An integrated robotic arm for power grid pole construction

Abstract

This invention relates to an integrated robotic arm for power grid pole construction, comprising an arm body, an installation end, and multiple rotating components connected by sleeves and rods. It also includes a U-shaped plate and a limiting plate. One end of the U-shaped plate is connected to one of the rotating components, and one end of another rotating component is connected to the installation end. An adjusting component within the limiting plate drives another rotating component to maintain a horizontal position for vertical adjustment. This application, through the U-shaped plate, multiple rotating components, and the sleeve and rod connections, along with the limiting plate, enables movement in three dimensions at the installation end: vertical angle adjustment, horizontal angle adjustment, and vertical height adjustment. During vertical height adjustment, the rotating rod remains horizontal, preventing loss of control of the installation end's posture due to angle tilt. Simultaneously, it ensures that related movable seats can adaptively coordinate their movement during horizontal angle or height adjustments, while critical movable seats far from the installation end maintain relatively stable posture.

Description

Technical Field

[0001] This invention relates to the field of robotic arms for power pole construction, specifically an integrated robotic arm for power grid pole construction. Background Technology

[0002] In the laying and maintenance of power grid lines, the handling, positioning, and installation of utility poles are common and important operations. Currently, there are some robotic arm devices used for pole construction. These devices typically use a drive source to control the arm to rotate at multiple angles to adjust the pole's posture.

[0003] However, existing pole-building robotic arms often rely on multiple independent drive mechanisms working together when their mounting end (the part used to install the bucket or clamp the pole) needs to simultaneously adjust vertical angle, horizontal angle, and vertical height. This multi-mechanism independent control method not only results in a complex robotic arm structure, large space occupation, and high manufacturing cost, but also makes it easy for the movements of each mechanism to interfere with each other during collaborative operations, affecting the overall stability and accuracy of the adjustment. Specifically, existing technology struggles to maintain structural stability and coordination during the movement process while ensuring flexible multi-dimensional (vertical angle, horizontal angle, and vertical height) adjustments at the mounting end. Especially during complex movements, poor mechanism linkage can easily lead to shaking or positioning deviations, affecting the efficiency and safety of pole construction.

[0004] Therefore, an integrated robotic arm for power grid pole construction is proposed to address the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated robotic arm for power grid pole construction.

[0006] The objective of this invention is achieved through the following technical solution: an integrated robotic arm for power grid pole construction, comprising an arm body and an installation end located at the end of the arm body, and further comprising multiple rotating components connected to each other by sleeves and rods, wherein a U-shaped plate is rotatably connected to the arm body, one end of the U-shaped plate is connected to one of the rotating components, and one end of the other rotating component is connected to the installation end; The limiting plate, which is connected to the rotating arm, has an adjusting component inside that drives another rotating component to maintain a horizontal position for vertical adjustment. Through the coordination of the U-shaped plate, the limiting plate, and the adjusting component, the installation end achieves a composite movement in three aspects: vertical angle adjustment, horizontal angle adjustment, and vertical height adjustment.

[0007] As a further description of the above technical solution: The rotating component includes two movable seats, each with a clearance groove in the middle. A connecting rod is rotatably connected to each of the two clearance grooves. The two connecting rods are staggered and fixedly connected, which improves the rigidity and motion synchronization of the rotating component. This allows for smoother transmission of force and motion between multiple rotating components, which is beneficial for improving the accuracy of the mounting end in compound actions.

[0008] As a further description of the above technical solution: The arm is rotatably connected to a vertical pitch actuator that is distributed at an inclination. The telescopic end of the vertical pitch actuator is rotatably connected to a connecting rod. The connecting rod is fixed to the edge of the movable seat near the U-shaped plate. The movable seat rotates through the connecting rod, and the rotation is transmitted to the installation end through the sleeve and the sleeve rod, thereby realizing the vertical angle adjustment.

[0009] As a further description of the above technical solution: The U-shaped plate engages with the telescopic end of the vertical pitch actuator, and a fixed plate is fixedly connected to the side of the arm body, with the fixed plate rotatably connected to the end of the U-shaped plate.

[0010] As a further description of the above technical solution: A fixed base is fixedly installed on the bottom side of the arm body. A horizontal rotary actuator is rotatably connected to one end of the fixed base, and the other end of the fixed base is rotatably connected to a limit plate with an L-shaped structure. The telescopic end of the horizontal rotary actuator is rotatably connected to the bottom of the limit plate, realizing independent adjustment of the horizontal angle of the installation end. The linkage design between the horizontal rotary actuator and the limit plate ensures that the limit plate and its internal adjusting parts and rotating rods can move in coordination during horizontal rotation, avoiding interference with the vertical adjustment mechanism.

[0011] As a further description of the above technical solution: The adjusting component includes a height adjusting actuator, a limiting groove is provided in the middle of the limiting plate, a slider is slidably fitted in the limiting groove, a rotating rod is rotatably connected to the middle of the slider, the two ends of the rotating rod are respectively connected and fixed to the mounting end and one of the movable seats, and the telescopic end of the height adjusting actuator passes through the limiting groove and is connected and fixed to the top of the slider.

[0012] As a further description of the above technical solution: The sleeve rod and the sleeve are provided with multiple insertion slots and insertion plates, and the insertion plates are inserted into the insertion slots at the corresponding positions.

[0013] As a further description of the above technical solution: A protective plate is fixedly connected to the end of the limiting plate, and the height adjustment actuator is fixed to the protective plate, which improves the environmental adaptability and service life of the height adjustment actuator.

[0014] Compared with the prior art, the advantages of the present invention are as follows: This application, through the design of a U-shaped plate and multiple rotating parts, combined with sleeve and rod connections and a limiting plate, completes the movement in three dimensions of the mounting end: vertical angle adjustment, horizontal angle adjustment, and vertical height adjustment. This ensures that the rotating rod remains horizontal during vertical height adjustment, preventing loss of control of the mounting end's posture due to angle tilt during this process. At the same time, it ensures that the relevant movable seats can adaptively coordinate their movement when adjusting the horizontal angle or height, while the key movable seats far from the mounting end can maintain a relatively stable position. This effectively avoids interference in the mechanism's movement and improves the smoothness and positioning accuracy of the robotic arm's end effector (mounting end) when performing complex and compound actions. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the arm end structure of the present invention; Figure 3 This is a schematic diagram of the structure between the arm body and the mounting end of the present invention; Figure 4 This is the present invention. Figure 3 A front view diagram of the structure in the diagram; Figure 5 This is a schematic diagram showing the disassembled structure of the fixed base and the horizontal rotary actuator of the present invention; Figure 6 This is a schematic diagram of the disassembled structure of the two movable seats of the present invention; Figure 7 This is a schematic diagram of the mating structure of the U-shaped plate and the connecting rod of the present invention; Figure 8 This is a schematic diagram of the adjusting component structure of the present invention.

[0016] Labeling Explanation: 1. Arm body; 2. Mounting end; 3. Rotating component; 301. Movable seat; 302. Clearance groove; 303. Connecting rod; 4. Sleeve; 5. Sleeve rod; 6. U-shaped plate; 7. Limiting plate; 8. Adjusting component; 801. Height adjustment actuator; 802. Limiting groove; 803. Slider; 804. Rotating rod; 9. Vertical pitch actuator; 10. Connecting rod; 11. Fixed plate; 12. Fixed seat; 13. Horizontal rotation actuator; 14. Insertion groove; 15. Insertion plate; 16. Protective plate. Detailed Implementation

[0017] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1-8The diagram shows an embodiment of an integrated robotic arm for power grid pole construction provided by the present invention. It includes an arm body 1 and an installation end 2 located at the end of the arm body 1. The installation method of the bucket or clamping plate to the installation end 2 in this application is prior art: how the bucket or clamping plate is specifically installed to the installation end 2 (i.e., the end of the robotic arm) can be through bolt fixing, quick-release pins, hydraulic clamps, or other interfaces. It also includes multiple rotating parts 3, which are connected to each other via sleeves 4 and rods 5. A U-shaped plate 6 is rotatably connected to the arm body 1, with one end of the U-shaped plate 6 connected to one of the rotating parts 3 and one end of the other rotating part 3 connected to the installation end 2. The limiting plate 7 is rotatably connected to the arm body 1. The limiting plate 7 is adjusted by an adjusting member 8 to drive another rotating member 3 to maintain a horizontal state and adjust its vertical position.

[0018] The rotating component 3 includes two movable seats 301, each with a clearance groove 302 in the middle. A connecting rod 303 is rotatably connected to each of the two clearance grooves 302. The two connecting rods 303 are staggered and fixedly connected. The U-shaped plate 6 is fixedly connected to one of the movable seats 301 furthest from the mounting end 2. The rotating component 3 is composed of two movable seats 301 with clearance grooves 302, and rotation is achieved within the clearance grooves 302 through the staggered and fixedly connected connecting rods 303. This staggered connection method enhances the structural stability and coordination of the rotating component 3 when transmitting motion.

[0019] A vertical pitch actuator 9 is rotatably connected to the boom 1 and is distributed at an angle. A connecting rod 10 is rotatably connected to the telescopic end of the vertical pitch actuator 9. The connecting rod 10 is connected and fixed to the edge of the movable seat 301 near the U-shaped plate 6. The cooperation between the vertical pitch actuator 9 and the connecting rod 10 allows the vertical angle adjustment range to exceed 90° (maximum not exceeding 180°), which facilitates the flexible switching of the pole carried by the installation end 2 between vertical and horizontal states.

[0020] The U-shaped plate 6 cooperates with the telescopic end of the vertical pitch actuator 9. A fixed plate 11 is fixedly connected to the side of the arm body 1. The fixed plate 11 is rotatably connected to the end of the U-shaped plate 6 to prevent the telescopic end of the vertical pitch actuator 9 from contacting the U-shaped plate 6, thereby ensuring the rotation angle of the movable seat 301 and preventing the rotation angle from being too small, below 90°, so that the switching between the vertical and horizontal states of the pole can be achieved.

[0021] A fixed base 12 is fixedly connected to the bottom side of the arm body 1. A horizontal rotary actuator 13 is rotatably connected to one end of the fixed base 12. The other end of the fixed base 12 is rotatably connected to a limit plate 7 with an L-shaped structure. The telescopic end of the horizontal rotary actuator 13 is rotatably connected to the bottom of the limit plate 7. When the horizontal rotary actuator 13 telescopically extends or retracts, it drives the limit plate 7 to rotate around its axis, thereby changing the horizontal angle of the mounting end 2.

[0022] Adjusting component 8 includes a height adjustment actuator 801. A limiting groove 802 is formed in the middle of the limiting plate 7. A slider 803 is slidably fitted within the limiting groove 802. A rotating rod 804 is rotatably connected to the middle of the slider 803. Both ends of the rotating rod 804 are respectively connected and fixed to the mounting end 2 and one of the movable seats 301. The telescopic end of the height adjustment actuator 801 passes through the limiting groove 802 and is connected and fixed to the top of the slider 803. When the height adjustment actuator 801 telescopically extends or retracts, the slider 803 slides up and down along the limiting groove 802, driving the rotating rod 803 to rotate. The rotating rod 804 moves up and down while maintaining a horizontal position, thereby adjusting the vertical height of the mounting end 2. The guiding mechanism of the slider 803 and the limiting groove 802 ensures that the rotating rod 804 remains horizontal during the height adjustment process, preventing the mounting end 2 from becoming unstable due to tilting. The rotating rod 804 also connects the mounting end 2 and the movable seat 301, so that the relevant movable seat 301 can adaptively coordinate the change of horizontal angle during height adjustment, realizing the decoupling and linkage between height and horizontal rotation angle, and significantly improving the stability of the compound action.

[0023] Multiple insertion slots 14 and insertion plates 15 are provided on the sleeve rod 5 and inside the sleeve 4. The insertion plates 15 are inserted into the corresponding insertion slots 14. The insertion structure enhances the connection strength and torsional resistance between the sleeve 4 and the sleeve rod 5, preventing relative slippage or detachment under high load or combined motion. The distribution of multiple insertion points improves the uniformity of force transmission and reduces local stress concentration.

[0024] A protective plate 16 is fixedly connected to the end of the limiting plate 7. The height adjustment actuator 801 is fixed on the protective plate 16. The protective plate 16 provides physical shielding and support for the height adjustment actuator 801 and protects the height adjustment actuator 801 from damage caused by external collisions, dust or construction debris.

[0025] Working principle: The boom 1 rotates vertically relative to the machine body through joints. The end of the mounting end 2 can be equipped with a bucket or clamping plate (not shown in the figure of this application; the bucket or clamping plate is installed with the mounting end 2 in the existing conventional pin-type installation method, which does not affect its operation). This method is the existing conventional technology. The boom 1 rotates under the action of the machine body, which drives the mounting end 2 to move synchronously. The rotating part 3 and the adjusting part 8 do not move relative to the boom 1. When adjustment is required, the vertical pitch actuator 9, the horizontal rotation actuator 13 and the height adjustment actuator 801 are selectively activated according to the situation, so that the mounting end 2 can switch in three dimensions relative to the boom 1.

[0026] Vertical angle adjustment at mounting end 2: By driving the vertical pitch actuator 9 (the drive source is an electric, hydraulic, or pneumatic telescopic rod), the telescopic end of the vertical pitch actuator 9 extends and retracts, causing the angle of the vertical pitch actuator 9 itself to change adaptively. This causes the connecting rod 10 to perform a circular motion, while the movable seat 301 connected to the connecting rod 10 rotates in its original position. The U-shaped plate 6 also performs a circular motion, causing the two movable seats 301 away from mounting end 2 to rotate. Under the action of the sleeve 4 and the sleeve rod 5, the two movable seats 301 close to mounting end 2 rotate. The rotation of the rotating rod 804 (due to the action of the slider 803, the rotating rod 804 always remains horizontal and will not tilt during the up-and-down movement to adjust its position) causes the angle of the mounting end 2 to change. This is because the connecting rod 10 is fixedly connected to the edge of the movable seat 301 near the U-shaped plate 6. Therefore, the movement of the connecting rod 10 causes the movable seat 301 to rotate in its original position. This rotational movement is transmitted to the subsequent rotating parts 3 in sequence through the connecting structure composed of the sleeve 4 and the sleeve rod 5, ultimately causing the mounting end 2 to change its angle in the vertical direction.

[0027] It is worth noting that the extension and retraction of the telescopic end of the vertical pitch actuator 9, in conjunction with the U-shaped plate 6, ensures that the rotation angle of the movable seat 301 and the mounting end 2 is greater than 90° (less than 180°). This facilitates the switching of the pole on the mounting end 2 between vertical and horizontal states (90°). This application enables the pole carried on the mounting end 2 to flexibly switch between vertical and horizontal states, meeting different requirements for pole posture during construction. If the rotation angle is less than 90°, the pole cannot completely switch from horizontal to vertical, which would limit the operating range.

[0028] Horizontal adjustment angle of mounting end 2: While maintaining the vertical adjustment angle of mounting end 2, the horizontal rotary actuator 13 is driven to extend and retract its telescopic end, thereby causing the horizontal rotary actuator 13 to rotate adaptively, which in turn causes the limit plate 7 to rotate, thereby causing the rotating rod 804 and the horizontal angle of mounting end 2 to change. During this process, the sleeve 5 slides along the sleeve 4, and the three movable seats 301 near the mounting end 2 adaptively change their horizontal angles, while the other movable seat 301 far from the mounting end 2 does not change its horizontal angle. This design, in which some movable seats 301 are linked and some remain stationary, achieves the horizontal steering function and avoids the motion conflict and instability that may be caused by the simultaneous rotation of all structures. The pivot position of the limiting plate 7 does not coincide with the end position of the telescopic end of the horizontal rotary actuator 13. The limiting plate 7 rotates around its pivot point, and this rotational motion is directly converted into a change in the horizontal angle of the mounting end 2. Since the limiting plate 7 also supports the adjusting component 8 (for height adjustment), its rotational design ensures that the height adjustment can move in tandem with the horizontal adjustment without interference.

[0029] The vertical height of the mounting end 2 changes: While maintaining the vertical and horizontal adjustment angles of the mounting end 2, the height adjustment actuator 801 is driven to extend and retract, causing the slider 803 to move along the limiting groove 802. This causes the rotating rod 804 to move up and down in a horizontal state (the rotating rod 804 is horizontal relative to the fixed seat 12, does not rotate, and is not relative to the ground). The sleeve 5 slides along the sleeve 4, and the three movable seats 301 near the mounting end 2 adaptively change their horizontal angles, while the other movable seat 301 far from the mounting end 2 does not change its horizontal angle.

Claims

1. An integrated robotic arm for power grid pole construction, comprising: The arm body (1) and the mounting end (2) located at the end of the arm body (1) are characterized in that: they also include a plurality of rotating parts (3), the rotating parts (3) are connected to each other by a sleeve (4) and a sleeve rod (5), a U-shaped plate (6) is rotatably connected on the arm body (1), one end of the U-shaped plate (6) is connected to one of the rotating parts (3), and one end of the other rotating part (3) is connected to the mounting end (2); The limiting plate (7) is rotatably connected to the arm body (1). The limiting plate (7) is adjusted by an adjusting component (8) to drive another rotating component (3) to maintain a horizontal state and adjust its vertical position.

2. The integrated robotic arm for power grid pole construction according to claim 1, characterized in that: The rotating component (3) includes two movable seats (301), and a relief groove (302) is provided in the middle of the movable seat (301). A connecting rod (303) is rotatably connected in both relief grooves (302). The two connecting rods (303) are staggered and connected and fixed.

3. The integrated robotic arm for power grid pole construction according to claim 2, characterized in that: The arm (1) is rotatably connected to a vertical pitch actuator (9) that is inclined. The telescopic end of the vertical pitch actuator (9) is rotatably connected to a connecting rod (10). The connecting rod (10) is fixedly connected to the edge of the movable seat (301) near the U-shaped plate (6).

4. The integrated robotic arm for power grid pole construction according to claim 3, characterized in that: The U-shaped plate (6) is engaged with the telescopic end of the vertical pitch actuator (9), and a fixed plate (11) is fixedly connected to the side of the arm body (1). The fixed plate (11) is rotatably connected to the end of the U-shaped plate (6).

5. The integrated robotic arm for power grid pole construction according to claim 1, characterized in that: A fixed seat (12) is fixedly installed on the bottom side of the arm body (1). A horizontal rotary actuator (13) is rotatably connected to one end of the fixed seat (12). The other end of the fixed seat (12) is rotatably connected to the L-shaped limiting plate (7). The telescopic end of the horizontal rotary actuator (13) is rotatably connected to the bottom of the limiting plate (7).

6. The integrated robotic arm for power grid pole construction according to claim 2, characterized in that: The adjusting component (8) includes a height adjusting actuator (801), a limiting groove (802) is provided in the middle of the limiting plate (7), a slider (803) is slidably fitted in the limiting groove (802), a rotating rod (804) is rotatably connected in the middle of the slider (803), the two ends of the rotating rod (804) are respectively connected and fixed to the mounting end (2) and one of the movable seats (301), and the telescopic end of the height adjusting actuator (801) passes through the limiting groove (802) and is connected and fixed to the top of the slider (803).

7. The integrated robotic arm for power grid pole construction according to claim 1, characterized in that: Multiple insertion slots (14) and insertion plates (15) are provided on the sleeve rod (5) and inside the sleeve (4), and the insertion plates (15) are inserted into the corresponding insertion slots (14).

8. The integrated robotic arm for power grid pole construction according to claim 6, characterized in that: The end of the limiting plate (7) is fixedly connected to a protective plate (16), and the height adjustment actuator (801) is fixed on the protective plate (16).

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