Insulation mechanical arm for insulation bucket arm vehicle

Abstract

The utility model discloses an insulating mechanical arm for an insulating bucket arm truck, which comprises an insulating bucket, a bracket arranged on the outer side of the insulating bucket, two mechanical arms arranged on the bracket in a horizontal sliding manner, a first translation mechanism arranged below the bracket, a movable bin arranged at the output end of the first translation mechanism, and a fixed bin arranged below the first translation mechanism, a first opening is formed in the side, close to the support, of the insulating bucket, the translation direction of the movable bin is perpendicular to the translation direction of the mechanical arm, the movable bin can penetrate through the first opening to move into the insulating bucket, the movable bin is used for containing tools to be clamped by the mechanical arm, and the fixed bin is used for containing idle tools. According to the insulating mechanical arm for the insulating bucket arm vehicle, the movable bin and the fixed bin are arranged, so that tools of the mechanical arm can be replaced conveniently, and different operation requirements are met; and the movable bin can be stored below the bracket, so that the operating personnel can stand in the insulating bucket to carry out some auxiliary work and observe the operation process in a short distance.

Description

Technical Field

[0001] The utility model relates to the technical field of distribution equipment, and particularly relates to an insulating robotic arm for an insulating boom truck. Background Art

[0002] At present, in extensive live high-voltage operations, insulating gloves are mainly used. It requires operators to climb onto high-voltage towers or conduct live operations with the help of an insulating boom truck. The labor intensity is high, the technical level requirements for operators are very high, and they need to directly contact live conductors, posing safety hazards.

[0003] To solve the danger brought by manual live operations and improve operation efficiency, there is currently a method of using a robotic arm to replace manual live operations. Generally, the robotic arm is installed on an insulating bucket, and the operator stands on the ground and operates the robotic arm through a remote control. Due to the limited space on the insulating bucket, the operator cannot stand inside the insulating bucket to perform some auxiliary work and observe the operation process closely to ensure the smooth operation of the robotic arm. At the same time, when it is necessary to replace the tool installed on the robotic arm, it is necessary to use the insulating boom truck to bring the robotic arm back to the ground for replacement, which is troublesome to operate.

[0004] It can be seen that the existing technology still needs to be improved. Content of the Utility Model

[0005] In view of the deficiencies of the above-mentioned existing technology, the purpose of the utility model is to provide an insulating robotic arm for an insulating boom truck, aiming to solve the technical problem that the operator cannot stand inside the insulating bucket equipped with the robotic arm.

[0006] To achieve the above purpose, the utility model adopts the following technical solutions:

[0007] An insulating robotic arm for an insulating boom truck includes an insulating bucket, a bracket arranged outside the insulating bucket, two robotic arms slidably arranged on the bracket horizontally, a first translation mechanism arranged below the bracket, a movable bin arranged at the output end of the first translation mechanism, and a fixed bin arranged below the first translation mechanism. One side of the insulating bucket close to the bracket is provided with a first opening. The translation direction of the movable bin is perpendicular to the translation direction of the robotic arm, and the movable bin can move through the first opening into the insulating bucket. The movable bin is used to place tools waiting to be clamped by the robotic arm, and the fixed bin is used to place idle tools.

[0008] Further, two second translation mechanisms corresponding to the two robotic arms are arranged on the bracket. The second translation mechanism includes a first guide rail arranged on the bracket, a sliding seat slidably connected to the first guide rail, a first driving motor arranged on the bracket, and a ball screw transmission pair arranged between the sliding seat and the bracket. The robotic arm is arranged on the sliding seat.

[0009] Further, two distance measuring sensors are provided on one side of one of the sliding seats, and two detection blocks are provided on one side of the other sliding seat. One distance measuring sensor corresponds to detecting the position of one detection block.

[0010] Further, the first translation mechanism includes two second guide rails provided inside the insulating bucket and extending outside the insulating bucket, a rack parallel to the second guide rails, and a second driving motor provided on the movable bin. A gear meshing with the rack is provided at the output end of the second driving motor.

[0011] Further, a clamping mechanism is provided at the end of the robotic arm. The clamping mechanism is used to clamp the mounting plate fixed on the tool. The clamping mechanism includes a clamping cylinder and two first clamping jaws respectively provided at two output ends of the clamping cylinder. A first clamping block is provided on the first clamping jaw, and clamping slots cooperating with the first clamping block are symmetrically provided on the mounting plate.

[0012] Further, two lugs are provided at the edge of the mounting plate; a plurality of placement positions arranged in a matrix are provided on the movable bin. Through holes for avoiding the tool are opened on the placement positions, and a limiting seat for limiting the position of the lugs is provided on the placement positions.

[0013] Further, the fixed bin includes a cabinet body. A second opening is provided on one side of the cabinet body facing the insulating bucket. A plurality of slidable slides arranged in parallel are provided on the top of the cabinet body. Two positioning mechanisms are provided on each slide, and the positioning mechanisms are used to fix the tool.

[0014] Further, the positioning mechanism includes two second clamping jaws respectively slidingly connected to the bottom of the slide and sliding in opposite directions. The upper ends of the second clamping jaws extend to the top of the slide. A second clamping block cooperating with the clamping slot is provided at the lower end of the second clamping jaw; a vertical plate is provided on the slide, and a spring is provided between the vertical plate and the second clamping jaw. The second clamping jaw is clamped into the clamping slot under the action of the spring.

[0015] Beneficial effects: The insulating robotic arm for the insulating bucket boom truck provided by the present utility model is provided with two robotic arms, and the robotic arms can move horizontally along the bracket, increasing the working range of the robotic arms and meeting various working requirements; and a movable bin and a fixed bin are also provided. When the movable bin moves to the side of the bracket away from the insulating bucket or moves into the insulating bucket, it is convenient for the robotic arm to replace different tools; during the operation of the robotic arm, the movable bin moves to the lower part of the bracket, and the fixed bin is received under the bracket, so that there is enough space in the insulating bucket for the operator to stand, enabling the operator to stand in the insulating bucket to perform some auxiliary work and closely observe the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural diagram of the insulating robotic arm for the insulating bucket boom truck provided by the present utility model.

[0017] Figure 2 This is a top view of the insulating robotic arm for an insulating boom truck provided by the present utility model.

[0018] Figure 3 This is a front view of the insulating robotic arm for an insulating boom truck provided by the present utility model.

[0019] Figure 4 This is a structural diagram of the clamping mechanism in the insulating robotic arm for an insulating boom truck provided by the present utility model.

[0020] Figure 5 This is a structural diagram of the movable bin in the insulating robotic arm for an insulating boom truck provided by the present utility model.

[0021] Figure 6 This is a structural diagram of the fixed bin in the insulating robotic arm for an insulating boom truck provided by the present utility model.

[0022] Figure 7 This is an exploded view of the positioning mechanism in the insulating robotic arm for an insulating boom truck provided by the present utility model.

[0023] Description of main component symbols: insulating bucket 1, bracket 2, robotic arm 3, first translation mechanism 4, second guide rail 41, rack 42, second driving motor 43, gear 44, movable bin 5, through hole 51, limit seat 52, fixed bin 6, cabinet body 61, sliding plate 62, sliding groove 621, positioning mechanism 63, second clamping jaw 631, left clamping jaw 631a, right clamping jaw 631b, second clamping block 632, vertical plate 633, spring 634, pressing part 635, guiding column 636, second translation mechanism 7, first guide rail 71, sliding seat 72, first driving motor 73, ball screw transmission pair 74, distance measuring sensor 75, detection block 76, clamping mechanism 8, clamping cylinder 81, first clamping jaw 82, first clamping block 83, mounting plate 9, clamping groove 91, lug 92. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] Please refer to Figure 1-7, the present utility model provides an insulating robotic arm for an insulating boom truck, which includes an insulating bucket 1, a bracket 2 arranged outside the insulating bucket 1, two robotic arms 3 slidably arranged horizontally on the bracket 2, a first translation mechanism 4 arranged below the bracket 2, a movable bin 5 arranged at the output end of the first translation mechanism 4, and a fixed bin 6 arranged below the first translation mechanism 4. One side of the insulating bucket 1 close to the bracket 2 is provided with a first opening. The translation direction of the movable bin 5 is perpendicular to the translation direction of the robotic arms 3, and the movable bin 5 can move through the first opening into the insulating bucket 1. The movable bin 5 is used to place tools waiting to be clamped by the robotic arms 3, and the fixed bin 6 is used to place idle tools.

[0026] During operation, the operator stands on the insulating bucket 1 and moves to a high place under the action of the insulating bucket boom truck. At this time, the operator is located 1 meter away from the 10Kv distribution network line, and controls the two robotic arms 3 to perform live work by operating the remote control. The two robotic arms 3 can slide horizontally along the bracket 2, and flexibly adjust the installation position of the robotic arms 3 to increase the operation range.

[0027] According to different operation tasks, corresponding tools are used. During the operation process, the movable bin 5 is retracted below the bracket 2, so that there is enough space in the insulating bucket 1 for the operator to stand. When replacing tools, the first translation mechanism 4 drives the movable bin 5 to move to the side of the bracket 2 away from the insulating bucket 1, or when it moves into the insulating bucket 1, the robotic arms 3 can disassemble the old tools and clamp the tools in the movable bin 5. By placing various tools in the movable bin 5, it is beneficial for the robotic arms 3 to clamp and release different tools, and it can be applied to different usage scenarios. In addition, the fixed bin 6 is used to store some idle or infrequently used tools. When these tools are needed, the operator can transfer the tools to the movable bin 5 for the robotic arms 3 to clamp and fix.

[0028] In the above, the robotic arm 3 is a prior art, and its specific structure and working principle will not be elaborated. The robotic arm 3 includes a base and more than three joints. The joint at the outermost end is used to fix the tool, and the remote control can control the movement postures of each joint to complete various power grid maintenance work.

[0029] In a preferred embodiment, refer to Figure 2, two second translation mechanisms 7 corresponding to the two robotic arms 3 are provided on the bracket 2. The second translation mechanism 7 includes a first guide rail 71 provided on the bracket 2, a sliding seat 72 slidably connected to the first guide rail 71, a first driving motor 73 provided on the bracket 2, and a ball screw transmission pair 74 provided between the sliding seat 72 and the bracket 2. The robotic arm 3 is provided on the sliding seat 72. The ball screw transmission pair 74 includes a screw rotatably connected to the bracket 2 and a screw nut engaged with the screw. The sliding seat 72 is fixed to the screw nut. The first driving motor 73 drives the screw to rotate, and the screw engages with the screw nut to drive the sliding seat 72 to move horizontally along the first guide rail 71, so as to increase the working range of the robotic arm 3. In addition, one second translation mechanism 7 drives one robotic arm 3 to move horizontally, so as to improve the flexibility of the cooperation of the two robotic arms 3.

[0030] Further, referring to Figure 2 , two distance sensors 75 are provided on one side of one sliding seat 72, and two detection blocks 76 are provided on one side of the other sliding seat 72. One distance sensor 75 corresponds to detecting the position of one detection block 76. When one sliding seat 72 moves from one side of the other sliding seat 72 to the other side, that is, the left and right positions of the two robotic arms 3 are exchanged, the distance sensor 75 measures the distance between the detection block 76 closest to the distance sensor 75, and the detection result is fed back to the remote controller to remind the operator that the two robotic arms 3 are approaching each other, and attention should be paid to whether there is a position interference to avoid damage to the two robotic arms 3 due to collision.

[0031] In a preferred embodiment, referring to Figure 3 , the first translation mechanism 4 includes two second guide rails 41 provided inside the insulating bucket 1 and extending outside the insulating bucket 1, a rack 42 parallel to the second guide rails 41, and a second driving motor 43 provided on the movable bin 5. A gear 44 engaged with the rack 42 is provided at the output end of the second driving motor 43. The second driving motor 43 drives the gear 44 to rotate, and the gear 44 engages with the rack 42 to drive the movable bin 5 to move horizontally along the second guide rails 41.

[0032] In this embodiment, the ends of the second guide rails 41 and the rack 42 both extend to the side of the bracket 2 away from the insulating bucket 1, so that when replacing the tool, the movable bin 5 is driven by the first translation mechanism 4 to move to the side of the bracket 2 away from the insulating bucket 1 or move into the insulating bucket 1, so as to facilitate the two robotic arms 3 to replace the tools located in the movable bin 5 respectively. In addition, when the movable bin 5 is located inside the insulating bucket 1, it is convenient for the operator to place the tools located in the fixed bin 6 on the movable bin 5.

[0033] During the working process of the robotic arm 3, the first translation mechanism 4 drives the movable bin 5 to be located below the bracket 2 to avoid the movable bin 5 occupying the space inside the insulating bucket 1 for a long time.

[0034] In a preferred embodiment, referring to Figure 4 and 5 , a clamping mechanism 8 is provided at the end of the robotic arm 3. The clamping mechanism 8 is used to clamp and fix the mounting plate 9 on the tool. The clamping mechanism 8 includes a clamping cylinder 81 and two first jaws 82 respectively arranged at two output ends of the clamping cylinder 81. A first clamping block 83 is provided on the first jaw 82, and clamping slots 91 adapted to the first clamping block 83 are symmetrically arranged on the mounting plate 9. Among them, the clamping cylinder 81 is a double-output cylinder, and the clamping cylinder 81 can drive the two first jaws 82 to move towards or away from each other. When the two first jaws 82 move towards each other, the first clamping block 83 is inserted into the clamping slot 91 to realize clamping and fixing of the tool; when the two first jaws 82 move away from each other, the first clamping block 83 withdraws from the clamping slot 91, and the robotic arm 3 releases the tool. By providing the cooperation between the clamping mechanism 8 and the mounting plate 9, the robotic arm 3 can be fixed with different types of tools.

[0035] It should be understood that in order to realize the electrical connection between the robotic arm 3 and the tool, a male plug can be provided at the end of the robotic arm 3, and a female plug can be correspondingly provided on the mounting plate 9. During the process of the clamping mechanism 8 on the robotic arm 3 clamping or releasing the mounting plate 9, the male plug is inserted into or withdrawn from the female plug. In addition, the installation and connection of the male plug and the female plug belong to the prior art and will not be elaborated here.

[0036] Furthermore, referring to Figure 5 , two lugs 92 are provided at the edge of the mounting plate 9; a plurality of placement positions arranged in a matrix are provided on the movable bin 5, through holes 51 for avoiding the tool are opened on the placement positions, and limit seats 52 for defining the positions of the lugs 92 are provided on the placement positions. One placement position corresponds to placing one tool. When the tool is in the placed state, the mounting plate 9 is located within the through hole 51, and the two lugs 92 correspondingly are located on the two limit seats 52. Supported by the limit seats 52, the purpose of positioning the tool is achieved, which is convenient for the clamping mechanism 8 to clamp the tool. Preferably, the two lugs 92 are symmetrically arranged to improve the stability of tool placement.

[0037] In a preferred embodiment, referring to Figure 6 , the fixed bin 6 includes a cabinet body 61. A second opening is provided on one side of the cabinet body 61 facing the insulating bucket 1. A plurality of slidable plates 62 arranged in parallel are provided on the top of the cabinet body 61, and two positioning mechanisms 63 for fixing the tool are provided on each slidable plate 62. When replacing the tool in the movable bin 5, the slidable plate 62 corresponding to the tool to be replaced is pulled out, and the positioning mechanism 63 is operated to release the tool.

[0038] It should be noted that a three-section type slide rail is provided between the slidable plate 62 and the cabinet body 61, so that the slidable plate 62 can be completely pulled out of the cabinet body 61 to facilitate the taking and placing of tools.

[0039] Further, referring to Figure 6 and 7 , the positioning mechanism 63 includes two second jaws 631 that are respectively slidably connected to the bottom of the slide plate 62 and have opposite sliding directions. The upper ends of the second jaws 631 extend to the top of the slide plate 62, and the lower ends of the second jaws 631 are provided with second blocks 632 that cooperate with the card slots 91. A vertical plate 633 is provided on the slide plate 62. A spring 634 is provided between the vertical plate 633 and the second jaws 631. The second jaws 631 are snapped into the card slots 91 under the action of the spring 634. As shown in Figure 7 , one of the second jaws 631 is the left jaw 631a, and the other second jaw 631 is the right jaw 631b. A plurality of parallel chutes 621 are provided on the slide plate 62 of the slide plate 62. The left jaw 631a and the right jaw 631b are respectively slidably connected to the corresponding chutes 621. Pressing portions 635 are respectively provided at the upper ends of the left jaw 631a and the right jaw 631b. Among them, the second block 632 on the left jaw 631a is located on the left side of the vertical plate 633, and its pressing portion 635 is located on the right side of the vertical plate 633. The second block 632 on the right jaw 631b is located on the right side of the vertical plate 633, and its pressing portion 635 is located on the left side of the vertical plate 633. Two guide posts 636 parallel to the chutes 621 are provided on the vertical plate 633. The two pressing portions 635 are respectively slidably connected to the two ends of the guide posts 636. The spring 634 is sleeved on the guide posts 636, and the two ends of the spring 634 are respectively connected to the pressing portion 635 and the vertical plate 633. During use, when pressing the two pressing portions 635, the two pressing portions 635 approach each other, the spring 634 contracts, the two second blocks 632 move away from each other, and the second blocks 632 withdraw from the card slots 91. At this time, the tool can be removed. When the pressing portions 635 are released, the spring 634 elongates due to the resilience, the two second blocks 632 approach each other, and the second blocks 632 are snapped into the card slots 91. At this time, the positioning mechanism 63 fixes the tool on the slide plate 62.

[0040] Since the tool is fixed to the bottom of the slide plate 62, when the movable bin 5 moves into the insulating bucket 1 and the slide plate 62 is pulled out, the tools on the slide plate 62 and the tools on the movable bin 5 will not interfere with each other in position, so as to facilitate the replacement of the tools in the fixed bin 6 and the movable bin 5.

[0041] It can be understood that for those of ordinary skill in the art, equivalent replacements or changes can be made according to the technical solutions and the inventive concepts of the present invention, and all such changes or replacements should fall within the protection scope of the present invention.

Claims

1. An insulating mechanical arm for an insulating bucket arm vehicle, comprising an insulating bucket, characterized in that: It also includes a bracket arranged on the outside of the insulating bucket, two robotic arms that can be horizontally slidably arranged on the bracket, a first translation mechanism arranged below the bracket, a movable bin arranged at the output end of the first translation mechanism, and a fixed bin arranged below the first translation mechanism. A first opening is provided on the side of the insulating bucket close to the bracket, the translation direction of the movable bin is perpendicular to the translation direction of the robotic arm, and the movable bin can move into the insulating bucket through the first opening. The movable bin is used to place tools waiting to be clamped by the robotic arm, and the fixed bin is used to place idle tools.

2. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 1, characterized in that: The bracket is provided with two second translation mechanisms corresponding to the two robotic arms respectively. The second translation mechanism includes a first guide rail arranged on the bracket, a slide seat slidably connected to the first guide rail, a first drive motor arranged on the bracket, and a ball screw transmission pair arranged between the slide seat and the bracket. The robotic arm is arranged on the slide seat.

3. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 2, characterized in that: One side of the slide is provided with two distance measuring sensors, and one side of the other slide is provided with two detection blocks, and one distance measuring sensor detects the position of one detection block accordingly.

4. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 1, characterized in that: The first translation mechanism includes two second guide rails arranged inside the insulation bucket and extending outside the insulation bucket, a rack parallel to the second guide rails, and a second drive motor arranged on the movable bin, and the output end of the second drive motor is provided with a gear meshing with the rack.

5. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 1, characterized in that: A clamping mechanism is provided at the end of the robotic arm, and the clamping mechanism is used to clamp the mounting plate fixed on the tool. The clamping mechanism includes a clamping cylinder and two first clamping claws respectively arranged at the two output ends of the clamping cylinder, a first clamping block is provided on the first clamping claw, and a clamping groove cooperating with the first clamping block is symmetrically provided on the mounting plate.

6. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 5, characterized in that: The edge of the mounting plate is provided with two lugs; the movable bin is provided with a plurality of placement positions arranged in a matrix, the placement positions are provided with through holes for avoiding tools, and the placement positions are provided with limit seats for limiting the positions of the lugs.

7. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 5, characterized in that: The fixed warehouse comprises a cabinet body, a second opening is arranged on one side of the cabinet body facing the insulating bucket, a plurality of slide plates arranged in parallel and pullable are arranged on the top of the cabinet body, and each slide plate is provided with two positioning mechanisms, which are used to fix tools.

8. The insulating mechanical arm for an insulating bucket arm vehicle according to claim 7, characterized in that: The positioning mechanism includes two second clamping jaws which are respectively slidably connected to the bottom of the slide board and have opposite sliding directions. The upper ends of the second clamping jaws extend to the top of the slide board, and the lower ends of the second clamping jaws are provided with a second clamping block which cooperates with the slot. A vertical plate is provided on the slide board, and a spring is provided between the vertical plate and the second clamping jaw. The second clamping jaw is clamped into the slot under the action of the spring.

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