CN113352332A - Mechanical arm structure with multiple operating heads - Google Patents
Mechanical arm structure with multiple operating heads Download PDFInfo
- Publication number
- CN113352332A CN113352332A CN202110476177.9A CN202110476177A CN113352332A CN 113352332 A CN113352332 A CN 113352332A CN 202110476177 A CN202110476177 A CN 202110476177A CN 113352332 A CN113352332 A CN 113352332A
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- CN
- China
- Prior art keywords
- rotating
- shaft
- gear
- lifting
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mechanisms For Operating Contacts (AREA)
- Transmission Devices (AREA)
Abstract
本发明公开了一种多操作头的机械臂结构，涉及开关柜控制技术领域；包括壳体、用以移动壳体的移动机构、下端插入壳体的升降轴、用以升降升降轴的升降机构、位于升降轴上端的用以按压开关的电动伸缩杆；所述电动伸缩杆的输出轴上转动连接有转轴，所述转轴上滑动连接有滑套，所述滑套上固接有用以拨动开关的拨杆，所述电动伸缩杆的输出轴上设有用以转动转轴的转动机构，所述转轴上设有用以驱动滑套在转轴上运动的驱动机构。本发明有益效果：只要后台控制即可，不需要专人前往电力站，控制效率高。
The invention discloses a multi-operating head mechanical arm structure, which relates to the technical field of switch cabinet control. , an electric telescopic rod located at the upper end of the lifting shaft to press the switch; the output shaft of the electric telescopic rod is rotatably connected with a rotating shaft, the rotating shaft is slidably connected with a sliding sleeve, and the sliding sleeve is fixedly connected to toggle The toggle lever of the switch, the output shaft of the electric telescopic rod is provided with a rotating mechanism for rotating the rotating shaft, and the rotating shaft is provided with a driving mechanism for driving the sliding sleeve to move on the rotating shaft. The beneficial effects of the invention are as follows: as long as the background control is required, no special person is required to go to the power station, and the control efficiency is high.
Description
Technical Field
The invention belongs to the technical field of switch cabinet control, and particularly relates to a mechanical arm structure with multiple operating heads.
Background
There are a lot of cubical switchboard in the transformer substation, and these cubical switchboard often arrange in rows, need the special messenger to go to the transformer substation to operate when needs control a certain cubical switchboard, and inefficiency.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a mechanical arm structure with multiple operating heads, which can replace a specially-assigned person to operate a switch cabinet, does not need to specially go to a transformer substation, and has high control efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention has the beneficial effects that:
a mechanical arm structure with multiple operating heads comprises a shell, a moving mechanism used for moving the shell, a lifting shaft with the lower end inserted into the shell, a lifting mechanism used for lifting the lifting shaft, and an electric telescopic rod positioned at the upper end of the lifting shaft and used for pressing a switch; the electric telescopic handle is characterized in that a rotating shaft is rotatably connected to an output shaft of the electric telescopic handle, a sliding sleeve is slidably connected to the rotating shaft, a shifting lever for shifting a switch is fixedly connected to the sliding sleeve, a rotating mechanism for rotating the rotating shaft is arranged on the output shaft of the electric telescopic handle, and a driving mechanism for driving the sliding sleeve to move in the rotating shaft is arranged on the rotating shaft.
Preferably, the moving mechanism comprises a screw rod penetrating through the shell, a driven gear rotationally connected with the shell, a driving gear meshed with the driven gear, and a driving machine used for rotating the driving gear; the driven gear is in threaded connection with the screw, and the driving gear is in rotary connection with the shell; and the shell is provided with a positioning mechanism.
Preferably, a guide rail is arranged on the lower side of the shell, the shell is connected to the guide rail in a sliding mode, supporting plates are arranged at two ends of the guide rail, and two ends of the screw rod are fixedly connected with the corresponding supporting plates; the positioning mechanism is an infrared distance meter which is positioned on one side of the shell and used for measuring the distance to the corresponding supporting plate.
Preferably, the guide rail is provided with a guide groove for guiding the shell on the upper side, and the shell is provided with a guide block matched with the guide groove on the lower side, wherein the guide block is slidably connected in the guide groove.
Preferably, the lifting mechanism comprises a lower belt wheel fixedly connected with the driven gear, an upper belt wheel rotatably connected with the shell, a rotating belt used for rotating the lower belt wheel and the upper belt wheel, a lifting gear rotatably connected with the upper belt wheel, damping oil positioned between the lifting gear and the upper belt wheel, a lifting rack fixedly connected with the lifting shaft, a spring used for applying downward force to the lifting shaft, and a second positioning mechanism used for positioning the lifting shaft; the lifting rack is meshed with the lifting gear.
Preferably, the second positioning mechanism comprises a sliding chute positioned at one side of the lower end of the lifting shaft, a stop rod connected in the sliding chute in a sliding manner, a return spring positioned in the sliding chute and used for returning the stop rod, and an electric cylinder positioned at one side of the shell and used for stopping the stop; the output shaft of the stopping electric cylinder is matched with the stopping rod so as to realize the positioning of the lifting shaft; the number of the stop rods is the same as the number of the rows of the switches, and the height of each stop rod is matched with the height of the corresponding row of the switches; and an inclined plane convenient to be matched with an output shaft of the stopping electric cylinder is arranged at one end, far away from the return spring, of the stopping rod.
Preferably, the rotating mechanism comprises a crown gear fixedly connected with the rotating shaft, a rotating machine positioned on the output shaft of the electric telescopic rod and a rotating gear connected with the rotating machine; the rotating gear is meshed with the crown gear.
Preferably, the driving mechanism is a driving cylinder located between the sliding sleeve and the crown gear.
The invention has the beneficial effects that: the control can be carried out only by the background control, a specially-assigned person is not required to go to the transformer substation, and the control efficiency is high.
Drawings
FIG. 1 is a schematic diagram of an embodiment;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a schematic view of the stopper rod and the stopper electric cylinder when they are engaged;
FIG. 4 is an enlarged view of FIG. 2 at B;
fig. 5 is a schematic view of the extension of the drive cylinder.
In the figure: the device comprises a shell 1, a lifting shaft 2, an electric telescopic rod 4, a rotating shaft 5, a sliding sleeve 6, a switch 7, a shift lever 8, a screw rod 9, a driven gear 10, a driving gear 11, a guide rail 12, a guide groove 13, a guide block 14, a support plate 15, an infrared distance meter 16, a lower belt wheel 17, an upper belt wheel 18, a transmission belt 19, a lifting gear 20, a lifting rack 21, a spring 22, a sliding groove 23, a stop rod 24, a return spring 25, a stop electric cylinder 26, an inclined plane 27, a crown gear 28, a rotating machine 29, a rotating gear 30, a driving cylinder 31 and a rotating shifting piece 32.
Detailed Description
The invention is explained in further detail below with reference to the figures and the detailed description:
example (b):
referring to fig. 1 to 5, a robot arm structure with multiple operating heads comprises a housing 1, a moving mechanism for moving the housing 1, a lifting shaft 2 with the lower end inserted into the housing 1, a lifting mechanism for lifting the lifting shaft 2, and an electric telescopic rod 4 positioned at the upper end of the lifting shaft 2 for pressing a switch;
the utility model discloses a switch, including electric telescopic handle 4, pivot 5, sliding connection have sliding sleeve 6 on the output shaft of electric telescopic handle 4, the rigid coupling has the driving lever 8 that is used for toggle switch 7 on the sliding sleeve 6, be equipped with the slewing mechanism who is used for rotating pivot 5 on electric telescopic handle 4's the output shaft, be equipped with the actuating mechanism who is used for driving sliding sleeve 6 and moves in pivot 5 on the pivot 5 in the pivot 5.
The moving mechanism comprises a screw 9 penetrating through the shell 1, a driven gear 10 connected with the shell 1 in a rotating way, a driving gear 11 meshed with the driven gear 10, and a driving machine used for rotating the driving gear 11;
the driven gear 10 is in threaded connection with the screw 9, and the driving gear 11 is in rotary connection with the shell 1;
and a positioning mechanism is arranged on the shell 1.
A guide rail 12 is arranged on the lower side of the shell 1, the shell 1 is connected to the guide rail 12 in a sliding mode, supporting plates 15 are arranged at two ends of the guide rail 12, and two ends of the screw rod 9 are fixedly connected with the corresponding supporting plates 15;
the positioning mechanism is an infrared distance meter 16 located at one side of the housing 1 to measure the distance to the corresponding support plate 15.
The guide rail 12 is provided with a guide groove 13 on the upper side for guiding the housing 1, the housing 1 is provided with a guide block 14 on the lower side for matching with the guide groove 13, and the guide block 14 is slidably connected in the guide groove 13.
The lifting mechanism comprises a lower belt wheel 17 fixedly connected with the driven gear 10, an upper belt wheel 18 rotatably connected with the shell 1, a transmission belt 19 used for rotating the lower belt wheel 17 and the upper belt wheel 18, a lifting gear 20 rotatably connected with the upper belt wheel 18, damping oil positioned between the lifting gear 20 and the upper belt wheel 18, a lifting rack 21 fixedly connected with the lifting shaft 2, a spring 22 used for applying downward force to the lifting shaft 2, and a second positioning mechanism used for positioning the lifting shaft 2;
the lifting rack 21 is engaged with the lifting gear 20.
The second positioning mechanism comprises a sliding chute 23 positioned at one side of the lower end of the lifting shaft 2, a stop rod 24 connected in the sliding chute 23 in a sliding manner, a return spring 25 positioned in the sliding chute 23 and used for returning the stop rod 24, and an electric cylinder 26 positioned at one side of the shell 1 and used for stopping;
the output shaft of the stop electric cylinder 26 is used for matching with the stop rod 24 so as to realize the positioning of the lifting shaft 2;
the number of the stop rods 24 is the same as the number of rows of the switches, and the height of each stop rod 24 is matched with that of the corresponding row of the switches;
the end of the stop rod 24 remote from the return spring 25 is provided with a ramp 27 for facilitating engagement with the output shaft of the stop electric cylinder 26.
The rotating mechanism comprises a crown gear 28 fixedly connected with the rotating shaft 5, a rotating machine 29 positioned on the output shaft of the electric telescopic rod 4 and a rotating gear 30 connected with the rotating machine;
the rotation gear 30 is engaged with the crown gear 28.
The driving mechanism is a driving cylinder 31 positioned between the sliding sleeve 6 and the crown gear 28.
Principle of embodiment:
the switch cabinets are arranged in rows, the shell 1 is positioned at one end of the guide rail 12, referring to fig. 1, switches on the switch cabinets are of a pressing type and a rotating type, the rotating type switch 7 comprises a rotating poking piece 32, and the rotating poking piece 32 needs to be rotated when in operation;
when a certain switch of a certain row of a certain switch cabinet needs to be operated, a signal is sent by the background, the corresponding stop electric cylinder 26 extends, the driven gear 10 rotates, the shell moves towards the switch cabinet along the screw rod, the infrared distance meter 16 can measure the position of the shell on the guide rail 12, the lower belt wheel 17 rotates and the upper belt wheel rotates under the action of the driven gear, the lifting gear 20 rotates and the lifting rack 21 moves upwards under the action of damping oil, the stop rod 24 passes through the extended stop electric cylinder 26 under the action of an inclined plane, the driving gear 11 stops rotating and the shell stops moving after the shell reaches a specified place, the lifting shaft 2 moves downwards under the action of a spring until the stop rod 24 abuts against the extended stop electric cylinder 26, and at the moment, the electric telescopic rod 4 corresponds to the switch position needing to be operated; according to the type of the switch, if the switch is a push type, the electric telescopic rod 4 extends to press the switch, if the switch is a rotary type, the driving cylinder 31 extends, the shifting rod 8 approaches to the switch cabinet, see fig. 5, then the rotating shaft rotates, and the shifting rod 8 shifts the rotating shifting piece 32, so that the switch can be operated.
The invention only needs background control, and does not need a specially-assigned person to go to the transformer substation, thereby having high control efficiency.
Claims (8)
1. A mechanical arm structure with multiple operating heads is characterized by comprising a shell, a moving mechanism for moving the shell, a lifting shaft with the lower end inserted into the shell, a lifting mechanism for lifting the lifting shaft, and an electric telescopic rod which is positioned at the upper end of the lifting shaft and used for pressing a switch;
the electric telescopic handle is characterized in that a rotating shaft is rotatably connected to an output shaft of the electric telescopic handle, a sliding sleeve is slidably connected to the rotating shaft, a shifting lever for shifting a switch is fixedly connected to the sliding sleeve, a rotating mechanism for rotating the rotating shaft is arranged on the output shaft of the electric telescopic handle, and a driving mechanism for driving the sliding sleeve to move in the rotating shaft is arranged on the rotating shaft.
2. The robotic arm structure of a multi-operating head as claimed in claim 1, wherein the moving mechanism includes a screw passing through the housing, a driven gear rotatably coupled to the housing, a drive gear engaged with the driven gear, a drive motor for rotating the drive gear;
the driven gear is in threaded connection with the screw, and the driving gear is in rotary connection with the shell;
and the shell is provided with a positioning mechanism.
3. The mechanical arm structure with multiple operating heads as claimed in claim 2, wherein a guide rail is arranged on the lower side of the housing, the housing is slidably connected to the guide rail, support plates are arranged at two ends of the guide rail, and two ends of the screw are fixedly connected with the corresponding support plates;
the positioning mechanism is an infrared distance meter which is positioned on one side of the shell and used for measuring the distance to the corresponding supporting plate.
4. The robotic arm structure of a multi-operating head as claimed in claim 3, wherein the guide rail is provided with a guide slot on an upper side thereof for guiding the housing, and a guide block fitted with the guide slot on a lower side thereof, the guide block being slidably coupled in the guide slot.
5. The robot arm structure of claim 4, wherein the elevating mechanism comprises a lower pulley fixed to the driven gear, an upper pulley rotatably connected to the housing, a rotating belt for rotating the lower pulley and the upper pulley, an elevating gear rotatably connected to the upper pulley, damping oil between the elevating gear and the upper pulley, an elevating rack fixed to the elevating shaft, a spring for applying a downward force to the elevating shaft, and a second positioning mechanism for positioning the elevating shaft;
the lifting rack is meshed with the lifting gear.
6. The mechanical arm structure of multiple operating heads as claimed in claim 5, wherein the second positioning mechanism comprises a slide groove at one side of the lower end of the lifting shaft, a stop rod slidably connected in the slide groove, a return spring in the slide groove for returning the stop rod, a stop electric cylinder at one side of the housing for returning the stop;
the output shaft of the stopping electric cylinder is matched with the stopping rod so as to realize the positioning of the lifting shaft;
the number of the stop rods is the same as the number of the rows of the switches, and the height of each stop rod is matched with the height of the corresponding row of the switches;
and an inclined plane convenient to be matched with an output shaft of the stopping electric cylinder is arranged at one end, far away from the return spring, of the stopping rod.
7. The mechanical arm structure with multiple operating heads as claimed in claim 1, wherein the rotating mechanism comprises a crown gear fixed to a rotating shaft, a rotating machine arranged on an output shaft of the electric telescopic rod, and a rotating gear connected with the rotating machine;
the rotating gear is meshed with the crown gear.
8. A robotic arm structure of a multi-operating head as claimed in claim 7, in which the drive mechanism is a drive cylinder located between a sliding sleeve and a crown gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110476177.9A CN113352332B (en) | 2021-04-29 | 2021-04-29 | A multi-operating head mechanical arm structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110476177.9A CN113352332B (en) | 2021-04-29 | 2021-04-29 | A multi-operating head mechanical arm structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113352332A true CN113352332A (en) | 2021-09-07 |
| CN113352332B CN113352332B (en) | 2022-06-24 |
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ID=77525607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110476177.9A Active CN113352332B (en) | 2021-04-29 | 2021-04-29 | A multi-operating head mechanical arm structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113352332B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8161631B1 (en) * | 2009-09-18 | 2012-04-24 | Finley Lee Ledbetter | Motor controlled bucket replacement tool |
| CN104868389A (en) * | 2015-05-30 | 2015-08-26 | 国网山东济南市历城区供电公司 | High voltage switch cabinet door opening device |
| CN106329343A (en) * | 2016-10-28 | 2017-01-11 | 合肥华义电气科技有限公司 | Movable safety operation high-low voltage switch cabinet device |
| CN109434860A (en) * | 2018-11-12 | 2019-03-08 | 亿嘉和科技股份有限公司 | A kind of mechanical paw of switch cabinet panel switch operation |
| CN112164999A (en) * | 2020-10-10 | 2021-01-01 | 山东鼎盛电气设备有限公司 | Movable safety operation high-low switch cabinet device |
-
2021
- 2021-04-29 CN CN202110476177.9A patent/CN113352332B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8161631B1 (en) * | 2009-09-18 | 2012-04-24 | Finley Lee Ledbetter | Motor controlled bucket replacement tool |
| CN104868389A (en) * | 2015-05-30 | 2015-08-26 | 国网山东济南市历城区供电公司 | High voltage switch cabinet door opening device |
| CN106329343A (en) * | 2016-10-28 | 2017-01-11 | 合肥华义电气科技有限公司 | Movable safety operation high-low voltage switch cabinet device |
| CN109434860A (en) * | 2018-11-12 | 2019-03-08 | 亿嘉和科技股份有限公司 | A kind of mechanical paw of switch cabinet panel switch operation |
| CN112164999A (en) * | 2020-10-10 | 2021-01-01 | 山东鼎盛电气设备有限公司 | Movable safety operation high-low switch cabinet device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113352332B (en) | 2022-06-24 |
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