Manipulator capable of replacing steel clamp of power transmission tower

Abstract

The utility model discloses a manipulator capable of replacing a steel clamp of a power transmission tower, which comprises a main arm, the end part of the main arm is provided with a connecting port, a clamp module is matched in the connecting port, the clamp module comprises a clamping part and a connecting part used for being assembled in the connecting port, the side wall of the connecting part is provided with a positioning elastic sheet, and the positioning elastic sheet is matched with the clamping part. A positioning elastic piece is arranged on the side wall of the main arm, a positioning block is arranged on the positioning elastic piece, a positioning groove is formed in the inner wall of the connecting port, the positioning groove and the positioning block are connected in a clamped mode to form close fit of the clamp module in the connecting port, an inserting groove is formed in the free end of the positioning elastic piece, and a guiding piece is further arranged on the side wall of the main arm in a sliding mode. The edge of the positioning groove is provided with an inserting opening used for inserting a guiding piece into the inserting groove to enable the positioning elastic piece to be folded. The structure is simple, the clamp is convenient to replace, and the production and machining efficiency is good.

Description

Technical Field

[0001] This utility model relates to a robotic arm that can replace the steel clamps of power transmission towers. Background Technology

[0002] In the field of angle steel processing and manufacturing, with the advancement of Industry 4.0, the demand for automated production is becoming increasingly urgent. Robotic arms, with their high-precision positioning and intelligent control technology, have become the core equipment for automating the loading and unloading of angle steel raw materials of different shapes and sizes. The end effector of the robotic arm can accurately grasp various specifications of angle steel, such as L-shaped and unequal-sided angle steel, achieving an efficiency improvement of over 300% compared to traditional manual operation. Simultaneously, robotic arms can operate 24 hours a day without interruption, significantly reducing the labor intensity of workers and improving production efficiency.

[0003] However, existing robotic arms still face pressing problems in practical applications. While the commonly used modular grippers can meet the gripping needs of different angle steel specifications to some extent, they reveal drawbacks such as complex operation and low efficiency when dealing with frequent production task changes. When it is necessary to change the gripper to accommodate different angle steel specifications, operators must use special tools to disassemble the fixing bolts, remove the original gripper, and then install the new, compatible gripper. The entire process is cumbersome and time-consuming, with a single gripper replacement taking up to 40 minutes, severely impacting production progress and equipment utilization. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a robotic arm with replaceable steel clamps for power transmission towers. It has a simple structure, convenient clamp replacement, and good production and processing efficiency.

[0005] To achieve the above objectives, this utility model provides a robotic arm with replaceable steel clamps for power transmission towers, including a main arm. A connection port is provided at the end of the main arm, and a clamp module is fitted into the connection port. The clamp module includes a clamping part and a connecting part for assembly into the connection port. A positioning spring is provided on the side wall of the connecting part, and a positioning block is provided on the positioning spring. A positioning groove is provided on the inner wall of the connection port. The positioning groove and the positioning block engage to form a tight fit between the clamp module and the connection port. A slot is provided at the free end of the positioning spring. A guide is slidably provided on the side wall of the main arm, and an insertion port is provided at the edge of the positioning groove for inserting the guide into the slot to retract the positioning spring.

[0006] The advantages of this design are as follows: The fixture module, consisting of a clamping section and a connecting section, uses a positioning spring on the side wall of the connecting section. The positioning block on the positioning spring precisely engages with the positioning groove on the inner wall of the connecting port. During assembly, the two parts mesh tightly, forming a stable tight fit. This ensures that the fixture will not loosen or fall off during the robot's operation, providing reliable clamping protection for the production process. When disassembling the fixture, a guide sliding on the side wall of the main arm engages with the insertion port on the edge of the positioning groove. When the fixture needs to be replaced, the operator simply pushes the guide gently, allowing it to slide along a preset track into the insertion port. After insertion, the guide abuts against the slot at the free end of the positioning spring. Through ingenious mechanical design, the positioning spring undergoes elastic deformation and retracts, thereby causing the positioning block to disengage from the positioning groove. At this point, the locking state between the fixture module and the main arm connection port is released, allowing the operator to easily remove the old fixture. The entire process requires no additional tools, making it simple and convenient. When installing a new fixture module, simply align the connecting part with the connector and insert it. During insertion, the positioning spring will automatically pop open, and the positioning block will precisely embed into the positioning slot, instantly completing the secure installation of the fixture. Compared to the cumbersome disassembly and installation steps when changing fixtures with traditional robotic arms, this design significantly improves the efficiency of fixture replacement, substantially reduces equipment downtime, and effectively enhances the continuity of production operations.

[0007] As a further feature of this invention, the free end of the positioning spring extends towards the connecting portion with a folded edge, the folded edge is smoothly connected to the positioning spring, and the slot is disposed between the folded edge and the positioning spring.

[0008] The beneficial effects of this design are as follows: The folded edge design, extending from the free end of the positioning spring towards the connecting part, further enhances the convenience and stability of fixture disassembly. The smooth connection between the folded edge and the positioning spring not only ensures structural strength but also cleverly optimizes the force transmission path. When the guide component is inserted into the socket and contacts the slot between the folded edge and the positioning spring, the folded edge serves as a reliable point of force application, effectively absorbing the thrust applied by the guide component. Compared to directly applying force to the positioning spring, the presence of the folded edge makes the force transmission more concentrated and stable, more efficiently causing the positioning spring to retract and pulling the positioning block out of the positioning slot. This design significantly enhances the guiding effect during disassembly, ensuring that the positioning spring maintains good elasticity and accuracy even with frequent operation over extended periods, greatly improving the reliability and durability of the robotic gripper replacement structure.

[0009] As a further feature of this utility model, the guide includes an insertion part and a positioning part. One end of the insertion part is connected to the positioning part through a connecting block, and the other end is positioned corresponding to the insertion port. The positioning part slides and engages with the side wall of the main arm. A baffle is also provided on the side wall, and a fastening screw is fitted on the baffle. A locking hole is provided on the positioning part corresponding to the position of the fastening screw. The fastening screw and the locking hole cooperate to limit the insertion port of the insertion part.

[0010] The advantages of this design are as follows: The guide consists of an insertion part, a positioning part, and a connecting block. One end of the insertion part is connected to the positioning part via the connecting block, while the other end precisely corresponds to the insertion port. The positioning part uses a sliding fit design with the main arm side wall. This basic and practical structure makes the installation and operation of the guide extremely simple. A further baffle is installed on the main arm side wall, with a fastening screw engaging with it. The locking hole on the positioning part precisely aligns with the fastening screw. When disassembling the clamp, the operator first loosens the fastening screw, allowing the positioning part to slide freely, pushing the guide to allow the insertion part to smoothly insert into the insertion port. After disassembly, the positioning part is slid back to its original position, and the fastening screw is tightened to engage with the locking hole, thus limiting the insertion position of the insertion part. This design is not only simple in structure and convenient in positioning, but more importantly, the fixing effect of the fastening screw effectively prevents the clamp from accidentally loosening due to operator mis-touching of the guide.

[0011] As a further feature of this invention, a guide slope is provided at one end of the insertion port of the insertion part.

[0012] The advantages of this design are: when the operator pushes the guide, the guide ramp naturally slides against the edge of the insertion slot, allowing for smooth insertion without deliberate alignment. This design significantly reduces operational difficulty, especially in high-intensity work scenarios involving frequent fixture changes, effectively reducing insertion jams and misalignment, and enabling the guide to more smoothly trigger the positioning spring to retract.

[0013] As a further feature of this invention, the positioning spring is provided with locking teeth.

[0014] The beneficial effects of this design are: with these teeth evenly distributed on the surface of the positioning spring, the sawtooth-shaped microstructure design forms an engagement with the inside of the connection port, generating stronger friction and mechanical locking force, making it difficult for the clamp to loosen even when subjected to high-intensity vibration and impact, thus ensuring stability under complex working conditions such as precision assembly and high-speed handling. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an embodiment of the present utility model;

[0016] Figure 2This is a cross-sectional structural diagram of the clamp module connection part in an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the clamp module connection part in an embodiment of the present utility model. Detailed Implementation

[0018] An example of the implementation of this utility model of a robotic arm capable of replacing steel clamps for power transmission towers. Figures 1 to 3 As shown: It includes a main arm 1, and a connection port is provided at the end of the main arm 1. A clamping module is fitted in the connection port. The clamping module includes a clamping part and a connecting part 2 for assembly in the connection port. A positioning spring 21 is provided on the side wall of the connecting part 2. A positioning block 22 is provided on the positioning spring 21. A positioning groove is provided on the inner wall of the connection port. The positioning groove and the positioning block 22 are engaged to form a tight fit of the clamping module in the connection port. A slot 24 is provided at the free end of the positioning spring 21. A guide is also slidably provided on the side wall of the main arm 1. An insertion port 13 is provided at the edge of the positioning groove for inserting the guide into the slot 24 to retract the positioning spring 21. The advantages of this design are as follows: The fixture module, consisting of a clamping part and a connecting part 2, uses a positioning spring 21 on the side wall of the connecting part 2. The positioning block 22 on the positioning spring 21 precisely engages with the positioning groove on the inner wall of the connecting port. During assembly, the two parts mesh tightly, forming a stable tight fit, ensuring that the fixture will not loosen or fall off during the operation of the robot arm, providing reliable clamping protection for the production process. When disassembling the fixture, the guide piece sliding on the side wall of the main arm 1 engages with the insertion port 13 on the edge of the positioning groove. When the fixture needs to be replaced, the operator simply pushes the guide piece gently, allowing it to slide along the preset track into the insertion port 13. After insertion, the guide piece abuts against the slot 24 at the free end of the positioning spring 21. Through ingenious mechanical design, the positioning spring 21 undergoes elastic deformation and retracts, thereby causing the positioning block 22 to disengage from the positioning groove. At this point, the locking state between the fixture module and the main arm 1 connection port is released, allowing the operator to easily remove the old fixture. The entire process requires no additional tools, making the operation simple and convenient. When installing a new fixture module, simply align the connecting part 2 with the connecting port and insert it. During insertion, the positioning spring 21 will automatically spring open, and the positioning block 22 will precisely embed into the positioning groove, instantly completing the stable installation of the fixture. Compared with the cumbersome disassembly and installation steps when changing fixtures with traditional robotic arms, this design greatly improves the efficiency of fixture replacement, significantly reduces equipment downtime, and effectively improves the continuity of production operations.

[0019] As a further feature of this embodiment, the free end of the positioning spring 21 extends towards the connecting portion 2 with a folded edge 23. The folded edge 23 is smoothly connected to the positioning spring 21, and the slot 24 is disposed between the folded edge 23 and the positioning spring 21. The beneficial effects of this design are: the folded edge 23 extending from the free end of the positioning spring 21 towards the connecting portion 2 further improves the convenience and stability of fixture disassembly. The smooth connection between the folded edge 23 and the positioning spring 21 not only ensures structural strength but also cleverly optimizes the force transmission path. When the guide is inserted into the socket 13 and contacts the slot 24 disposed between the folded edge 23 and the positioning spring 21, the folded edge 23 serves as a reliable point of force application, effectively bearing the thrust applied by the guide. Compared to directly acting on the positioning spring 21, the presence of the folded edge 23 makes the force transmission more concentrated and stable, more efficiently causing the positioning spring 21 to retract and driving the positioning block 22 out of the positioning groove. This design significantly enhances the guiding effect during the disassembly process, ensuring that the positioning spring 21 maintains good elasticity and accuracy even with frequent operation over a long period of time, greatly improving the reliability and durability of the robotic gripper replacement structure.

[0020] As a further feature of this embodiment, the guide includes an insertion part 32 and a positioning part 31. One end of the insertion part 32 is connected to the positioning part 31 via a connecting block, and the other end is positioned corresponding to the insertion port 13. The positioning part 31 slides against the side wall of the main arm 1. A baffle 11 is also provided on the side wall, and a fastening screw 12 is fitted on the baffle 11. A locking hole is provided on the positioning part 31 corresponding to the position of the fastening screw 12. The fastening screw 12 and the locking hole cooperate to limit the insertion of the insertion part 32 into the insertion port 13. The beneficial effect of this configuration is that, with this configuration, the guide consists of an insertion part 32, a positioning part 31, and a connecting block. One end of the insertion part 32 is connected to the positioning part 31 via the connecting block, and the other end precisely corresponds to the position of the insertion port 13. The positioning part 31 and the side wall of the main arm 1 adopt a sliding fit design. This basic and practical structure makes the installation and operation of the guide extremely simple. A further baffle 11 is set on the side wall of the main arm 1, and the fastening screw 12 engages with it. The locking hole on the positioning part 31 precisely corresponds to the fastening screw 12. When the clamp needs to be disassembled, the operator first loosens the fastening screw 12, allowing the positioning part 31 to slide freely, pushing the guide to allow the insertion part 32 to smoothly insert into the socket 13. After disassembly, the positioning part 31 is slid back to its original position, and the fastening screw 12 is tightened to engage with the locking hole, thereby limiting the insertion of the insertion part 32 into the socket 13. This design is not only simple in structure and convenient in positioning, but more importantly, the fixing effect of the fastening screw 12 effectively prevents the clamp from accidentally loosening due to operator mis-touching of the guide.

[0021] As a further feature of this embodiment, one end of the insertion part 32 into the insertion port 13 is provided with a guide slope. The advantage of this design is that when the operator pushes the guide member, the guide slope naturally slides against the edge of the insertion port 13, allowing for smooth insertion without deliberate alignment. This design significantly reduces operational difficulty, especially in high-intensity work scenarios involving frequent fixture changes, effectively reducing insertion jamming and misalignment, and enabling the guide member to more smoothly trigger the retraction of the positioning spring 21.

[0022] As a further feature of this embodiment, the positioning spring 21 is provided with locking teeth. The beneficial effect of this feature is that these locking teeth are evenly distributed on the surface of the positioning spring 21, forming a sawtooth-shaped microstructure design. They engage with the inside of the connection port, generating stronger friction and mechanical locking force, making it difficult for the clamp to loosen even when subjected to high-intensity vibration and impact, thus ensuring stability under complex working conditions such as precision assembly and high-speed transportation.

[0023] The above examples are merely one preferred embodiment of this utility model. Ordinary variations and substitutions made by those skilled in the art within the scope of this utility model's technical solution are all included within the protection scope of this utility model.

Claims

1. A robotic arm capable of replacing steel clamps for power transmission towers, comprising a main arm, characterized in that: The main arm end is provided with a connection port, and a clamping module is fitted into the connection port. The clamping module includes a clamping part and a connecting part for assembly into the connection port. A positioning spring is provided on the side wall of the connecting part, and a positioning block is provided on the positioning spring. A positioning groove is provided on the inner wall of the connection port. The positioning groove and the positioning block are engaged to form a tight fit between the clamping module and the connection port. A slot is provided at the free end of the positioning spring. A guide is also slidably provided on the side wall of the main arm. An insertion port is provided at the edge of the positioning groove for inserting the guide into the slot to retract the positioning spring.

2. The robotic arm with replaceable steel clamps for power transmission towers according to claim 1, characterized in that: The free end of the positioning spring extends toward the connecting part with a folded edge, which is smoothly connected to the positioning spring. The slot is disposed between the folded edge and the positioning spring.

3. The robotic arm with replaceable steel clamps for power transmission towers according to claim 1, characterized in that: The guide includes an insertion part and a positioning part. One end of the insertion part is connected to the positioning part through a connecting block, and the other end is set at the corresponding insertion port position. The positioning part slides and engages with the side wall of the main arm. A baffle is also provided on the side wall, and a fastening screw is fitted on the baffle. A locking hole is provided on the positioning part at the position corresponding to the fastening screw. The fastening screw and the locking hole cooperate to limit the insertion port of the insertion part.

4. The robotic arm with replaceable steel clamps for power transmission towers according to claim 3, characterized in that: The insertion end of the insertion part is provided with a guide slope.

5. The robotic arm with replaceable steel clamps for power transmission towers according to claim 1, characterized in that: The positioning spring is provided with locking teeth.

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