Angle control structure for mechanical claw module of vertical rod vehicle
By constructing a parallelogram structure at the flip structure of the mechanical claw module and using a rangefinder to measure, the problem of inaccurate control of the flip angle of the mechanical claw module is solved, and real-time angle judgment and construction efficiency of the mechanical claw module are achieved.
Patent Information
- Application Number
- CN202421371877.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-14
- Publication Date
- 2025-03-14
- Estimated Expiration
- 2034-06-14
AI Technical Summary
In the prior art, the angle control of the mechanical claw module when flipping is inaccurate, resulting in low construction efficiency.
An angle control structure is designed. By constructing a parallelogram structure at the flip structure of the mechanical claw module, the flip angle is converted into the spacing between two pairs of sides of the parallelogram structure, and measurements are made through a rangefinder to indirectly obtain the flip angle.
Real-time angle judgment of the mechanical claw module is realized, reducing the difficulty of handling and improving construction efficiency.
Smart Images
Figure CN222609671U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an angle control structure of a mechanical claw module, in particular to an angle control structure of a mechanical claw module used for a pole erecting vehicle. Background Art
[0002] As an important object for fixing electric wires, the quality of their installation affects the subsequent power transmission. During the power construction process, pole erection is one of the important links in power construction and is also the basis for ensuring the stable installation of cables.
[0003] At present, when the mechanical claw module at the front end of the pole device is flipped, the control of the flipping angle is often judged by human eyes. This method is extremely inaccurate, and the angle needs to be adjusted every time it is clamped, resulting in low construction efficiency. Utility Model Content
[0004] Based on the deficiency in the prior art that the flipping angle of the mechanical gripping module cannot be determined, the utility model provides an angle control structure of the mechanical gripping module for a pole erecting vehicle.
[0005] The technical solution adopted by the utility model to solve the above technical problems is:
[0006] The angle control structure of the mechanical gripper module for the pole erecting vehicle comprises an angle adjustment mechanism arranged on the mechanical arm of the pole erecting vehicle and a mechanical gripper module arranged on the angle adjustment mechanism, the angle adjustment mechanism comprises a mounting seat rotatably arranged on the mechanical arm and a telescopic cylinder arranged between the mechanical arm and the mounting seat for driving the mounting seat to rotate, the mechanical gripper module is arranged on the mounting seat, a first articulated arm is hinged on the mechanical arm, a second articulated arm is hinged on the mounting seat, the first articulated arm and the second articulated arm are hinged so that the mechanical arm, the first articulated arm, the second articulated arm and the mounting seat form a parallelogram structure, wherein a rangefinder for measuring the distance between the mechanical arm and the second articulated arm is provided, the rangefinder is connected to a controller, the controller is connected to a driving part of the telescopic cylinder, wherein the rangefinder measures the distance between the two horizontal bars of the parallelogram structure and converts it into the flipping angle of the mounting seat through calculation by the controller. This solution constructs a parallelogram structure at the flipping structure of the mechanical claw module, converts the flipping angle of the mechanical claw module into the distance between two opposite sides of the parallelogram structure, and measures it through a rangefinder to indirectly obtain the flipping angle, which is beneficial for the operator to judge the angle of the mechanical claw module relative to the robotic arm in real time and reduce the difficulty of operation.
[0007] Preferably, the telescopic cylinder is arranged at the top of the mechanical arm, and the first articulated arm and the second articulated arm are arranged at the bottom of the mechanical arm. In this solution, the telescopic cylinder and the two articulated arms are arranged separately to avoid interference during the rotation process.
[0008] Preferably, mutually matching hinged ears are provided between the mounting seat and the mechanical arm, and the mounting seat and the mechanical arm are rotatably connected via a hinge shaft passing through the hinged ears.
[0009] Preferably, the telescopic cylinder is a hydraulic cylinder, which can provide sufficient thrust and pull.
[0010] Preferably, an upper hinged ear group is provided at the top left side of the mounting seat, the upper hinged ear group includes two upper hinged ears, and an articulated sleeve is provided at the end of the telescopic cylinder and the articulated sleeve extends between the two upper hinged ears and is hinged through a hinge shaft.
[0011] Preferably, a middle hinged ear group is provided in the middle of the left side of the mounting seat, and the middle hinged ear group includes two middle hinged ears. The end of the robot arm extends between the two middle hinged ears and is hinged by penetrating a hinge shaft.
[0012] Preferably, a lower hinged ear group is provided at the lower left side of the mounting seat, the lower hinged ear group includes two lower hinged ears, and an hinge sleeve is provided at the end of the second hinged arm, and the hinge sleeve extends between the two lower hinged ears and is hinged through a hinge shaft.
[0013] Preferably, two fan-shaped mounting grooves are provided on both sides of the mechanical arm, and two mounting cylinders are provided at the mounting grooves. A first articulated arm is rotatably connected to each of the two mounting cylinders. An articulated sleeve is provided at the end of the second articulated arm, and the articulated sleeve extends between the two first articulated arms and is provided with an articulated shaft to articulate the two second articulated arms with the first articulated arm. The two articulated arms can improve the stability of the quadrilateral structure, ensure that it will not shake left and right, and avoid errors in the measurement value caused by the left and right shaking.
[0014] Preferably, the bottom surface of the rangefinder is parallel to the top surface of the second articulated arm, and the direction of the laser emitted by the rangefinder is perpendicular to the bottom surface of the rangefinder.
[0015] Preferably, the mechanical gripper module comprises two gripper groups, each gripper group comprises two grippers driven by hydraulic pressure.
[0016] Compared with the prior art, the advantages of the utility model are as follows: the utility model constructs a parallelogram structure at the flipping structure of the mechanical claw module, converts the flipping angle of the mechanical claw module into the distance between two opposite sides of the parallelogram structure, and measures it through a rangefinder to indirectly obtain the flipping angle, which is beneficial for the operator to judge the angle of the mechanical claw module relative to the mechanical arm in real time and reduce the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The present invention will be described in further detail below in conjunction with the accompanying drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be used as a limitation on the scope of the present invention. In addition, unless otherwise specified, the drawings are only schematically representing the composition or structure of the described object and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.
[0018] Figure 1 It is a side view of the mechanical claw module in a vertical state;
[0019] Figure 2 It is a side view of the mechanical claw module in a horizontal state;
[0020] Figure 3 A perspective view of the present application;
[0021] In the figure: 10, mechanical arm; 101, mounting groove; 20, mounting seat; 30, mechanical claw module; 40, telescopic cylinder; 501, first articulated arm; 502, second articulated arm; 503, rangefinder; 01, upper articulated ear group; 02, middle articulated ear group; 03, lower articulated ear group. DETAILED DESCRIPTION
[0022] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art will appreciate that these descriptions are only descriptive and exemplary and should not be construed as limiting the protection scope of the present invention.
[0023] It should be noted that like reference numerals denote similar items in the following drawings, and thus, once an item is defined in one drawing, it may not be further defined or explained in subsequent drawings.
[0024] This embodiment mainly describes the angle control structure of the mechanical claw module for the pole erecting vehicle, as follows:
[0025] Main program:
[0026] Angle control structure of the mechanical claw module for the pole-standing vehicle, such as Figure 1-3As shown, it includes an angle adjustment mechanism arranged on the pole-erecting vehicle mechanical arm 10 and a mechanical claw module 30 arranged on the angle adjustment mechanism, the angle adjustment mechanism includes a mounting base 20 rotatably arranged on the mechanical arm 10 and a telescopic cylinder 40 arranged between the mechanical arm 10 and the mounting base 20 for driving the mounting base 20 to rotate, the mechanical grasping module is arranged on the mounting base 20, the mechanical arm 10 is hinged with a first articulated arm 501, and the mounting base 20 is hinged with a second articulated arm 502, the first articulated arm 501 and the second articulated arm 502 are articulated so that the mechanical arm 10, the first articulated arm 501, the second articulated arm 502 and the mounting base 20 form a parallelogram structure, wherein the mechanical arm 10 is provided with a rangefinder 503 for measuring the distance between it and the second articulated arm 502, the rangefinder 503 is connected to the controller, and the controller is connected to the driving part of the telescopic cylinder 40, wherein the rangefinder 503 measures the distance between the two horizontal bars of the parallelogram structure and converts it into the flipping angle of the mounting base 20 through calculation by the controller. This solution constructs a parallelogram structure at the flipping structure of the mechanical claw module 30, converts the flipping angle of the mechanical claw module 30 into the distance between two opposite sides of the parallelogram structure, and measures it through the distance meter 503 to indirectly obtain the flipping angle, which is beneficial for the operator to judge the angle of the mechanical claw module 30 relative to the mechanical arm 10 in real time, reducing the difficulty of operation. In addition, a rotating cylinder can be set at the mounting seat 20 for rotating the gripper.
[0027] Preferably, the telescopic cylinder 40 is arranged at the top of the mechanical arm 10, and the first articulated arm 501 and the second articulated arm 502 are arranged at the bottom of the mechanical arm 10. In this solution, the telescopic cylinder 40 and the two articulated arms are arranged separately to avoid interference during the rotation process.
[0028] Preferably, the mounting base 20 and the robot arm 10 are provided with mutually matching hinged ears and are rotatably connected via a hinge shaft passing through the hinged ears.
[0029] Preferably, the telescopic cylinder 40 is a hydraulic cylinder, which can provide sufficient thrust and pull.
[0030] The hinge structure on one side of the mounting seat 20:
[0031] like Figure 3 As shown, an upper hinged ear group 01 is provided at the top left side of the mounting seat 20, and the upper hinged ear group 01 includes two upper hinged ears. An hinged sleeve is provided at the end of the telescopic cylinder 40, and the hinged sleeve extends between the two upper hinged ears and is hinged through a hinge shaft.
[0032] like Figure 3 As shown, a middle hinge ear group 02 is provided at the middle left side of the mounting seat 20, and the middle hinge ear group 02 includes two middle hinge ears. The end of the robot arm 10 extends between the two middle hinge ears and is hinged by penetrating a hinge shaft.
[0033] like Figure 3As shown, a lower hinge ear group 03 is provided at the lower left part of the mounting seat 20, and the lower hinge ear group 03 includes two lower hinge ears. An hinge sleeve is provided at the end of the second hinge arm 502, and the hinge sleeve extends between the two lower hinge ears and is hinged through a hinge shaft.
[0034] like Figure 3 As shown, two fan-shaped mounting grooves 101 are provided on both sides of the robot arm 10, and two mounting cylinders are provided at the mounting grooves 101. A first articulated arm 501 is rotatably connected to each of the two mounting cylinders. An articulated sleeve is provided at the end of the second articulated arm 502, and the articulated sleeve extends between the two first articulated arms 501 and is penetrated by an articulated shaft to articulate the two second articulated arms 502 with the first articulated arm 501. The two articulated arms can improve the stability of the quadrilateral structure, ensure that it will not shake left and right, and avoid errors in the measured value caused by the left and right shaking.
[0035] Ranging structure:
[0036] like Figure 1 and 2 As shown, the bottom surface of the rangefinder 503 is parallel to the top surface of the second articulated arm 502 , and the direction of the laser emitted by the rangefinder 503 is perpendicular to the bottom surface of the rangefinder 503 .
[0037] Mechanical claw structure:
[0038] like Figure 3 As shown, the mechanical gripper module 30 includes two gripper groups, each of which includes two gripper groups driven by hydraulic pressure.
[0039] The above is a detailed introduction to the titles provided by the utility model. Specific examples are used in this article to illustrate the principles and implementation methods of the utility model. The description of the above embodiments is only used to help understand the utility model and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the utility model, the utility model can also be improved and modified. These improvements and modifications also fall within the scope of protection of the claims of the utility model.
Claims
1. An angle control structure for a mechanical claw module of a pole erecting vehicle, comprising an angle adjustment mechanism arranged on a mechanical arm of the pole erecting vehicle and a mechanical claw module arranged on the angle adjustment mechanism, wherein the angle adjustment mechanism comprises a mounting seat rotatably arranged on the mechanical arm and a telescopic cylinder arranged between the mechanical arm and the mounting seat to drive the mounting seat to rotate, and the mechanical gripping module is arranged on the mounting seat, characterized in that: A first articulated arm is hinged on the mechanical arm, and a second articulated arm is hinged on the mounting seat. The first articulated arm and the second articulated arm are hinged so that the mechanical arm, the first articulated arm, the second articulated arm and the mounting seat form a parallelogram structure, wherein a rangefinder for measuring the distance between the mechanical arm and the second articulated arm is provided, the rangefinder is connected to a controller, and the controller is connected to a driving part of the telescopic cylinder, wherein the rangefinder measures the distance between the two cross bars of the parallelogram structure and converts it into a flipping angle of the mounting seat through calculation by the controller.
2. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1 is characterized in that: The telescopic cylinder is arranged on the top of the mechanical arm, and the first articulated arm and the second articulated arm are arranged on the bottom of the mechanical arm.
3. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1 is characterized in that: Mutually matched hinged ears are arranged between the mounting seat and the mechanical arm, and the mounting seat and the mechanical arm are rotatably connected via a hinged shaft passing through the hinged ears.
4. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1 is characterized in that: The hydraulic cylinder is a telescopic cylinder.
5. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1, characterized in that: An upper hinged ear group is arranged at the top of the left side of the mounting seat, and the upper hinged ear group includes two upper hinged ears. An hinged sleeve is arranged at the end of the telescopic cylinder, and the hinged sleeve extends between the two upper hinged ears and is hinged through a hinge shaft.
6. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1, characterized in that: A middle hinged ear group is provided in the middle of the left side of the mounting seat. The middle hinged ear group includes two middle hinged ears. The end of the mechanical arm extends between the two middle hinged ears and is hinged by penetrating a hinge shaft.
7. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1, characterized in that: A lower hinged ear group is provided at the lower left part of the mounting seat, and the lower hinged ear group includes two lower hinged ears. An hinge sleeve is provided at the end of the second hinged arm, and the hinge sleeve extends between the two lower hinged ears and is hinged through a hinge shaft.
8. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1, characterized in that: Two fan-shaped mounting grooves are provided on both sides of the robotic arm, and two mounting cylinders are provided at the mounting grooves. A first articulated arm is rotatably connected to the two mounting cylinders. An articulated sleeve is provided at the end of the second articulated arm, and the articulated sleeve extends between the two first articulated arms and is penetrated by an articulated shaft to articulate the two second articulated arms with the first articulated arm.
9. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1, characterized in that: The bottom surface of the rangefinder is parallel to the top surface of the second articulated arm, and the direction of the laser emitted by the rangefinder is perpendicular to the bottom surface of the rangefinder.
10. The angle control structure of the mechanical claw module for the pole erecting vehicle according to claim 1, characterized in that: The mechanical gripper module includes two gripper groups, and each gripper group includes two grippers driven by hydraulic pressure.