Aerial work auxiliary mechanical arm
By designing an auxiliary robot arm at high altitude, the time-consuming and labor-intensive problem of handheld insulation tools in manual live operations at high altitudes is solved, and the posture and position of the robot arm is adjusted, reducing labor costs, and improving work efficiency and safety.
Patent Information
- Application Number
- CN202421616652.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2025-06-27
- Estimated Expiration
- 2034-07-09
AI Technical Summary
In high-altitude manual live operations, workers need to hold insulated operating tools for a long time to prevent the cable from falling, which is time-consuming and labor-intensive, and often requires two people to perform it simultaneously, which increases labor costs and operation difficulty.
A high-altitude work auxiliary robot arm is designed, including a clamping bracket, a folding bracket and a bracket base, which is connected by a brake mechanism to provide the posture and position adjustment function of the robot arm, which can replace manual grip of the insulating operation tool.
This robotic arm can reduce labor cost investment, improve work efficiency and safety, meet the clamping needs of work tools of different angles and sizes, and reduce the psychological and physical burden of workers.
Smart Images
Figure CN223039484U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an auxiliary manipulator for working at height, belonging to the field of aerial work vehicles. Background Technique
[0002] Live working is a special engineering technology for inspecting, maintaining and replacing components on high-voltage electrical equipment without power interruption. For a long time, the method of manual live working is commonly adopted in China. The method of manual live working requires operators to stay in an environment of high altitude, high voltage and strong electromagnetic field for a long time. Such an operating environment poses great challenges to the psychological endurance and physical strength of operators. In order to make live working more labor-saving, the market demand for various live working tools is increasing continuously.
[0003] In manual live working at height, workers often need to perform operations such as cutting, wiring and stripping of high-voltage wires. Affected by the working height, these operations currently need to be carried out synchronously by two people. One person holds the insulating operating tool to fix the cable to be repaired to prevent it from falling, and the other person performs the repair work on the cable. In this process, one person needs to hold the insulating operating tool all the time to prevent the cable from falling, which is both time-consuming and laborious. Content of the Utility Model
[0004] The purpose of the utility model is to overcome the above-mentioned deficiencies existing in the prior art, and to provide an auxiliary manipulator for working at height with reasonable structural design.
[0005] The technical solution adopted by the utility model to solve the above problems is: the auxiliary manipulator for working at height includes a clamping bracket, a folding bracket and a bracket base, and its structural feature is that: the clamping bracket is connected to the folding bracket, and the folding bracket is connected to the bracket base through a braking mechanism; the braking mechanism includes a brake disc, an outer cover plate, an inner cover plate, brake rollers and a brake spring. The inner cover plate and the outer cover plate are sequentially installed on the brake disc. A brake cavity is arranged in the brake disc. The brake rollers and the brake spring are both installed in the brake cavity, and both ends of the brake spring are abutted against a brake roller respectively.
[0006] Further, the brake cavity includes a braking area and a free area.
[0007] Further, the outer wall of the brake cavity in the braking area and the outer wall of the brake cavity in the free area are eccentrically arranged.
[0008] Further, the outer wall radius of the brake cavity in the braking area is R1, and the outer wall radius of the brake cavity in the free area is R2, and R1 > R2.
[0009] Further, a clamping knob is arranged on the clamping bracket, and a sliding rotary handle is arranged on the bracket base.
[0010] Further, an inner cover plate lever and an inner cover plate hole are provided on the inner cover plate, an outer cover plate lever is provided on the outer cover plate, the outer cover plate lever penetrates through the inner cover plate hole, and both the inner cover plate lever and the outer cover plate lever are located in the braking cavity.
[0011] Further, each of the inner cover plate lever and the outer cover plate lever contacts a braking roller.
[0012] Further, an inner cover plate spring seat is provided on the inner cover plate, an outer cover plate spring seat is provided on the outer cover plate, and a cover plate spring is provided between the inner cover plate spring seat and the outer cover plate spring seat.
[0013] Further, the braking mechanism further includes a brake handle, a wire rope, a wire rope lock, a wire rope end cap, and a wire rope plate. The brake handle is connected to the wire rope plate, one end of the wire rope plate is connected to the wire rope, and the other end of the wire rope is connected to the outer cover plate and the inner cover plate through the wire rope lock and the wire rope end cap.
[0014] Further, one end of the outer sleeve of the wire rope abuts against the wire rope plate, the other end of the outer sleeve of the wire rope abuts against the inner cover plate spring seat, one end of the inner core of the wire rope is connected to the wire rope plate, and the other end of the inner core of the wire rope penetrates through the inner cover plate spring seat and the cover plate spring and is connected to the outer cover plate spring seat.
[0015] Further, the braking mechanism is used to connect the clamping bracket and the folding bracket, between two folding brackets, and between the folding bracket and the bracket base. When the braking mechanism is used to connect the clamping bracket and the folding bracket, the clamping bracket rotating shaft of the clamping bracket is installed on the braking disc of the folding bracket through a spline seat. When the braking mechanism is used to connect two folding brackets, the folding bracket rotating shaft of one folding bracket is installed on the braking disc of the other folding bracket through a spline seat. When the braking mechanism is used to connect the folding bracket and the bracket base, the folding bracket rotating shaft of the folding bracket is installed on the bracket braking disc of the bracket base through a spline seat.
[0016] Further, the inner wall of the braking cavity is arranged outside the spline seat.
[0017] Further, the robotic arm is installed on the working bucket through a robotic arm bracket.
[0018] Further, the robotic arm bracket includes a locking pin, a guide rail baffle, a bench clamp, a bench, bench feet, and a sliding guide rail. The sliding guide rail is arranged on the top of the bench. One guide rail baffle is fixedly arranged at each end of the sliding guide rail, and the other guide rail baffle is installed through the locking pin. The bench clamp and the bench feet are respectively arranged on both sides of the bench. The robotic arm is installed on the sliding guide rail, and the bench is installed on the working bucket through the bench clamp and the bench feet.
[0019] Compared with the prior art, the utility model has the following advantages: When working at high altitude, using the high-altitude operation auxiliary robotic arm can replace manual holding of insulating operation tools, reducing the input of labor costs. By arranging the robotic arm on a slidable robotic arm bracket, the position of the robotic arm can be adjusted, and the attitude of the robotic arm can be adjusted through a braking mechanism to facilitate the clamping of the insulating operation tool at different angles.
[0020] The high-altitude operation auxiliary robotic arm can adjust the attitude of the robotic arm through a joint brake handle, and can control the position and angle of the robotic arm in the robotic arm bracket through a sliding rotary handle, ensuring the rationality of the spatial position of the robotic arm and meeting the needs of operators when clamping operation tools at different angles for operation; the opening size of the clamping bracket is adjusted through a clamping knob to meet the needs of operators for clamping operation tools of different sizes. Description of the Drawings
[0021] Figure 1 is the front view installation schematic diagram of the high-altitude operation auxiliary robotic arm according to the embodiment of the utility model.
[0022] Figure 2 is the top view installation schematic diagram of the high-altitude operation auxiliary robotic arm according to the embodiment of the utility model.
[0023] Figure 3 is Figure 2 the schematic cross-sectional structure diagram of I-I in
[0024] Figure 4 is the three-dimensional structure schematic diagram of the clamping bracket according to the embodiment of the utility model.
[0025] Figure 5 is the three-dimensional structure schematic diagram of the folding bracket according to the embodiment of the utility model.
[0026] Figure 6 is the three-dimensional structure schematic diagram of the outer cover plate according to the embodiment of the utility model.
[0027] Figure 7 is the three-dimensional structure schematic diagram of the inner cover plate according to the embodiment of the utility model.
[0028] Figure 8 is the front view structure schematic diagram of the robotic arm bracket according to the embodiment of the utility model.
[0029] Figure 9 is the left view structure schematic diagram of the robotic arm bracket according to the embodiment of the utility model.
[0030] Figure 10 is the top view structure schematic diagram of the robotic arm bracket according to the embodiment of the utility model.
[0031] Figure 11 is the front view structural schematic diagram of the manipulator in the use state of the embodiment of the present utility model.
[0032] Figure 12 is Figure 11 the schematic cross-sectional structure diagram of II-II in
[0033] In the figure: manipulator A, manipulator bracket B, working bucket C,
[0034] brake handle A1, wire A2, outer cover plate A3, inner cover plate A4, cover plate spring A5, wire locking device A6, wire end cap A7, wire pulling plate A8, brake roller A9, spline seat A10, clamping bracket A11, brake spring A12, folding bracket A13, bracket base A14, sliding rotary handle A15, clamping knob A16,
[0035] clamping bracket rotating shaft A111,
[0036] outer cover plate spring seat A31, outer cover plate lever A32,
[0037] inner cover plate spring seat A41, inner cover plate lever A42, inner cover plate dial hole A43,
[0038] brake disc A131, brake cavity A132, braking area A133, free area A134, folding bracket rotating shaft A135,
[0039] locking pin B1, guide rail baffle B2, bench fixture B3, bench B4, bench feet B5, sliding guide rail B6. Specific embodiments
[0040] The present utility model will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present utility model and the present utility model is not limited to the following embodiments.
[0041] Embodiment
[0042] See Figures 1 to 12As shown, it should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of this utility model. Therefore, they do not have any technical substance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that this utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in this utility model. At the same time, if terms such as "upper", "lower", "left", "right", "middle", and "one" are cited in this specification, they are only for the convenience of clear narration and are not used to limit the scope of implementation of this utility model. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope within which this utility model can be implemented.
[0043] The aerial work assisting robotic arm A in this embodiment includes a clamping bracket A11, a folding bracket A13, and a bracket base A14. The clamping bracket A11 is connected to the folding bracket A13, and the folding bracket A13 is connected to the bracket base A14 through braking mechanisms. This robotic arm A is installed on the work bucket C through a robotic arm bracket B.
[0044] The braking mechanism includes a brake disc A131, a brake handle A1, a wire A2, an outer cover plate A3, an inner cover plate A4, a wire locking device A6, a wire end cap A7, a wire pulling plate A8, a brake roller A9, and a brake spring A12. The inner cover plate A4 and the outer cover plate A3 are sequentially installed on the brake disc A131. A brake cavity A132 is provided inside the brake disc A131. The brake roller A9 and the brake spring A12 are both installed inside the brake cavity A132, and both ends of the brake spring A12 are in contact with a brake roller A9 respectively. A clamping knob A16 is provided on the clamping bracket A11, and a sliding rotary handle A15 is provided on the bracket base A14.
[0045] The brake cavity A132 includes a braking area A133 and a free area A134; the outer wall of the brake cavity A132 in the braking area A133 and the outer wall of the brake cavity A132 in the free area A134 are eccentrically arranged; the outer wall radius of the brake cavity A132 in the braking area A133 is R1, and the outer wall radius of the brake cavity A132 in the free area A134 is R2, and R1 > R2.
[0046] The inner cover plate A4 is provided with an inner cover plate spring seat A41, an inner cover plate lever A42 and an inner cover plate dial hole A43. The outer cover plate A3 is provided with an outer cover plate spring seat A31 and an outer cover plate lever A32. The outer cover plate lever A32 penetrates through the inner cover plate dial hole A43. Both the inner cover plate lever A42 and the outer cover plate lever A32 are located in the braking cavity A132. The inner cover plate lever A42 and the outer cover plate lever A32 each contact a braking roller A9. A cover plate spring A5 is arranged between the inner cover plate spring seat A41 and the outer cover plate spring seat A31.
[0047] The braking handle A1 is connected to the wire pulling plate A8. One end of the wire pulling plate A8 is connected to the wire A2. The other end of the wire A2 is connected to the outer cover plate A3 and the inner cover plate A4 through the wire locking device A6 and the wire end cap A7. One end of the outer sleeve of the wire A2 abuts against the wire pulling plate A8. The other end of the outer sleeve of the wire A2 abuts against the inner cover plate spring seat A41. One end of the inner core of the wire A2 is connected to the wire pulling plate A8. The other end of the inner core of the wire A2 penetrates through the inner cover plate spring seat A41 and the cover plate spring A5, and is connected to the outer cover plate spring seat A31.
[0048] This braking mechanism is used to connect between the clamping bracket A11 and the folding bracket A13, between two folding brackets A13, and between the folding bracket A13 and the bracket base A14. When the braking mechanism is used to connect the clamping bracket A11 and the folding bracket A13, the clamping bracket rotating shaft A111 of the clamping bracket A11 is installed on the braking disc A131 of the folding bracket A13 through the spline seat A10. When the braking mechanism is used to connect two folding brackets A13, the folding bracket rotating shaft A135 of one folding bracket A13 is installed on the braking disc A131 of the other folding bracket A13 through the spline seat A10. When the braking mechanism is used to connect the folding bracket A13 and the bracket base A14, the folding bracket rotating shaft A135 of the folding bracket A13 is installed on the bracket braking disc of the bracket base A14 through the spline seat A10, and the inner wall of the braking cavity A132 is arranged on the outside of the spline seat A10.
[0049] The robotic arm bracket B includes a locking pin B1, a guide rail baffle B2, a bench fixture B3, a bench B4, bench feet B5 and a sliding guide rail B6. The sliding guide rail B6 is arranged on the top of the bench B4. Each end of the sliding guide rail B6 is provided with a guide rail baffle B2. One of the guide rail baffles B2 is fixedly arranged, and the other guide rail baffle B2 is installed through the locking pin B1. The bench fixture B3 and the bench feet B5 are respectively arranged on both sides of the bench B4. The robotic arm A is installed on the sliding guide rail B6. The bench B4 is installed on the working bucket C through the bench fixture B3 and the bench feet B5.
[0050] The working method of the aerial work auxiliary robotic arm is as follows: By controlling the opening size of the clamping bracket A11 through the clamping knob A16, it can adapt to clamping work tools of different sizes; When the sliding and rotating handle A15 is in the braking state, the robotic arm A is fixed within the sliding guide rail B6 and cannot slide or rotate; When the sliding and rotating handle A15 is in the free state, the robotic arm A can slide and rotate within the sliding guide rail B6; The robotic arm A can adjust its posture through the braking mechanism to adjust the work tool to the working position.
[0051] The process of controlling the robotic arm A through the braking mechanism is as follows: When the brake handle A1 is in the free state, the cover plate spring A5 and the brake spring A12 are in the stretched state. At this time, the brake roller A9 is subjected to the pressure of the brake spring A12, and the brake spring A12 springs the two brake rollers A9 into the braking area A133, causing the brake roller A9 to contact the inner and outer walls of the brake cavity A132 and generating relative friction, thereby making the spline seat A10 and the brake disc A131 in the braking state and unable to rotate.
[0052] When the brake handle A1 is gripped tightly, the wire A2 drives the inner cover plate A4 to rotate counterclockwise and the outer cover plate A3 to rotate clockwise, causing the cover plate spring A5 to be in a compressed state. At the same time, the two brake rollers A9 are respectively toggled through the inner cover plate lever A42 and the outer cover plate lever A32, thereby also causing the brake spring A12 to be in a compressed state, making the brake roller A9 toggle into the free area A134. The brake roller A9 is in a non-contact state with the inner and outer walls of the brake cavity A132, thereby making the spline seat A10 and the brake disc A131 in the free state and able to rotate.
[0053] Specifically, when the sliding and rotating handle A15 is opened, at this time the robotic arm A can freely rotate around the center point of the support base A14, and the robotic arm A can freely move within the sliding guide rail B6. When the sliding and rotating handle A15 is closed, the relative position of the robotic arm A and the robotic arm support B is fixed. By rotating the clamping knob A16 to adjust the opening size of the clamping bracket A11, work tools of different sizes can be clamped.
[0054] When the brake handle A1 is gripped tightly, the wire A2 drives the inner cover plate A4 to rotate counterclockwise and the outer cover plate A3 to rotate clockwise. At this time, the cover plate spring A5 is squeezed by the inner cover plate spring seat A41 and the outer cover plate spring seat A31, and the brake spring A12 is squeezed by the inner cover plate lever A42 and the outer cover plate lever A32 and is in a compressed state; When the brake handle 1 is released and the brake handle A1 is in the free state, the inner cover plate A4 and the outer cover plate A3 are reset under the spring force of the cover plate spring A5 and the brake spring A12.
[0055] The guy wire plate A8 can be connected to multiple guy wires A2 to achieve synchronous opening and synchronous braking of multiple joints. The braking mechanism can ensure that the robotic arm joint is in a rotatable state by gripping the brake handle A1; when the brake handle A1 is released, the robotic arm joint is ensured to be in a locked state.
[0056] In addition, it should be noted that for the specific embodiments described in this specification, the shapes, names of the components, etc. can be different. The above content described in this specification is only an example of the structure of the present invention. Any equivalent changes or simple changes made according to the structure, features and principles described in the inventive concept of the present invention are included in the protection scope of the patent of the present invention. Those skilled in the art of the present invention can make various modifications, supplements or use similar methods to replace the specific embodiments described, as long as they do not deviate from the structure of the present invention or exceed the scope defined by this claim book, they should fall within the protection scope of the present invention.
Claims
1. A high-altitude work auxiliary mechanical arm, comprising a clamping bracket (A11), a folding bracket (A13) and a bracket base (A14), characterized in that: The clamping bracket (A11) and the folding bracket (A13), as well as the folding bracket (A13) and the bracket base (A14) are all connected via a braking mechanism; the braking mechanism comprises a brake disc (A131), an outer cover plate (A3), an inner cover plate (A4), a brake roller (A9) and a brake spring (A12); the inner cover plate (A4) and the outer cover plate (A3) are sequentially mounted on the brake disc (A131); a brake cavity (A132) is provided in the brake disc (A131); the brake roller (A9) and the brake spring (A12) are both mounted in the brake cavity (A132); and both ends of the brake spring (A12) are respectively in contact with a brake roller (A9).
2. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: The brake chamber (A132) includes a brake area (A133) and a free area (A134).
3. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: The clamping bracket (A11) is provided with a clamping knob (A16), and the bracket base (A14) is provided with a sliding rotary handle (A15).
4. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: The inner cover plate (A4) is provided with an inner cover plate shifting rod (A42) and an inner cover plate shifting hole (A43); the outer cover plate shifting rod (A32) is provided with an outer cover plate shifting rod (A32); the outer cover plate shifting rod (A32) and the inner cover plate shifting hole (A43) penetrate each other; the inner cover plate shifting rod (A42) and the outer cover plate shifting rod (A32) are both located in the brake chamber (A132).
5. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: An inner cover plate spring seat (A41) is provided on the inner cover plate (A4), an outer cover plate spring seat (A31) is provided on the outer cover plate (A3), and a cover plate spring (A5) is provided between the inner cover plate spring seat (A41) and the outer cover plate spring seat (A31).
6. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: The brake mechanism further comprises a brake handle (A1), a pull wire (A2), a wire locker (A6), a wire end cap (A7) and a wire pull plate (A8); the brake handle (A1) is connected to the wire pull plate (A8); the wire pull plate (A8) is connected to one end of the pull wire (A2); the other end of the pull wire (A2) is connected to the outer cover plate (A3) and the inner cover plate (A4) via the wire locker (A6) and the wire end cap (A7).
7. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: The brake mechanism is used to connect a clamping bracket (A11) and a folding bracket (A13), between two folding brackets (A13), and between a folding bracket (A13) and a bracket base (A14); when the brake mechanism is used to connect the clamping bracket (A11) and the folding bracket (A13), the clamping bracket rotating shaft (A111) of the clamping bracket (A11) is installed on the brake disc (A131) of the folding bracket (A13) through the spline seat (A10); when the brake mechanism is used to When two folding brackets (A13) are connected, the folding bracket rotating shaft (A135) of one folding bracket (A13) is installed on the brake disc (A131) of the other folding bracket (A13) through a spline seat (A10); when the brake mechanism is used to connect the folding bracket (A13) with a bracket base (A14), the folding bracket rotating shaft (A135) of the folding bracket (A13) is installed on the bracket brake disc of the bracket base (A14) through the spline seat (A10).
8. The aerial work auxiliary mechanical arm according to claim 7, characterized in that: The inner wall of the brake chamber (A132) is arranged on the outer side of the spline seat (A10).
9. The aerial work auxiliary mechanical arm according to claim 1, characterized in that: The mechanical arm (A) is mounted on the working bucket (C) via a mechanical arm bracket (B).
10. The aerial work auxiliary mechanical arm according to claim 9, characterized in that: The mechanical arm bracket (B) comprises a locking pin (B1), a guide rail baffle (B2), a stand clamp (B3), a stand (B4), a stand machine foot (B5) and a sliding guide rail (B6), wherein the sliding guide rail (B6) is arranged on the top of the stand (B4), and a guide rail baffle (B2) is arranged at each end of the sliding guide rail (B6), wherein one guide rail baffle (B2) is fixedly arranged, and the other guide rail baffle (B2) is installed through the locking pin (B1), the stand clamp (B3) and the stand machine foot (B5) are respectively arranged on both sides of the stand (B4), the mechanical arm (A) is installed on the sliding guide rail (B6), and the stand (B4) is installed on the working bucket (C) through the stand clamp (B3) and the stand machine foot (B5).