame 611 is used to push the extrusion frame 710 to move. 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 push 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 within the driving slot 708, thereby driving the switching column 707 to rotate. The switching column 707 drives the switching frame 703 to rotate via the switching shaft 706, thereby achieving automatic switching between the drying hood 705 and the connecting pipe 704.

[0056] Please continue to refer to the instructions attached Figure 3 and Figure 7-Figure 9 More specifically, in the embodiment of the present invention, filters 712 are installed on both sides of the drying cover 705, and the desiccant box 713 is located between the two filters 712. It should be noted that in the embodiment of the present invention, the desiccant box 713 can be provided to dry the air in the trachea 4.

[0057] For further information, please refer to the attached manual. Figure 8 and Figure 10 In an embodiment of the present invention, a robotic arm for disassembling a distribution transformer is provided. An auxiliary emergency stop device 8 is installed on a switching drying device 7. The auxiliary emergency stop device 8 is used to urgently stop the robotic arm body 1. It should be noted that in this embodiment of the present invention, the provision of the auxiliary emergency stop device 8 enables the robotic arm body 1 to automatically stop in the event of excessive humidity in the air pipe 4.

[0058] 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. A pop-up rod 802 is movably mounted within the drying cover 705. The pop-up rod 802 moves to push the emergency stop drive frame 801, thereby pushing the trigger plate 610 to move. In addition, a pop-up spring 805 is mounted on one side of the pop-up rod 802, and the other end of the pop-up 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 rebound force of the pop-up spring 805 drives the pop-up rod 802 to pop out and push the emergency stop drive frame 801 to move, causing the emergency stop drive frame 801 to squeeze the trigger plate 610, thereby triggering the emergency stop switch 609, thereby achieving the purpose of automatically emergency stopping the robot arm body 1.

[0059] Please continue to refer to the instructions attached Figure 8 and Figure 10 More specifically, in the embodiment of the present invention, a locking groove 803 is formed 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. The insertion rod 804 is inserted into the locking groove 803 to restrict the ejection rod 802;

[0060] In addition, a load spring 806 is mounted on the bottom side of the desiccant box 713, and the bottom end of the load spring 806 is mounted 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 rapidly exposed to moisture, the desiccant box 713 is forced downward, causing the load spring 806 to contract. Simultaneously, the downward movement of the desiccant box 713 drives the insertion rod 804 out of the locking groove 803. At this time, the ejection rod 802 is unlocked, and the rebound force of the ejection spring 805 drives the ejection rod 802 to pop out, achieving the purpose of automatically ejecting the ejection rod 802.

[0061] In summary, the working principle of a robotic arm for disassembling a distribution transformer provided by an embodiment of the present invention is as follows:

[0062] When the pneumatic shears 3 cuts the cable on the transformer, the mechanical arm 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, realizing the purpose of automatic air intake, so that the pneumatic shears 3 can automatically intake air and cut when the position is correct, avoiding the problem of the pneumatic shears 3 being inaccurately positioned, cutting the wrong cable, or cutting hard objects and damaging the pneumatic shears 3;

[0063] In addition, if the pneumatic shears 3 are positioned incorrectly, causing only one offset detection frame 601 to be squeezed, then any one of the offset detection frames 601 moves, and a synchronous driving frame 602 drives the driving shaft 607 to move, and the driving shaft 607 drives the synchronous driving frame 605 to rotate, so that the synchronous driving frame 605 drives the trigger plate 610 to move by driving the rotating wheel 608, and then the trigger plate 610 squeezes the emergency stop switch 609, so that the robot arm body 1 stops suddenly, avoiding the occurrence of the wrong shearing problem;

[0064] When the push bar 604 drives the opening and closing push frame 611 to move, the squeezing frame 710 is pushed to move, and the squeezing frame 710 drives the switching trigger frame 709 to move, and drives the return 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. The rotation of the switching frame 703 causes the drying hood 705 and the connecting pipe 704 to rotate synchronously, and then the connecting pipe 704 is aligned with the air pipe 4, so as to achieve the purpose of sufficient air intake during shearing; similarly, when the pneumatic shears 3 is 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, avoiding the problem of moisture in the air pipe 4 causing the internal corrosion of the pneumatic shears 3, thereby ensuring the safe use of the pneumatic shears 3;

[0065] 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 the load-bearing spring 806 is forced to contract. At the same time, the desiccant box 713 moves downward to drive the insertion rod 804 out of 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, avoiding the problem that the pneumatic shears 3 is damaged or the pneumatic shears 3 cannot fully cut due to humid air.

[0066] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A robotic arm for dismantling a distribution transformer, characterized in that: It includes a robot arm body, a connecting seat is installed on the robot arm body, two pneumatic shears and an air pipe are installed on the connecting seat, the air pipe is connected to the pneumatic shears, and a mounting shell is installed on the pneumatic shears; It also includes two offset emergency stop devices, the two offset emergency stop devices are respectively installed on the two mounting shells, and the offset emergency stop device is used to emergency stop the robot arm fuselage; the offset emergency stop device includes two offset detection frames, the two offset detection frames are slidably installed in the mounting shell, the air pipe is installed with a valve, the valve handle is installed on the valve, a push bar is slidably installed on one side of the mounting 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 driving frame is rotatably installed on the push bar, and a synchronous pushing frame is installed on the two offset detection frames. The two synchronous pushing frames are movably installed on the synchronous driving frame, an emergency stop switch is installed on one side of the mounting shell, and a trigger plate is installed on the emergency stop switch. The synchronous driving frame rotates to push the trigger plate to move, so as to trigger the emergency stop switch; The air pipe is equipped with a switching drying device, which is used to seal the air pipe and dry the air inside the air pipe; the switching drying device includes a switching drying box, which is installed on the air pipe, and a transfer sealing plate is installed in the switching drying box, and a switching frame is rotatably mounted on one side of the transfer sealing plate, and a connecting pipe and a drying cover are installed on the switching frame. A desiccant box is provided in the drying cover, and the desiccant box dries the gas in the switching drying box and the air pipe; The switching drying device is equipped with an auxiliary emergency stop device, which is used to stop the robot arm body in an emergency; The auxiliary emergency stop device includes an emergency stop drive frame, which is movably mounted on the switching drying box. An ejection rod is movably mounted in the drying cover. The movement of the ejection rod drives the emergency stop drive frame to move, thereby driving 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 cover; A locking groove is provided on the bottom side of the ejection rod, and an insertion rod is installed on the top side of the desiccant box. The insertion rod is inserted into the locking groove to restrict the ejection 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 cover.

2. The robotic arm for dismantling a distribution transformer according to claim 1, characterized in that: The two synchronous driving frames are both rotatably mounted with driving shafts, and the two driving shafts are both movably mounted on the synchronous driving frames; A push groove is provided on one side of the mounting shell, the push bar is slidably installed in the push groove, a return spring is installed on an 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 dismantling a distribution transformer according to claim 2, characterized in that: A deflection shaft is mounted on the pushing bar, and the synchronous driving frame is rotatably mounted on the deflection shaft; Two pushing wheels are rotatably mounted on the synchronous driving frame, and the synchronous driving frame rotates to squeeze the trigger plate through the pushing wheels.

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

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

6. The robotic arm for dismantling 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, and one end of the switching trigger frame extends into the driving groove. 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, and the movement of the opening and closing push frame is used to push the extrusion frame to move. A reset spring is connected between the switching drying box and the extrusion frame.

7. The robotic arm for dismantling a distribution transformer according to claim 6, characterized in that: Filters are installed on both sides of the drying cover, and the desiccant box is located between the two filters.

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