CN103659803A - High-altitude robot hand clamp based on cross connecting rod force expansion principle - Google Patents
High-altitude robot hand clamp based on cross connecting rod force expansion principle Download PDFInfo
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- CN103659803A CN103659803A CN201310633282.4A CN201310633282A CN103659803A CN 103659803 A CN103659803 A CN 103659803A CN 201310633282 A CN201310633282 A CN 201310633282A CN 103659803 A CN103659803 A CN 103659803A
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- connecting plate
- crossbar
- altitude robot
- expansion
- altitude
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Abstract
A high-altitude robot hand clamp based on the cross connecting rod force expansion principle comprises a steering engine, two slide fingers, a transverses slide groove, an angle plate connecting plate, a cross rod, hand clamp bodies. The bottom ends of the two slide fingers are respectively mounted in the two finger bases of the steering engine. The slide fingers are connected with cross rods through the angle plate connecting plate. The pair of hand clamp bodies are mounted at the top ends of the cross rods. The high-altitude robot hand clamp is simple in structure, novel in design, flexible to operate, good in adjustability, capable of being adjusted according to the diameter of a to-be-clamped object, good in fittingness, self-adaptive in clamping, good in insulation, and capable of resisting 50KV induced voltage and completing opening and releasing of experiment wire clamps of electric experiments, manual operation is well replaced, testers are allowed to be away from field induced electricity, and safety of the testers are guaranteed.
Description
Technical field
The present invention relates to a kind of national grid electric power high-altitude examination altitude test robot finger clamping device.
Background technology
From the angle of altitude test robot, current actual conditions are: when the testing crew that electrical network is responsible for overhauling is tested to scene, except underproof equipment is in maintenance power down mode, around neighbouring device is all many times charging operation.Our testing crew has part test need to arrive work high above the ground.And this operating type of high-altitude operation vehicle exists unsafe factor.High-altitude robot researches and develops in order to solve this difficult problem.National grid is advocated the intellectuality of electrical network at present, robot application mainly concentrates on circuit and above ground portion at present in electrical network, because of a lot of aspect ratios of power high voltage equipment higher, electrical network testing crew must not carry out operation less than high-altitude for service equipment, so inevitably oneself is stayed with a high voltage induction electrical environment in, once operate miss, sensed electricity injury, loss is very serious, the intelligence people that tests a machine in high-altitude is exactly a product designing for fear of personal injury, cause will be in work high above the ground, its retained part is because of the dynamics restriction of finger motor, the strength sometimes needing is larger.From traditional robot finger design, mainly contain at present two kinds of designs, a kind of is to drive two direct move toward one another of finger by steering wheel, another kind of mode is by pneumatic mode, to control finger motion by minitype cylinder, the movable machinery design of finger is very simple, install exactly finger on link gear additional, has three fingers, there are two fingers, also have a plurality of fingers.But these design finger ranges are all immutable, and therefore the power of clamping is also immutable.
Summary of the invention
The object of the invention is to design a kind of high-altitude robot clamping hand folder that expands power principle based on cross link, adopt sliding type to drive finger pedestal, finger pedestal just can be expanded, and the range of pointing so has just become variable, can effectively solve the problem that prior art exists.
Realizing the technical scheme that the object of the invention takes is: it comprises steering wheel, slide refer to, horizontal concrete chute, gusset connecting plate, crossbar, hand folder, two slips refer to that bottom is arranged on respectively on two finger pedestals of steering wheel; Slip refers to connect crossbar through gusset connecting plate, and crossbar top is provided with opponent's folder.
Gusset connecting plate be one in vertical direction and horizontal direction all with the connecting plate of locating slot.
The medial surface that two slips refer to is arranged on respectively in the vertical locating slot of two gusset connecting plates, is bolted; On the horizontal location groove of gusset connecting plate, expansion board is installed, connects a connecting plate in expansion board, crossbar is hinged on connecting plate.
On two finger pedestals of steering wheel, be separately installed with expansion slot, expansion slot is provided with adjustment bolt hole, slides and refers to be arranged in expansion slot through adjusting bolt hole.
One section of quarter butt end on crossbar and hand folder junction are provided with a universal bearing.
Good effect of the present invention is: simple in structure, and modern design, flexible operation, there is good adjustability, can regulate according to being grabbed article diameters value, have the good goodness of fit, there is crawl adaptivity, there is good insulating properties, can anti-50KV induced voltage, can complete power test test lead clip open release movement, well replaced people's action, make people away from on-the-spot induced electricity, ensured the safety of testing crew.
Accompanying drawing explanation
Accompanying drawing 1 is structural representation of the present invention.
The specific embodiment
As shown in Figure 1, it comprises steering wheel 10, slide refer to 13, horizontal concrete chute 12, gusset connecting plate 7, crossbar 4, hand folder 1, on two finger pedestals 8 of steering wheel 10, be separately installed with an expansion slot 11, in expansion slot 11, there is adjusting screw, two slips refer to the 13 bottoms adjusting screw in expansion slot 11 respectively, are arranged in expansion slot 11, and finger pedestal 8 drives horizontal slip on horizontal concrete chute 12 by the connecting rod 9 on steering wheel 10; Gusset connecting plate 7 be one in vertical direction and horizontal direction all with the connecting plate of locating slot, the locating slot of vertical direction is located at the inner side of gusset connecting plate 7, the locating slot of horizontal direction is located at the outside of gusset connecting plate 7; Two slips refer to that 13 medial surface is arranged on respectively in the vertical locating slot of two gusset connecting plates 7, is bolted; On the horizontal location groove of gusset connecting plate 7, expansion board 6 is installed, connects an Angle connection plate 5 in expansion board 6, crossbar 4 is hinged on Angle connection plate 5; Expansion board 6 is provided with a plurality of bolts hole, and the distance of adjustable two crossbars 4 is installed by different bolts hole.Crossbar 4 tops are provided with an opponent and press from both sides 1, and one section of quarter butt 3 end on crossbar 4 and hand press from both sides 1 junction a universal bearing 2 is installed.
Operation principle of the present invention and the course of work are: steering wheel receives the control command of robot control chip, be rotated, by steering wheel coupling part, drive the slip on horizontal concrete chute to refer to relative motion, slip refers to drive crossbar to move by the connection of gusset connecting plate, and the action of crossbar makes the hand folder of end well clamp object or decontrol object.The on-the-spot most larger folder power that all needs of power test in the situation that the inadequate slip of folder power refers to that movement travel is constant, can install expansion board additional between finger pedestal and finger, and crossbar changes the length of correspondingly-sized into, and folder power will increase accordingly.In folder power, slide not refer to that stroke will become in the situation that, between finger pedestal and finger, install additional after expansion board, at two gusset connecting plate places of horizontal and vertical, install expansion board additional simultaneously, add install rear end tong partly the power of pressing from both sides will further expand.
Claims (5)
1. the high-altitude robot clamping hand based on cross link expansion power principle presss from both sides, it is characterized in that: it comprises steering wheel, slide refer to, horizontal concrete chute, gusset connecting plate, crossbar, hand folder, two slips refer to that bottom is arranged on respectively on two finger pedestals of steering wheel; Slip refers to connect crossbar through gusset connecting plate, and crossbar top is provided with opponent's folder.
2. the high-altitude robot clamping hand folder that expands power principle based on cross link according to claim 1, is characterized in that: gusset connecting plate be one in vertical direction and horizontal direction all with the connecting plate of locating slot.
3. the high-altitude robot clamping hand folder that expands power principle based on cross link according to claim 1, is characterized in that: the medial surface that two slips refer to is arranged on respectively in the vertical locating slot of two gusset connecting plates, is bolted; On the horizontal location groove of gusset connecting plate, expansion board is installed, connects a connecting plate in expansion board, crossbar is hinged on connecting plate.
4. the high-altitude robot clamping hand based on cross link expansion power principle according to claim 1 presss from both sides, it is characterized in that: on two finger pedestals of steering wheel, be separately installed with expansion slot, expansion slot is provided with adjustment bolt hole, slides and refers to be arranged in expansion slot through adjusting bolt hole.
5. the high-altitude robot clamping hand folder that expands power principle based on cross link according to claim 1, is characterized in that: one section of quarter butt end on crossbar presss from both sides junction with hand a universal bearing is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310633282.4A CN103659803A (en) | 2013-12-03 | 2013-12-03 | High-altitude robot hand clamp based on cross connecting rod force expansion principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310633282.4A CN103659803A (en) | 2013-12-03 | 2013-12-03 | High-altitude robot hand clamp based on cross connecting rod force expansion principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103659803A true CN103659803A (en) | 2014-03-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310633282.4A Pending CN103659803A (en) | 2013-12-03 | 2013-12-03 | High-altitude robot hand clamp based on cross connecting rod force expansion principle |
Country Status (1)
| Country | Link |
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| CN (1) | CN103659803A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058408A (en) * | 2015-09-02 | 2015-11-18 | 张家港市紫东机械科技有限公司 | Grabbing mechanism |
| CN105216002A (en) * | 2015-11-02 | 2016-01-06 | 国家电网公司 | High-altitude robotic gripper's arm device and anti-induced electrical structure thereof |
| CN112996739A (en) * | 2018-09-12 | 2021-06-18 | 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 | Package gripper system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB236722A (en) * | 1924-06-27 | 1925-07-16 | Albert Victor Terry | A new or improved hand tool or device for use in lifting the springs of internal-combustion engine valves |
| JPS5447273A (en) * | 1977-09-20 | 1979-04-13 | Sanyo Electric Co Ltd | Electric chuck for workpiece |
| US4697839A (en) * | 1986-11-28 | 1987-10-06 | General Motors Corporation | Flexible part-centering pneumatic gripper |
| CN101823261A (en) * | 2010-05-19 | 2010-09-08 | 北京联合大学 | Rotor gripper structure |
| CN201940999U (en) * | 2010-12-30 | 2011-08-24 | 杨宏刚 | Extractor |
| CN202572401U (en) * | 2012-04-15 | 2012-12-05 | 佳木斯大学 | Linkage-reinforcing and reverse self-locking type mechanical gripper |
| CN203622429U (en) * | 2013-12-03 | 2014-06-04 | 国网河南省电力公司商丘供电公司 | High-altitude robot clamping hand clip based on intersected connecting rod force expanding principle |
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2013
- 2013-12-03 CN CN201310633282.4A patent/CN103659803A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB236722A (en) * | 1924-06-27 | 1925-07-16 | Albert Victor Terry | A new or improved hand tool or device for use in lifting the springs of internal-combustion engine valves |
| JPS5447273A (en) * | 1977-09-20 | 1979-04-13 | Sanyo Electric Co Ltd | Electric chuck for workpiece |
| US4697839A (en) * | 1986-11-28 | 1987-10-06 | General Motors Corporation | Flexible part-centering pneumatic gripper |
| CN101823261A (en) * | 2010-05-19 | 2010-09-08 | 北京联合大学 | Rotor gripper structure |
| CN201940999U (en) * | 2010-12-30 | 2011-08-24 | 杨宏刚 | Extractor |
| CN202572401U (en) * | 2012-04-15 | 2012-12-05 | 佳木斯大学 | Linkage-reinforcing and reverse self-locking type mechanical gripper |
| CN203622429U (en) * | 2013-12-03 | 2014-06-04 | 国网河南省电力公司商丘供电公司 | High-altitude robot clamping hand clip based on intersected connecting rod force expanding principle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058408A (en) * | 2015-09-02 | 2015-11-18 | 张家港市紫东机械科技有限公司 | Grabbing mechanism |
| CN105216002A (en) * | 2015-11-02 | 2016-01-06 | 国家电网公司 | High-altitude robotic gripper's arm device and anti-induced electrical structure thereof |
| CN112996739A (en) * | 2018-09-12 | 2021-06-18 | 施密特默尔曼教授 & 柯林根律师事务所破产清算股份公司 | Package gripper system |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140326 |