CN115095214A - Mechanical arm for clamping butt joint structure of electric power iron tower - Google Patents
Mechanical arm for clamping butt joint structure of electric power iron tower Download PDFInfo
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- CN115095214A CN115095214A CN202210712348.8A CN202210712348A CN115095214A CN 115095214 A CN115095214 A CN 115095214A CN 202210712348 A CN202210712348 A CN 202210712348A CN 115095214 A CN115095214 A CN 115095214A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
- E04H12/34—Arrangements for erecting or lowering towers, masts, poles, chimney stacks, or the like
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
- E04H12/02—Structures made of specified materials
- E04H12/08—Structures made of specified materials of metal
- E04H12/10—Truss-like structures
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Abstract
The invention discloses a mechanical arm for clamping a butt joint structure of an electric power iron tower, which comprises a mechanical arm platform and two clamping mechanisms symmetrically arranged in structure and connected to two sides of the mechanical arm platform, wherein each clamping mechanism comprises a mechanical arm depth adjusting module, a mechanical arm height adjusting module and a mechanical arm clamping module which are sequentially connected, the angle between the two clamping mechanisms can be adjusted, the mechanical arm is connected with a tower body advancing fixing device through the mechanical arm platform, and the mechanical arm is driven to move and fix on the iron tower through the tower body advancing fixing device. The application provides including arm platform, arm degree of depth adjustment module, arm height adjustment module, arm centre gripping module to and the body of the tower is marchd fixing device's automatic intelligent iron and is taken butt joint structure centre gripping arm, can replace the installer to step on the tower high altitude construction, and it is quick for the iron tower equipment provides, convenient, safe auxiliary action, has effectively solved installer high altitude construction's dangerous problem.
Description
Technical Field
The invention relates to the technical field of electric power iron tower construction, in particular to an auxiliary device for high-voltage transmission iron tower construction, and specifically relates to a mechanical arm for clamping an electric power iron tower butt joint structure.
Background
At present, with the continuous development of automation and intellectualization, various industries carry out automation and intellectualization upgrading on the production and manufacturing process, thereby providing a more efficient and safer production environment. In the construction process of the electric power iron tower, an intelligent new method is also introduced continuously, the operation is slowly replaced by an intelligent robot by adopting a manual assembly mode, and the new operation mode eliminates the occurrence of accidents of high-altitude operation personnel.
Disclosure of Invention
In order to meet the construction requirements of more efficient and safer electric power iron towers, the invention aims to provide a mechanical arm for clamping a butt joint structure of the electric power iron towers.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the utility model provides a centre gripping electric power iron tower butt-joint structural arm, includes arm platform and connects the fixture that two structural symmetry set up in arm platform both sides, every fixture all includes the arm degree of depth adjustment module, arm height adjustment module and the arm centre gripping module that connect gradually, two angle can be adjusted between the fixture, the arm is advanced fixing device through arm platform and body of the tower and is connected, through the body of the tower is advanced fixing device and is driven the arm removes on the iron tower and fixes.
Wherein, the arm platform includes upset support, support mounting seat, the arm platform base that from the top down set gradually, the upset support is the type of falling U structure, and its upper end vertically is provided with two upset motors side by side, and every upset motor both sides all are connected through rotatory round pin and upset support are articulated for the upset motor can be around rotatory certain angle of rotatory round pin, every upset lead screw is all connected to the output shaft of upset motor, and every upset lead screw all passes an upset screw and threaded connection, and two upset screws are equallyd divide and do not articulate with a fixture and be connected, support mounting seat both sides all are provided with the revolving axle, through the revolving axle is connected with the fixture of corresponding side.
The mechanical arm depth adjusting module comprises a turnover module, a mechanical arm depth adjusting module bottom plate, a first lead screw, a first motor mounting seat and a depth adjusting motor, wherein one end of the mechanical arm depth adjusting module bottom plate is connected with the turnover module, the other end of the mechanical arm depth adjusting module bottom plate is connected with the first motor mounting seat, the depth adjusting motor is mounted on the first motor mounting seat, two rows of first guide rails arranged in parallel are arranged between the turnover module and the first motor mounting seat, a first slide block is connected onto the first guide rails in a sliding mode, the first lead screw is further arranged, an output shaft of the depth adjusting motor is connected with the first lead screw, the first lead screw is connected with the mechanical arm height adjusting module, and the mechanical arm height adjusting module is driven to move through rotation of the first lead screw; the first sliding block is movably connected with the mechanical arm height adjusting module; the end part of the overturning module is provided with a hinge lug which is hinged with an overturning nut on the corresponding side, the lower end of the bottom plate of the mechanical arm depth adjusting module is provided with a connecting sleeve, and the connecting sleeve is connected with the rotating shaft.
Wherein, the mechanical arm height adjusting module comprises a height adjusting motor, a second motor mounting seat, a mechanical arm height adjusting module bottom plate, a second screw rod and an adapter plate, one end of the mechanical arm height adjusting module bottom plate is connected with the second motor mounting seat, the other end of the mechanical arm height adjusting module bottom plate is connected with the adapter plate, the second motor mounting seat is provided with the height adjusting motor, the output shaft of the height adjusting motor is connected with the second screw rod, the adapter plate is fixedly connected with the first slide block, the adapter plate is in threaded connection with the first screw rod through a first screw nut, the second screw rod is arranged between the second motor mounting seat and the adapter plate, two rows of second guide rails which are arranged in parallel are also arranged between the second motor mounting seat and the adapter plate, the second guide rails are in sliding connection with second slide blocks, and the second screw rods are both connected with the mechanical arm clamping module, the mechanical arm depth adjusting module bottom plate and the mechanical arm height adjusting module bottom plate are arranged perpendicularly.
The mechanical arm clamping module comprises a clamping motor, a lifting connection, a mechanical arm clamping module mounting plate, a mechanical arm clamping jaw connecting rod, a clamping plate connecting rod, a mechanical arm clamping plate and a mechanical arm clamping jaw, wherein the mechanical arm clamping module mounting plate is connected with the second sliding block and the second lead screw, and is in threaded connection with the second lead screw through a second screw nut; the upper end plate and the lower end plate are respectively connected with the upper end plate and the lower end plate at the upper end and the lower end of the mechanical arm clamping module mounting plate, two balance guide rods are arranged between the upper end plate and the lower end plate side by side, a clamping motor is arranged on the upper end plate, an output shaft of the clamping motor is connected with a third lead screw through a torque limiting assembly, the third lead screw passes through a third screw and is in threaded connection, the third screw is connected with the lifting connector, the lifting connector is provided with two guide holes, the two guide holes are in sliding connection with the two balance guide rods, the lower end of the third screw is connected with a mechanical arm clamping jaw connecting rod, the mechanical arm clamping jaw connecting rod is hollow, the lower end of the third lead screw extends into the hollow structure of the mechanical arm clamping jaw connecting rod, the lower end of the mechanical arm clamping jaw connecting rod is connected with a mechanical arm clamping jaw, and the mechanical arm clamping jaw connecting rod passes through the lower end plate and is in sliding connection, the mechanical arm clamping jaw is characterized in that a clamping plate connecting rod is connected to the lower end plate, a mechanical arm clamping plate is connected to the lower end of the clamping plate connecting rod, and the mechanical arm clamping plate is matched with the mechanical arm clamping jaw for use.
Wherein, the tower body advancing fixing device is an adsorption type robot or a clamping type robot.
Compared with the prior art, the invention has the beneficial effects that:
the application provides including arm platform, arm degree of depth adjustment module, arm height adjustment module, arm centre gripping module to and the body of the tower is marchd fixing device's automatic intelligent iron and is taken butt joint structure centre gripping arm, can replace the installer to step on the tower high altitude construction, and it is quick for the iron tower equipment provides, convenient, safe auxiliary action, has effectively solved installer high altitude construction's dangerous problem.
Drawings
FIG. 1 is a schematic view of a robot arm according to an embodiment of the present disclosure;
FIG. 2 is a first schematic view of a robot platform configuration provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of a robot platform base according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of a bracket mounting base provided in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an overturning bracket provided in an embodiment of the present application;
FIG. 6 is a second schematic view of a robot platform configuration provided in an embodiment of the present application;
FIG. 7 is a schematic view of a portion of a robot platform provided in an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a clamping mechanism according to an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of a robotic arm depth adjustment module provided in an embodiment of the present application;
FIG. 10 is a schematic structural diagram of a robot arm height adjustment module provided in an embodiment of the present application;
FIG. 11 is a schematic diagram of a robot clamping module according to an embodiment of the present disclosure;
FIG. 12 is a schematic view of the use of the present application to hold the iron of the outer wrap of the butt angle steel;
FIG. 13 is a schematic view of the tower body of the present application;
in the figure, a robot platform 1, a robot depth adjusting module 2, a robot height adjusting module 3, a robot gripping module 4, a turning motor 101, a turning bracket 102, a bracket mounting base 103, a robot platform base 104, a mounting hole 105, a turning shaft 106, a turning screw 108, a turning nut 107, a turning module 201, a robot depth adjusting module base plate 202, a first screw 203, a first motor mounting base 204, a depth adjusting motor 205, a height adjusting motor 301, a second motor mounting base 302, a robot height adjusting module base plate 303, a second screw 304, an adapter plate 305, a 401 gripping motor, a 402 lifting connector, a robot gripping module mounting plate, a robot gripping jaw link 404, a gripper link 405, a robot gripper 406, a robot gripping jaw 407, an upper layer angle steel 501, a butt-joint outer clad iron 502, and a lower layer angle steel 503.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Examples
Please refer to fig. 1-13, which illustrate the structure of the present invention according to an embodiment.
The structure of the embodiment of the invention is as follows:
the utility model provides a centre gripping electric power iron tower butt-joint structural arm, includes arm platform 1 and connects the fixture that two structural symmetry set up in arm platform 1 both sides, every fixture all includes arm degree of depth adjustment module 2, arm height adjustment module 3 and arm centre gripping module 4, two that connect gradually angle between the fixture is adjustable, the arm is advanced fixing device through arm platform 1 and body of the tower and is connected, through the fixing device drives is advanced to the body of the tower the arm removes on the iron tower and fixes.
In a preferred embodiment, the tower body advancing fixing device is an adsorption type robot or a clamping type robot.
In a preferred embodiment, the robot platform 1 includes an overturning bracket 102, a bracket mounting base 103, and a robot platform base 104, which are sequentially arranged from top to bottom, the overturning bracket 102 is of an inverted U-shaped structure, two overturning motors 101 are longitudinally arranged side by side at the upper end of the overturning bracket 102, two sides of each overturning motor 101 are hinged to the overturning bracket 102 through a rotating pin, so that the overturning motor 101 can rotate a certain angle around the rotating pin, an overturning screw 108 is connected to an output shaft of each overturning motor 101, each overturning screw 108 passes through an overturning screw 107 and is in threaded connection, the two overturning screws 107 are respectively hinged to a clamping mechanism, and rotating shafts 106 are arranged on two sides of the bracket mounting base 103 and are connected to the clamping mechanisms on the corresponding sides through the rotating shafts 106.
It should be noted that the robot platform base 104 is provided with a mounting hole 105, and is connected to the tower body advancing fixing device through the mounting hole 105. And the mechanical arm platform 1 is connected with the mechanical arm depth adjusting module 2. It should be noted that, the turnover screw rod is driven to rotate through the rotation of the turnover motor, so as to drive the turnover screw nut to lift, and further drive the two clamping mechanisms to open and close.
In a preferred embodiment, the robot depth adjusting module 2 comprises an overturning module 201, a robot depth adjusting module bottom plate 202, a first lead screw 203, a first motor mounting seat 204 and a depth adjusting motor 205, one end of the mechanical arm depth adjusting module bottom plate 202 is connected with the overturning module 201, the other end is connected with the first motor mounting seat 204, the depth adjusting motor 205 is installed on the first motor installation base 204, two rows of first guide rails arranged in parallel are arranged between the turnover module 201 and the first motor installation base 204, a first slide block is connected on the first guide rails in a sliding manner, a first screw rod 203 is further arranged, the output shaft of the depth adjusting motor 205 is connected with the first lead screw 203, the first lead screw 203 is connected with the mechanical arm height adjusting module 3, and the mechanical arm height adjusting module 3 is driven to move by the rotation of the first lead screw 203; the first sliding block is movably connected with the mechanical arm height adjusting module 3; the end part of the overturning module 201 is provided with a hinge lug which is hinged with the overturning nut 107 on the corresponding side, the lower end of the bottom plate 202 of the mechanical arm depth adjusting module is provided with a connecting sleeve, and the connecting sleeve is connected with the rotating shaft 106.
It should be noted that the mechanical arm height adjusting module is driven to move along the first screw rod through the rotation of the depth adjusting motor.
In a preferred embodiment, the mechanical arm height adjusting module 3 includes a height adjusting motor 301, a second motor mounting seat 302, a mechanical arm height adjusting module bottom plate 303, a second screw rod 304 and an adapter plate 305, one end of the mechanical arm height adjusting module bottom plate 303 is connected with the second motor mounting seat 302, the other end is connected with the adapter plate 305, the height adjusting motor 301 is mounted on the second motor mounting seat 302, an output shaft of the height adjusting motor 301 is connected with the second screw rod 304, the adapter plate is fixedly connected with the first slider, the adapter plate is in threaded connection with the first screw rod 203 through a first screw nut, the second screw rod 304 is arranged between the second motor mounting seat 302 and the adapter plate 305, two parallel second guide rails are further arranged between the second motor mounting seat 302 and the adapter plate 305, and a second slider is connected to the second guide rails in a sliding manner, the second slider and the second lead screw 304 are both connected with the mechanical arm clamping module 4, and the mechanical arm depth adjusting module bottom plate 202 and the mechanical arm height adjusting module bottom plate 303 are vertically arranged.
It should be noted that the second screw rod is driven to rotate by the rotation of the height adjusting motor, so that the mechanical arm clamping module is driven to move.
In a preferred embodiment, the robot clamping module 4 comprises a clamping motor 401, a lifting connection 402, a robot clamping module mounting plate 403, a robot clamping jaw connecting rod 404, a clamping plate connecting rod 405, a robot clamping plate 406 and a robot clamping jaw 407, wherein the robot clamping module mounting plate 403 and the second slider are both connected with the second lead screw 304 and are in threaded connection with the second lead screw 304 through a second screw; the upper end plate and the lower end plate are respectively connected with the upper end plate and the lower end plate at the upper end and the lower end of the mechanical arm clamping module mounting plate 403, two balance guide rods are arranged between the upper end plate and the lower end plate side by side, the upper end plate is provided with a clamping motor 401, the output shaft of the clamping motor 401 is connected with a third lead screw through a torque limiting component, the third lead screw passes through a third screw and is in threaded connection, the third screw is connected with the lifting connector 402, the lifting connector 402 is provided with two guide holes, the two guide holes are in sliding connection with the two balance guide rods, the lower end of the third screw is connected with a mechanical arm clamping jaw connecting rod 404, the mechanical arm clamping jaw connecting rod 404 is hollow, the lower end of the third lead screw extends into the hollow structure of the mechanical arm clamping jaw connecting rod 404, the lower end of the mechanical arm clamping jaw connecting rod 404 is connected with a mechanical arm clamping jaw 407, and the mechanical arm clamping jaw connecting rod 404 passes through the lower end plate and is in sliding connection, the lower end plate is connected with a clamp plate connecting rod 405, the lower end of the clamp plate connecting rod 405 is connected with a mechanical arm clamp plate 406, and the mechanical arm clamp plate 406 is matched with the mechanical arm clamping jaw 407 for use.
It should be noted that the clamping motor rotates to drive the third screw, the mechanical arm clamping jaw connecting rod and the mechanical arm clamping jaw to lift, so as to cooperate with the mechanical arm clamping plate to work.
The working principle is as follows:
the embodiment of the invention provides a mechanical arm for clamping a butt joint structure of an electric iron tower, which can be used for assisting an installation robot in clamping and fixing prefabricated cladding iron of a connection structure in an installation area when the electric iron tower is installed. The embodiment of the invention is arranged on an adsorption type robot or a clamping type robot, and the embodiment of the invention is provided with two sets of symmetrical clamping mechanisms, so that the preassembly outer clad irons at two sides of a working area can be clamped and fixed at the same time. The mechanical arm passed through by the embodiment is fixed to a work area by an adsorption type robot or a clamping type robot in an area needing to work, and specifically, the adsorption type robot or the clamping type robot is fixedly connected with a mechanical arm platform 1 of the mechanical arm. When the device is used, the clamping mechanisms on the two sides are adjusted to a proper operation angle by the turnover motors 101 on the mechanical arm platform 1, the mechanical arm depth adjusting motors 205 on the two sides respectively move the clamping modules to proper depth coordinates, the mechanical arm height adjusting motors 301 on the two sides respectively move the clamping modules to proper height coordinates, and finally the clamping motors 401 drive the lifting screw rods to downwards push the mechanical arm clamping jaws 407 to clamp the pre-installed outer clad iron. After the mechanical arm clamping jaw 407 clamps the pre-installed cladding iron, the output torque is cut off after the clamping motor 401 reaches the upper limit of the transmission torque through the torque limiting assembly, so that firm clamping is ensured, and overload damage of the motor is prevented. After the installation work is completed, the mechanical arm depth adjusting motor 205, the mechanical arm height adjusting motor 301 and the clamping motor 401 respectively drive the components to return to the safe initial positions, and the overturning motor 101 drives the clamping mechanisms on the two sides to adjust to the preset safe angle, so that the cross beam and the foot nails on the tower body are avoided.
Fig. 12 is a schematic view of the iron wrapping of the clamping butt angle steel.
When the clamping mechanical arm moves to a working area shown in the figure, a preassembled angle steel is butted with the outer clad iron at the joint of the upper layer angle steel and the lower layer angle steel, a clamping motor 401 is started, a power moment limiting assembly and a third screw rod are driven to rotate, so that the clamping jaw of the mechanical arm is driven to move downwards, and when the clamping jaw of the mechanical arm contacts the outer clad iron, the clamping jaw of the mechanical arm continues to move towards the tower body until the clamping jaw is attached to the tower body; when the clamping is completely carried out, the torque limiting assembly presets the limit value of the output torque of the motor, the mechanical arm clamping jaw cannot move downwards continuously, the output torque of the motor reaches the limit, a sensor on the torque limiting assembly is triggered, the output power supply of the motor is cut off, and the clamping motor is prevented from being damaged due to overload; when the clamping mechanical arm assists the installation robot to complete installation work, the clamping motor is started, and the mechanical arm clamping jaw is lifted upwards until the position of a preset original point, so that the angle steel and the tower body are separated.
Fig. 13 is a schematic view showing the working effect of the tower body of the present invention, in which two sets of symmetrical clamping mechanisms are provided in the present invention, and simultaneously, the pre-installed external iron on the angle steels on both sides of the tower body in the connection region is clamped and positioned, when the installation is completed, the two turnover motors 101 on the mechanical arm platform 1 drive the clamping mechanisms on both sides to turn upwards, and separate from the tower body, and avoid the cross beams and foot nails on the iron tower, so as to go to the next butt joint working region.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the present invention, which fall within the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a centre gripping electric power iron tower butt-joint structural's arm, its characterized in that, includes arm platform (1) and connects the fixture that two structural symmetry set up in arm platform (1) both sides, every fixture all includes arm degree of depth adjustment module (2), arm height adjustment module (3) and arm clamping module (4) that connect gradually, two angle modulation between the fixture, the arm is connected with the body of a tower fixing device that marchs through arm platform (1), through the body of a tower fixing device that marchs drives the arm removes on the iron tower and fixes.
2. The mechanical arm for clamping the butt joint structure of the electric power iron tower as claimed in claim 1, wherein the mechanical arm platform (1) comprises an overturning bracket (102), a bracket mounting seat (103) and a mechanical arm platform base (104) which are sequentially arranged from top to bottom, the overturning bracket (102) is of an inverted U-shaped structure, two overturning motors (101) are longitudinally arranged at the upper end of the overturning bracket side by side, two sides of each overturning motor (101) are hinged with the overturning bracket (102) through rotating pins, so that the overturning motors (101) can rotate around the rotating pins for a certain angle, an output shaft of each overturning motor (101) is connected with an overturning screw rod (108), each overturning screw rod (108) passes through an overturning screw nut (107) and is in threaded connection, the two overturning screw nuts (107) are respectively hinged with a clamping mechanism, rotating shafts (106) are arranged at two sides of the bracket mounting seat (103), the rotary shaft (106) is connected with the clamping mechanism on the corresponding side.
3. The mechanical arm for clamping the butt joint structure of the electric power iron tower as claimed in claim 1, wherein the mechanical arm depth adjusting module (2) comprises a turnover module (201), a mechanical arm depth adjusting module bottom plate (202), a first screw rod (203), a first motor mounting seat (204) and a depth adjusting motor (205), one end of the mechanical arm depth adjusting module bottom plate (202) is connected with the turnover module (201), the other end is connected with the first motor mounting seat (204), the depth adjusting motor (205) is mounted on the first motor mounting seat (204), two rows of first guide rails arranged in parallel are arranged between the turnover module (201) and the first motor mounting seat (204), a first slide block is connected on the first guide rails in a sliding manner, the first screw rod (203) is further arranged, and an output shaft of the depth adjusting motor (205) is connected with the first screw rod (203), the first screw rod (203) is connected with the mechanical arm height adjusting module (3), and the mechanical arm height adjusting module (3) is driven to move through the rotation of the first screw rod (203); the first sliding block is movably connected with the mechanical arm height adjusting module (3); the end part of the overturning module (201) is provided with a hinge lug which is hinged with an overturning nut (107) on the corresponding side, the lower end of the bottom plate (202) of the mechanical arm depth adjusting module is provided with a connecting sleeve, and the connecting sleeve is connected with the rotating shaft (106).
4. The mechanical arm for clamping the butt joint structure of the electric power iron tower as claimed in claim 1, wherein the mechanical arm height adjusting module (3) comprises a height adjusting motor (301), a second motor mounting seat (302), a mechanical arm height adjusting module base plate (303), a second lead screw (304) and an adapter plate (305), one end of the mechanical arm height adjusting module base plate (303) is connected with the second motor mounting seat (302), the other end of the mechanical arm height adjusting module base plate is connected with the adapter plate (305), the second motor mounting seat (302) is provided with the height adjusting motor (301), an output shaft of the height adjusting motor (301) is connected with the second lead screw (304), the adapter plate is fixedly connected with the first sliding block, the adapter plate is in threaded connection with the first lead screw (203) through a first screw nut, the second lead screw (304) is arranged between the second motor mounting seat (302) and the adapter plate (305), two rows of second guide rails arranged in parallel are further arranged between the second motor mounting seat (302) and the adapter plate (305), a second sliding block is connected to each second guide rail in a sliding mode, the second sliding block and the second lead screw (304) are connected with the mechanical arm clamping module (4), and the mechanical arm depth adjusting module bottom plate (202) and the mechanical arm height adjusting module bottom plate (303) are arranged perpendicularly.
5. The mechanical arm for clamping the electric power iron tower butt-joint structure according to claim 1, wherein the mechanical arm clamping module (4) comprises a clamping motor (401), a lifting connection (402), a mechanical arm clamping module mounting plate (403), a mechanical arm clamping jaw connecting rod (404), a clamping plate connecting rod (405), a mechanical arm clamping plate (406) and a mechanical arm clamping jaw (407), wherein the mechanical arm clamping module mounting plate (403) is connected with the second slide block and the second lead screw (304) respectively, and is in threaded connection with the second lead screw (304) through a second lead screw; the upper end plate and the lower end plate are respectively connected with the upper end plate and the lower end plate at the upper end and the lower end of the mechanical arm clamping module mounting plate (403), two balance guide rods are arranged between the upper end plate and the lower end plate side by side, a clamping motor (401) is arranged on the upper end plate, an output shaft of the clamping motor (401) is connected with a third lead screw through a torque limiting assembly, the third lead screw passes through a third screw nut and is in threaded connection with the lifting connector (402), the lifting connector (402) is provided with two guide holes, the two guide holes are in sliding connection with the two balance guide rods, the lower end of the third screw nut is connected with a mechanical arm clamping jaw connecting rod (404), the mechanical arm clamping jaw connecting rod (404) is hollow, the lower end of the third lead screw extends into the hollow structure of the mechanical arm clamping jaw connecting rod (404), and the lower end of the mechanical arm clamping jaw connecting rod (404) is connected with a mechanical arm clamping jaw (407), arm clamping jaw connecting rod (404) pass lower end plate and sliding connection, be connected with splint connecting rod (405) on the lower end plate, splint connecting rod (405) tip is connected with arm splint (406), arm splint (406) with arm clamping jaw (407) cooperate and use.
6. The mechanical arm for clamping the butt joint structure of the electric power iron tower as claimed in claim 1, wherein the tower body advancing and fixing device is an adsorption type robot or a clamping type robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210712348.8A CN115095214B (en) | 2022-06-22 | 2022-06-22 | A mechanical arm for clamping the docking structure of an electric power tower |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210712348.8A CN115095214B (en) | 2022-06-22 | 2022-06-22 | A mechanical arm for clamping the docking structure of an electric power tower |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115095214A true CN115095214A (en) | 2022-09-23 |
| CN115095214B CN115095214B (en) | 2024-09-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210712348.8A Active CN115095214B (en) | 2022-06-22 | 2022-06-22 | A mechanical arm for clamping the docking structure of an electric power tower |
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| CN (1) | CN115095214B (en) |
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| CN115095214B (en) | 2024-09-13 |
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