Railway overhead line system cantilever and davit mounting manipulator

Abstract

The utility model provides a cantilever and davit mounting manipulator for a railway overhead line system. The cantilever and davit mounting manipulator comprises a base, a connecting table, a bottom arm, a connecting arm, a telescopic arm, a first hydraulic cylinder, a second hydraulic cylinder and an end rotating assembly. The connecting table is rotationally mounted on the base; the bottom arm is fixedly mounted on the connecting table; one end of the connecting arm is hinged with one end, far away from the connecting table, of the bottom arm; the telescopic arm can extend and retract in the length direction of the telescopic arm; the first hydraulic cylinder is mounted on the bottom arm and is in driving connection with the connecting arm; the second hydraulic cylinder is mounted on the connecting arm and is in driving connection with the telescopic arm; the end rotation assembly is connected with the end, away from the connecting arm, of the telescopic arm and used for being connected with a cantilever tool or a davit tool. A connecting table rotates around a base, a first hydraulic cylinder drives a connecting arm to swing around a fixed arm, a second hydraulic cylinder drives a telescopic arm to swing around the connecting arm, the telescopic arm can stretch and retract in the length direction of the telescopic arm, movement of multiple degrees of freedom is achieved, coarse adjustment of the position is completed, and then the angle is adjusted through rotation of an end rotation assembly. The accurate alignment of the connecting cantilever tool or the davit tool is realized; the mounting manipulator can accurately adjust the angle and the position, the mounting efficiency is improved, manual participation is not needed, and the construction safety is higher.

Description

Technical Field

[0001] This utility model relates to the field of railway catenary technology, and in particular to a mechanical arm for installing railway catenary cantilever and suspension column. Background Technology

[0002] The overhead contact system is the main structure of railway electrification engineering. It is a special type of power transmission line that runs along the railway line to supply power to electric locomotives. The overhead contact system consists of several parts: contact suspension, support devices, positioning devices, supports, and foundations. The cantilever arm is the support device for the overhead contact system, used to support the contact suspension and transfer its load to the supports or other structures. When the overhead contact system is installed in a location with a large span or in a tunnel, a suspension column is required. The suspension column is suspended from a horizontal support frame or installed on the tunnel ceiling, and then the cantilever arm is installed on the suspension column.

[0003] In existing technologies, the installation of cantilever arms and hanging columns is generally done manually. This involves erecting scaffolding and manually hoisting the hanging columns and cantilever arms to their corresponding installation positions, where they are then aligned and installed. However, manual hoisting of the hanging columns and cantilever arms makes it difficult to accurately adjust their angles and positions, resulting in low installation efficiency. Furthermore, scaffolding and hoisting equipment are heavy, non-powered devices that are difficult to move, have poor safety protection, and require a lot of manpower, posing significant safety hazards during construction. This technology can no longer meet the requirements of current construction progress and efficiency. Utility Model Content

[0004] In view of this, this utility model proposes a robotic arm for installing railway catenary cantilever arms and suspension columns, in order to solve the technical problems mentioned in the background art, such as the inability to accurately adjust the angle and position of the suspension columns and cantilever arms when manually lifting them, resulting in low installation efficiency, and the fact that scaffolding and hoisting devices are heavy and non-powered equipment, which are difficult to move, have poor safety protection, require a lot of manpower, and pose significant hidden dangers to construction safety.

[0005] The technical solution of this utility model is implemented as follows:

[0006] This utility model provides a robotic arm for installing a railway catenary cantilever and suspension column, comprising a base, a connecting platform, a base arm, a connecting arm, a telescopic arm, a first hydraulic cylinder, a second hydraulic cylinder, and an end rotating assembly, wherein:

[0007] The base is used to connect to the transport vehicle;

[0008] The connecting platform is rotatably mounted on the base;

[0009] The bottom arm is fixedly installed on the connecting platform;

[0010] One end of the connecting arm is hinged to the end of the bottom arm away from the connecting platform, and the other end is hinged to the telescopic arm;

[0011] The telescopic arm can extend and retract along its length.

[0012] The first hydraulic cylinder is mounted on the underarm and drivenly connected to the connecting arm;

[0013] The second hydraulic cylinder is mounted on the connecting arm and driven by the telescopic arm. The central axis of the second hydraulic cylinder is located in the same plane as the central axis of the first hydraulic cylinder.

[0014] The end slewing assembly is connected to the end of the telescopic arm away from the connecting arm, and is used to connect the cantilever arm fixture or the hanging column fixture.

[0015] Based on the above technical solutions, preferably, the end rotation assembly includes a first rotation unit, a second rotation unit, and a third rotation unit. The first rotation unit is connected to the telescopic arm and is used to rotate in the YZ plane. The second rotation unit is connected to both the first rotation unit and the third rotation unit and is used to rotate in the XY plane. The third rotation unit is used to connect to a cantilever arm fixture or a hanging column fixture and is used to rotate in the XZ plane.

[0016] Based on the above technical solutions, preferably, the first rotating unit includes a first mounting base, a first turntable, and a first driving component; the first mounting base is connected to the telescopic arm; the first turntable includes a first mounting plate and a first rotating plate, the first mounting plate is fixedly mounted on the first mounting base, the first rotating plate is rotatably mounted on the first mounting plate and connected to the second rotating unit; the first driving component is drivenly connected to the first rotating plate.

[0017] Based on the above technical solutions, preferably, the second rotary unit includes a second mounting base, a second turntable, and a second driving component; the second mounting base is connected to the first rotating disk; the second turntable includes a second mounting plate and a second rotating disk, the second mounting plate is fixedly mounted on the second mounting base, and the second rotating disk is rotatably mounted on the second mounting plate and connected to the third rotary unit; the second driving component is drivenly connected to the second rotating disk.

[0018] Based on the above technical solutions, preferably, the third rotary unit includes a third mounting base, a third turntable, and a third driving component; the third mounting base is connected to the second rotary disk; the third turntable includes a third mounting plate and a third rotary disk, the third mounting plate is fixedly mounted on the third mounting base, and the third rotary disk is rotatably mounted on the third mounting plate and used to connect a cantilever arm fixture or a hanging column fixture; the second driving component is drivenly connected to the second rotary disk.

[0019] Based on the above technical solutions, preferably, the telescopic arm includes a fixed arm, a first movable arm, a second movable arm, a third movable arm, and an end arm; the fixed arm is hinged to the connecting arm; the first movable arm is slidably mounted on the fixed arm; the second movable arm is slidably mounted on the first movable arm; the third movable arm is slidably mounted on the second movable arm; and the end arm is slidably mounted on the third movable arm and connected to the end rotation assembly.

[0020] Based on the above technical solutions, preferably, the telescopic arm further includes a first support frame, a first hydraulic cylinder, a second support frame, a second hydraulic cylinder, a third support frame, a third hydraulic cylinder, a fourth support frame, a fourth hydraulic cylinder, and a connecting frame; the first support frame is installed on the fixed arm near the first movable arm; the first hydraulic cylinder is installed on the first support frame and is drivenly connected to the second support frame; the second support frame is installed on the first movable arm away from the fixed arm; the second hydraulic cylinder is installed on the second support frame and is drivenly connected to the third support frame; the third support frame is installed on the second movable arm away from the first movable arm; the third hydraulic cylinder is installed on the third support frame and is drivenly connected to the fourth support frame; the fourth support frame is installed on the third movable arm away from the second movable arm; the fourth hydraulic cylinder is installed on the fourth support frame and is drivenly connected to the connecting frame; the connecting frame is installed on the end arm.

[0021] Based on the above technical solution, preferably, the telescopic arm further includes a first reinforcing rib, a second reinforcing rib, a third reinforcing rib, and a fourth reinforcing rib. The first reinforcing rib is installed on the outer wall of the fixed arm near the end of the first movable arm; the second reinforcing rib is installed on the outer wall of the first movable arm away from the fixed arm; the third reinforcing rib is installed on the outer wall of the second movable arm away from the first movable arm; and the fourth reinforcing rib is installed on the outer wall of the third movable arm away from the second movable arm.

[0022] Based on the above technical solutions, preferably, it also includes four lifting legs, which are slidably mounted on the base and form a rectangle.

[0023] Based on the above technical solutions, preferably, the base is provided with a support frame at both ends along the length of the transport vehicle, and the support frame is used to support the telescopic arm.

[0024] Compared with the prior art, the railway catenary cantilever arm and hanging column installation robot of this utility model have the following advantages:

[0025] Beneficial effects:

[0026] (1) The connecting platform is rotatably mounted on the base, realizing the overall rotation of the base and its components. The first hydraulic cylinder drives the connecting arm to swing around the axis hinged to the bottom arm, and the second hydraulic cylinder drives the telescopic arm to swing around the axis hinged to the connecting arm. The telescopic arm can extend and retract along its length direction, realizing multiple degrees of freedom of movement and completing the coarse adjustment of the position. Then, the end rotation component drives the cantilever arm fixture or the hanging column fixture to rotate to adjust the angle, realizing the precise alignment of the cantilever arm fixture or the hanging column fixture to adjust the position of the cantilever arm or the hanging column. The installation robot can accurately adjust the angle and position of the cantilever arm or the hanging column, improving the installation efficiency and eliminating the need for manual intervention, thus increasing construction safety.

[0027] (2) By rotating the first rotary unit in the YZ plane, the second rotary unit in the XY plane, and the third rotary unit in the XZ plane, the angle adjustment of the wrist arm fixture or the hanging column fixture in the three coordinate planes of the entire coordinate system is realized, thereby improving the degree of freedom of the robot and making the angle adjustment more accurate and reliable.

[0028] (3) The first hydraulic cylinder drives the second support frame to move, thereby realizing the extension and retraction of the first movable arm; the second hydraulic cylinder drives the third support frame to move, thereby realizing the extension and retraction of the second movable arm; the third hydraulic cylinder drives the fourth support frame to move, thereby realizing the extension and retraction of the third movable arm; the fourth hydraulic cylinder drives the connecting frame to move, thereby realizing the extension and retraction of the end arm.

[0029] (4) The base is provided with support frames at both ends along the length of the transport vehicle. The support frames are used to support the telescopic arm. When the transport vehicle is transporting the mechanical arm over long distances or when the mechanical arm is not in use, the telescopic arm can be supported to avoid the long-term self-weight of the telescopic arm acting on the first hydraulic cylinder and the second hydraulic cylinder and causing damage to them, thereby improving the service life of the device. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram of the structure of the railway catenary cantilever arm and the hanging column installation robot in the embodiment of this utility model;

[0032] Figure 2 An exploded view of the railway catenary cantilever arm and the manipulator for installing the suspension column in this embodiment of the utility model.

[0033] Figure 3 This is a schematic diagram of the structure of the base, internal gear, lifting leg and shelf in an embodiment of the present utility model;

[0034] Figure 4 This is a schematic diagram of the connecting platform, bottom arm, connecting arm, telescopic arm, first hydraulic cylinder and second hydraulic cylinder in an embodiment of the present utility model.

[0035] Figure 5 This is a schematic diagram of the installation structure of the connecting platform and the base in an embodiment of this utility model;

[0036] Figure 6 This is a schematic diagram of the telescopic arm in an embodiment of the present utility model;

[0037] Figure 7 This utility model Figure 6 Enlarged view of part A in the middle;

[0038] Figure 8 This is a schematic diagram of the drive component in an embodiment of the present utility model;

[0039] Figure 9 This is a schematic diagram of the end-rotating assembly in an embodiment of the present utility model;

[0040] Figure 10 This is an exploded view of the end rotating assembly in an embodiment of the present invention.

[0041] Explanation of reference numerals in the attached drawings: 1-base, 2-connecting platform, 3-base arm, 4-connecting arm, 5-telescopic arm, 6-first hydraulic cylinder, 7-second hydraulic cylinder, 8-end rotation assembly, 9-internal gear, 10-external gear, 11-lifting leg, 12-shelf;

[0042] 51-Fixed arm, 52-First movable arm, 53-Second movable arm, 54-Third movable arm, 55-End arm, 56-Drive assembly, 561-First support frame, 562-First hydraulic cylinder, 563-Second support frame, 564-Second hydraulic cylinder, 565-Third support frame, 566-Third hydraulic cylinder, 567-Fourth support frame, 568-Fourth hydraulic cylinder, 569-Connecting frame; 57-Reinforcing rib assembly, 571-First reinforcing rib, 572-Second reinforcing rib, 573-Third reinforcing rib, 574-Fourth reinforcing rib;

[0043] 81-First rotary unit, 811-First mounting base, 812-First turntable, 8121-First mounting plate, 8122-First rotating plate, 813-First driving component, 814-First reducer;

[0044] 82-Second rotary unit, 821-Second mounting base, 822-Second turntable, 8221-Second mounting plate, 8222-Second rotating plate, 823-Second driving component, 824-Second reducer;

[0045] 83-Third rotary unit, 831-Third mounting base, 832-Third turntable, 8321-Third mounting plate, 8322-Third rotating plate, 833-Third drive unit, 834-Third reducer. Detailed Implementation

[0046] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0047] Reference Figure 1-10 As shown in the embodiment of this utility model, a robotic arm for installing a railway catenary cantilever and suspension column is proposed, including a base 1, a connecting platform 2, a base arm 3, a connecting arm 4, a telescopic arm 5, a first hydraulic cylinder 6, a second hydraulic cylinder 7, and an end rotation assembly 8, wherein:

[0048] The base 1 is used to connect to the transport vehicle and serves as a support for the entire robotic arm;

[0049] The connecting platform 2 is rotatably mounted on the base 1 and is driven by a rotary swing hydraulic cylinder (not shown in the figure), an internal gear 9, and an external gear 10. The rotary swing hydraulic cylinder is mounted on the connecting platform 2, the external gear 10 is connected to the hydraulic cylinder, and the internal gear 9 is connected to the base 1. The rotary swing hydraulic cylinder drives the external gear 10 to rotate, and the external gear 10 and the internal gear 9 mesh to achieve rotation between the connecting platform 2 and the base 1. Through the meshing transmission of the internal gear 9 and the external gear 10, the rotation is more stable and precise. When the connecting platform 2 rotates to the designated position, the rotary swing hydraulic cylinder stops, which can fix and limit the connecting platform 2.

[0050] The bottom arm 3 is fixedly installed on the connecting platform 2;

[0051] One end of the connecting arm 4 is hinged to the end of the bottom arm 3 away from the connecting platform 2, and the other end is hinged to the telescopic arm 5;

[0052] The telescopic arm 5 can extend and retract along its length.

[0053] The first hydraulic cylinder 6 is mounted on the bottom arm 3 and is drivenly connected to the connecting arm 4;

[0054] The second hydraulic cylinder 7 is mounted on the connecting arm 4 and drivenly connected to the telescopic arm 5. The central axis of the second hydraulic cylinder 7 and the central axis of the first hydraulic cylinder 6 are located in the same plane.

[0055] The end rotating assembly 8 is connected to the end of the telescopic arm 5 away from the connecting arm 4, and is used to connect the cantilever arm fixture or the hanging column fixture.

[0056] The railway catenary cantilever and suspension column installation robot proposed in this embodiment is rotatably mounted on the base 1 via the connecting platform 2, realizing the overall rotation of the base 1 and its components. The first hydraulic cylinder 6 drives the connecting arm 4 to swing around the axis connected to the base arm 3, and the second hydraulic cylinder 7 drives the telescopic arm 5 to swing around the axis hinged to the connecting arm 4. The telescopic arm 5 can extend and retract along its length, realizing multiple degrees of freedom of movement and completing the coarse adjustment of the position. Then, the end rotation component 8 drives the cantilever or suspension column fixture to rotate to adjust the angle, realizing the precise alignment of the cantilever or suspension column fixture to adjust the position of the cantilever or suspension column. The installation robot can accurately adjust the angle and position, improving the installation efficiency of the cantilever or suspension column, and eliminating the need for manual intervention, thus improving construction safety.

[0057] In some embodiments, the end-rotation assembly 8 includes a first rotation unit 81, a second rotation unit 82, and a third rotation unit 83. The first rotation unit 81 is connected to the telescopic arm 5 and is used to rotate in the YZ plane. The second rotation unit 82 is connected to both the first rotation unit 81 and the third rotation unit 83 and is used to rotate in the XY plane. The third rotation unit 83 is used to connect to a cantilever arm fixture or a hanging column fixture and is used to rotate in the XZ plane. In this embodiment, an XYZ coordinate system is established with the center of the connection surface between the telescopic arm 5 and the first rotation unit 81 as the origin. The X-axis is the length direction of the connection surface, the Y-axis is perpendicular to the connection surface, and the Z-axis is parallel to the connection surface and is the height direction of the connection surface. In this embodiment, the YZ plane, XY plane, and XZ plane are not the same coordinate system, but the coordinate axes of each coordinate system are parallel to each other. For example, the X-axis of the three coordinate systems are parallel to each other, the Y-axis of the three coordinate systems are parallel to each other, and the Z-axis of the three coordinate systems are parallel to each other. By having the first rotary unit 81 rotate in the YZ plane, the second rotary unit 82 rotate in the XY plane, and the third rotary unit 83 rotate in the XZ plane, the angle of the cantilever arm fixture or the hanging column fixture can be adjusted in the three coordinate planes of the entire coordinate system, thereby improving the degree of freedom of the robot and making the angle adjustment more precise and reliable.

[0058] In some embodiments, the first rotating unit 81 includes a first mounting base 811, a first turntable 812, and a first driving member 813; the first mounting base 811 is connected to the telescopic arm 5; the first turntable 812 includes a first mounting plate 8121 and a first rotating plate 8122, the first mounting plate 8121 is fixedly mounted on the first mounting base 811, and the first rotating plate 8122 is rotatably mounted on the first mounting plate 8121 and connected to the second rotating unit 82, the first rotating plate 8122 being parallel to the YZ plane; the first driving member 813 is drivingly connected to the first rotating plate 8122. The first driving member 813 drives the first rotating plate 8122 to rotate relative to the first mounting plate 8121, thereby realizing the rotation of the second rotating unit 82 around the first mounting base 811, and thus the rotation of the YZ plane. The first driving component 813 can be a motor. The first rotating unit 81 also includes a first reducer 814 and a worm gear mechanism. The first driving component 813 is connected to the first reducer 814, the first reducer 814 is connected to the worm gear mechanism, and the worm gear mechanism is connected to the first rotating disk 8122, thereby realizing that the first driving component 813 drives the first rotating disk 8122.

[0059] In some embodiments, the second rotating unit 82 includes a second mounting base 821, a second turntable 822, and a second driving member 823; the second mounting base 821 is connected to the first rotating disk 8122; the second turntable 822 includes a second mounting disk 8221 and a second rotating disk 8222, the second mounting disk 8221 being fixedly mounted on the second mounting base 821, and the second rotating disk 8222 being rotatably mounted on the second mounting disk 8221 and connected to the third rotating unit 83, the second rotating disk 8222 being parallel to the XY plane; the second driving member 823 is drivingly connected to the second rotating disk 8222. The second driving member 823 drives the second rotating disk 8222 to rotate relative to the second mounting disk 8221, thereby realizing the rotation of the third rotating unit 83 around the second mounting base 821, and achieving rotation in the XY plane. The second driving component 823 can be a motor. The second rotary unit 82 also includes a second reducer 824 and a worm gear mechanism. The second driving component 823 is connected to the second reducer 824, the second reducer 824 is connected to the worm gear mechanism, and the worm gear mechanism is connected to the second rotary disk 8222, thereby realizing that the second driving component 823 drives the second rotary disk 8222.

[0060] In some embodiments, the third rotating unit 83 includes a third mounting base 831, a third turntable 832, and a third driving member 833; the third mounting base 831 is connected to the second rotating disk 8222; the third turntable 832 includes a third mounting disk 8321 and a third rotating disk 8322, the third mounting disk 8321 is fixedly mounted on the third mounting base 831, and the third rotating disk 8322 is rotatably mounted on the third mounting disk 8321 and used to connect a cantilever arm fixture or a lifting column fixture, the third rotating disk 8322 being parallel to the XZ plane; the second driving member 823 is drivingly connected to the second rotating disk 8222. The third rotating disk 8322 is driven to rotate relative to the third mounting disk 8321 by the third driving member 833, thereby realizing the rotation of the cantilever arm fixture or lifting column fixture around the third mounting base 831, and thus achieving rotation in the XZ plane. The third driving component 833 can be a motor. The third rotary unit 83 also includes a third reducer 834 and a worm gear mechanism. The third driving component 833 is connected to the third reducer 834, the third reducer 834 is connected to the worm gear mechanism, and the worm gear mechanism is connected to the third rotary disk 8322, thereby realizing that the third driving component 833 drives the third rotary disk 8322.

[0061] In some embodiments, the telescopic arm 5 includes a fixed arm 51, a first movable arm 52, a second movable arm 53, a third movable arm 54, and an end arm 55; the fixed arm 51 is hinged to the connecting arm 4; the first movable arm 52 is slidably mounted on the fixed arm 51; the second movable arm 53 slides on the first movable arm 52; the third movable arm 54 slides on the second movable arm 53; and the end arm 55 is slidably mounted on the third movable arm 54 and connected to the end rotation assembly 8. By sliding the first movable arm 52 along the fixed arm 51, the second movable arm 53 along the first movable arm 52, the third movable arm 54 along the second movable arm 53, and the end arm 55 along the third movable arm 54, progressive telescopic movement is achieved, allowing for movement of the cantilever arm fixture or hanging column fixture over a relatively large range. This embodiment features four levels of telescopic movement; however, the number of levels can be adjusted according to actual movement requirements, and could be two, three, five, or even more levels.

[0062] In some embodiments, the telescopic arm 5 further includes a drive assembly 56, which includes a first support frame 561, a first hydraulic cylinder 562, a second support frame 563, a second hydraulic cylinder 564, a third support frame 565, a third hydraulic cylinder 566, a fourth support frame 567, a fourth hydraulic cylinder 568, and a connecting frame 569; the first support frame 561 is mounted on the fixed arm 51 near the first movable arm 52; the first hydraulic cylinder 562 is mounted on the first support frame 561 and is drivenly connected to the second support frame 563; the second support frame 563 is mounted on the first movable arm 52 away from the fixed arm 51. One end; the second hydraulic cylinder 564 is mounted on the second support frame 563 and is driven connected to the third support frame 565; the third support frame 565 is mounted on the end of the second movable arm 53 away from the first movable arm 52; the third hydraulic cylinder 566 is mounted on the third support frame 565 and is driven connected to the fourth support frame 567; the fourth support frame 567 is mounted on the end of the third movable arm 54 away from the second movable arm 53; the fourth hydraulic cylinder 568 is mounted on the fourth support frame 567 and is driven connected to the connecting frame 569; the connecting frame 569 is mounted on the end arm 55. The first hydraulic cylinder 562 drives the second support frame 563 to move, thereby extending and retracting the first movable arm 52; the second hydraulic cylinder 564 drives the third support frame 565 to move, thereby extending and retracting the second movable arm 53; the third hydraulic cylinder 566 drives the fourth support frame 567 to move, thereby extending and retracting the third movable arm 54; and the fourth hydraulic cylinder 568 drives the connecting frame 569 to move, thereby extending and retracting the end arm 55.

[0063] In some embodiments, the telescopic arm 5 further includes a reinforcing rib assembly 57, which includes a first reinforcing rib 571, a second reinforcing rib 572, a third reinforcing rib 573, and a fourth reinforcing rib 574. The first reinforcing rib 571 is mounted on the outer wall of the fixed arm 51 near the end of the first movable arm 52; the second reinforcing rib 572 is mounted on the outer wall of the first movable arm 52 away from the fixed arm 51; the third reinforcing rib 573 is mounted on the outer wall of the second movable arm 53 away from the first movable arm 52; and the fourth reinforcing rib 574 is mounted on the outer wall of the third movable arm 54 away from the second movable arm 53. By providing the reinforcing rib assembly 57, the strength of the telescopic arm 5 can be improved, thereby enhancing the reliability of the device.

[0064] In some embodiments, the railway catenary cantilever and suspension column installation robot also includes four lifting legs 11, which are slidably mounted on the base 1 and form a rectangle. By slidably mounting the four lifting legs 11 on the base 1, the entire device is supported and secured when the lifting legs 11 are lowered to the ground, preventing the base 1 and the vehicle body from moving together during robot operation, thus improving the reliability and stability of the device.

[0065] In some embodiments, lifting legs 12 are respectively provided at both ends of the base 1 along the length direction of the transport vehicle, and the lifting legs 12 are used to support the telescopic arm 5. By providing lifting legs 12 at both ends of the base 1 along the length direction of the transport vehicle, the lifting legs 12 can support the telescopic arm 5 when the transport vehicle is transporting the robotic arm for a long distance or when the robotic arm is not in use, thus preventing the long-term self-weight of the telescopic arm 5 from acting on the first hydraulic cylinder 6 and the second hydraulic cylinder 7 and causing damage to them, thereby improving the service life of the device.

[0066] The working principle of the railway catenary cantilever and suspension column installation robot proposed in this embodiment is as follows:

[0067] The external gear 10 is driven to rotate by the rotary swing hydraulic cylinder installed on the connecting platform 2. The external gear 10 meshes with the internal gear 9 to rotate, thereby driving the connecting platform 2 to rotate, realizing the rotation between the connecting platform 2 and the base 1, and realizing the overall rotation of the base 1 and its components. The connecting arm 4 is driven to swing around the axis hinged to the bottom arm 3 by the first hydraulic cylinder 6, and the telescopic arm 5 is driven to swing around the axis hinged to the connecting arm 4 by the second hydraulic cylinder 7. The telescopic arm 5 can extend and retract along its length direction, realizing multiple degrees of freedom of movement and completing the coarse adjustment of the position.

[0068] By having the first rotary unit 81 rotate in the YZ plane, the second rotary unit 82 rotate in the XY plane, and the third rotary unit 83 rotate in the XZ plane, the angle of the cantilever arm fixture or the hanging column fixture can be adjusted in the three coordinate planes of the entire coordinate system, thereby improving the degree of freedom of the robot and making the angle adjustment more precise and reliable.

[0069] This installation robot can accurately adjust the angle and position to achieve precise alignment of the cantilever arm or hanging column fixtures, improving the installation efficiency of the cantilever arm or hanging column, and eliminating the need for manual intervention, thus enhancing construction safety.

[0070] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A catenary arm and post mounting robot for a railway overhead line system, characterized in that The utility model relates to a kind of crane, including base, connecting table, bottom arm, connecting arm, telescopic arm, first hydraulic cylinder, second hydraulic cylinder and end rotary assembly, wherein: The base is used to connect the transport vehicle; The connecting table is rotatably mounted on the base; The bottom arm is fixedly mounted on the connecting table; One end of the connecting arm is hingedly connected to the end of the bottom arm away from the connecting table, and the other end is hingedly connected to the telescopic arm; The telescopic arm can be extended and retracted along its length direction; The first hydraulic cylinder is mounted on the bottom arm and drivingly connected to the connecting arm; The second hydraulic cylinder is mounted on the connecting arm and drivingly connected to the telescopic arm, and the central axis of the second hydraulic cylinder is in the same plane as the central axis of the first hydraulic cylinder; The end rotary assembly is connected to the end of the telescopic arm away from the connecting arm, for connecting wrist-arm tooling or column tooling.

2. The railway overhead line system arm and post mounting robot of claim 1, wherein, The end rotary assembly includes a first rotary unit, a second rotary unit and a third rotary unit, the first rotary unit is connected to the telescopic arm for rotation in YZ plane, the second rotary unit is connected to the first rotary unit and the third rotary unit respectively for rotation in XY plane, and the third rotary unit is used for connecting wrist-arm tooling or column tooling for rotation in XZ plane.

3. The railway overhead line system mast and arm mounting robot of claim 2 wherein, The first rotary unit includes a first mounting seat, a first rotary table and a first driving member, the first mounting seat is connected to the telescopic arm, the first rotary table includes a first mounting disc and a first rotating disc, the first mounting disc is fixedly mounted on the first mounting seat, the first rotating disc is rotatably mounted on the first mounting disc and connected to the second rotary unit, and the first driving member is drivingly connected to the first rotating disc.

4. The railway overhead line system arm and post mounting robot of claim 3, wherein, The second rotary unit includes a second mounting seat, a second rotary table and a second driving member, the second mounting seat is connected to the first rotating disc, the second rotary table includes a second mounting disc and a second rotating disc, the second mounting disc is fixedly mounted on the second mounting seat, the second rotating disc is rotatably mounted on the second mounting disc and connected to the third rotary unit, and the second driving member is drivingly connected to the second rotating disc.

5. The railway overhead line system arm and post mounting robot of claim 4, wherein, The third rotary unit includes a third mounting seat, a third rotary table and a third driving member, the third mounting seat is connected to the second rotating disc, the third rotary table includes a third mounting disc and a third rotating disc, the third mounting disc is fixedly mounted on the third mounting seat, the third rotating disc is rotatably mounted on the third mounting disc and used for connecting wrist-arm tooling or column tooling, and the second driving member is drivingly connected to the second rotating disc.

6. The catenary arm and post mounting robot of claim 1 wherein, The telescopic arm includes a fixed arm, a first movable arm, a second movable arm, a third movable arm and an end arm, the fixed arm is hingedly connected to the connecting arm, the first movable arm is slidingly mounted on the fixed arm, the second movable arm is slidingly mounted on the first movable arm, the third movable arm is slidingly mounted on the second movable arm, and the end arm is slidingly mounted on the third movable arm and connected to the end rotary assembly.

7. The railway overhead line system arm and post mounting robot of claim 6, wherein, The telescopic arm further comprises a first support frame, a first oil cylinder, a second support frame, a second oil cylinder, a third support frame, a third oil cylinder, a fourth support frame, a fourth oil cylinder and a connecting frame; the first support frame is installed on the fixed arm near one end of the first movable arm; the first oil cylinder is installed on the first support frame and is drivingly connected with the second support frame; the second support frame is installed on the first movable arm away from the fixed arm; the second oil cylinder is installed on the second support frame and is drivingly connected with the third support frame; the third support frame is installed on the second movable arm away from the first movable arm; the third oil cylinder is installed on the third support frame and is drivingly connected with the fourth support frame; the fourth support frame is installed on the third movable arm away from the second movable arm; the fourth oil cylinder is installed on the fourth support frame and is drivingly connected with the connecting frame; and the connecting frame is installed on the end arm.

8. The railway overhead line system arm and post mounting robot of claim 7, wherein, The telescopic arm further comprises a first reinforcing rib, a second reinforcing rib, a third reinforcing rib and a fourth reinforcing rib; the first reinforcing rib is installed on the outer wall of the fixed arm near one end of the first movable arm; the second reinforcing rib is installed on the outer wall of the first movable arm away from the fixed arm; the third reinforcing rib is installed on the outer wall of the second movable arm away from the first movable arm; and the fourth reinforcing rib is installed on the outer wall of the third movable arm away from the second movable arm.

9. The catenary mast mounting robot of claim 1 wherein, The base further comprises four lifting legs which are slidingly installed on the base in a lifting manner and form a rectangle.

10. A catenary mast mounting robot as claimed in any one of claims 1 to 9, wherein, The base is provided with a rest frame at each end along the length direction of the transport vehicle, and the rest frame is used for supporting the telescopic arm.

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