CN107901067B - Be applied to manipulator that electric power field transport high voltage vase was used - Google Patents
Be applied to manipulator that electric power field transport high voltage vase was used Download PDFInfo
- Publication number
- CN107901067B CN107901067B CN201711105878.1A CN201711105878A CN107901067B CN 107901067 B CN107901067 B CN 107901067B CN 201711105878 A CN201711105878 A CN 201711105878A CN 107901067 B CN107901067 B CN 107901067B
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- China
- Prior art keywords
- plate
- manipulator
- claw
- clamping block
- bearing plate
- 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.)
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Links
- 210000000078 claw Anatomy 0.000 claims abstract description 119
- 229910052573 porcelain Inorganic materials 0.000 claims abstract description 73
- 239000012212 insulator Substances 0.000 claims abstract description 32
- 238000009434 installation Methods 0.000 claims abstract description 24
- 230000000149 penetrating effect Effects 0.000 claims description 10
- 239000011810 insulating material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a manipulator for carrying high-voltage porcelain bottles, which is applied to the electric power field, and comprises: a manipulator mounting base; the first gripper supporting plate and the second gripper supporting plate are arranged on one side surface of the mechanical hand installation base, the first gripper supporting plate is provided with a first clamping block, and the second gripper supporting plate is provided with a second clamping block; the first claw plate is hinged to one end of the first claw supporting plate and is provided with a third clamping block; the second gripper plate is hinged to one end of the second gripper supporting plate and is provided with a fourth clamping block; the two side ends of the manipulator installation base are respectively and movably provided with a first pushing plate and a second pushing plate so as to drive the first hand claw plate to rotate through the first pushing plate and drive the second hand claw plate to rotate through the second pushing plate. Through the mode, the manipulator disclosed by the invention can automatically carry the high-voltage porcelain insulator, so that the working efficiency of the operation is high, and safety accidents are not easy to occur.
Description
Technical Field
The invention relates to the technical field of power systems, in particular to a manipulator for carrying high-voltage porcelain bottles, which is applied to the electric field.
Background
With the development of economy and society, the requirements of people on power supply are continuously improved, and the laying of power lines is increasingly perfect. In an electric overhead line, a high-voltage porcelain bottle is taken as an important component for forming an isolation disconnecting link, and the operation condition of the high-voltage porcelain bottle is directly related to the operation safety of a power grid.
At present, in the traditional operation process, no matter install the high-voltage porcelain bottle operation or dismantle the high-voltage porcelain bottle operation, all adopt the manual handling high-voltage porcelain bottle, mainly be through artifical transport high-voltage porcelain bottle and put the vase seat top at installation high-voltage porcelain bottle operation in-process promptly, the in-process is mainly through artifical transport high-voltage porcelain bottle and remove from the vase seat at the dismantlement high-voltage porcelain bottle operation water, so conveniently install and dismantle the hole, also ensure personnel's safety. However, the high-voltage porcelain insulator is too heavy and is not easy to carry by personnel, so that the working efficiency of the operation is easily reduced, and safety accidents are also easily caused.
Disclosure of Invention
The invention mainly solves the technical problem of providing the manipulator for carrying the high-voltage porcelain insulator, which is applied to the electric power field, has high operation work efficiency and is not easy to cause safety accidents.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a be applied to manipulator that electric power field transport high voltage porcelain bottle was used, include: a manipulator mounting base; the first claw supporting plate and the second claw supporting plate are symmetrically arranged on one side surface of the mechanical arm installation base, wherein the first claw supporting plate is provided with a first clamping block for clamping the high-voltage porcelain bottle, and the second claw supporting plate is provided with a second clamping block for clamping the high-voltage porcelain bottle; the first claw plate is hinged to one end of the first claw supporting plate, which is far away from the manipulator mounting base, and a third clamping block for clamping the high-voltage porcelain bottle is arranged at one end of the first claw plate; the second gripper plate is hinged to one end of the second gripper supporting plate, which is far away from the manipulator mounting base, and a fourth clamping block for clamping the high-voltage porcelain bottle is arranged at one end of the second gripper plate; wherein, first claw backup pad, second claw backup pad, the one end of first claw board and the one end of second claw board are formed with the chamber of acceping that is used for acceping high-pressure vase, and the both sides end of manipulator installation base is movably respectively provided with first push plate and second push plate, wherein the other end of first push plate and first claw board is connected, in order to drive the relative first claw backup pad of first claw board through first push plate and rotate, the other end of second push plate and second claw board is connected, in order to drive the relative second claw backup pad of second claw board through the second push plate and rotate.
The first gripper supporting plate comprises a first bearing plate arranged on one side surface of the manipulator installation base and a second bearing plate extending towards the direction far away from the manipulator installation base, and a first clamping block is arranged on one side surface of the second bearing plate towards the second gripper supporting plate; the second paw supporting plate comprises a third bearing plate arranged on one side surface of the manipulator installation base and a fourth bearing plate extending towards the direction far away from the manipulator installation base, wherein a second clamping block is arranged on one side surface of the fourth bearing plate towards the second bearing plate.
The first bearing plate and the third bearing plate are symmetrically arranged, the second bearing plate and the fourth bearing plate are symmetrically arranged, a containing cavity for containing the high-voltage porcelain insulator is formed in one end of the first bearing plate, one end of the third bearing plate, one end of the second bearing plate, one end of the fourth bearing plate, one end of the first hand claw plate and one end of the second hand claw plate, and a fifth clamping block is arranged on one side surface, away from the manipulator installation base, of the first bearing plate and the third bearing plate.
The first rotating part is provided with a first through hole, the second rotating part is provided with a second through hole corresponding to the first through hole, the first through hole and the second through hole are internally provided with first rotating pins, and the first claw plate is connected with the second through hole in a penetrating way, so that the first claw plate is connected with the second through hole in a rotating way relative to the first through hole.
The second claw plate is provided with at least one second containing hole for containing the at least one third rotating part, the middle part of the second claw plate is also provided with at least one fourth rotating part corresponding to the at least one third rotating part, the at least one fourth rotating part is provided with a fourth through hole corresponding to the third through hole, and a second rotating pin is arranged in the third through hole and the fourth through hole in a penetrating manner, so that one end of the second claw plate, which is far away from the third bearing plate, is connected in a rotating manner relative to the fourth bearing plate.
The other end of the first hand claw plate is provided with at least one first connecting part, the at least one first connecting part is provided with a first opening, the first pushing plate is provided with at least one second connecting part corresponding to the at least one first connecting part, the at least one second connecting part is provided with a second opening corresponding to the first opening, and a third rotating pin is arranged in the first opening and the second opening in a penetrating manner; the other end of the second hand claw plate is provided with at least one third connecting part, the at least one third connecting part is provided with a third opening, the second pushing plate is provided with at least one fourth connecting part corresponding to the at least one third connecting part, the at least one fourth connecting part is provided with a fourth opening corresponding to the third opening, and a fourth rotating pin is arranged in the third opening and the fourth opening in a penetrating mode.
The second open hole and the fourth open hole are arranged in an oval shape, the first clamping block, the second clamping block, the third clamping block, the fourth clamping block and the fifth clamping block are made of insulating heat-insulating materials, and the first clamping block, the second clamping block, the third clamping block, the fourth clamping block and the fifth clamping block are respectively provided with a containing groove for containing the convex edge of the high-voltage porcelain bottle.
Wherein, be equipped with first motor in the manipulator installation base, and the both ends in the manipulator installation base are equipped with first lead screw and the second lead screw of being connected with first motor respectively, wherein first impeller plate be equipped with first lead screw threaded connection's first remove portion, the second impeller plate be equipped with second lead screw threaded connection's second remove portion to drive first lead screw and second lead screw rotation through first motor, with drive first impeller plate and second impeller plate and remove at the both sides end of manipulator installation base.
Wherein, manipulator installation base's both sides end is equipped with first sliding guide and second sliding guide respectively, and first push plate is equipped with the first slider that is used for moving on first sliding guide, and the second push plate is equipped with the second slider that is used for moving on second sliding guide.
Wherein, the both sides end of manipulator installation base is equipped with first installing frame and second installing frame respectively, wherein is equipped with in the first installing frame and is used for the first brake motor who is connected with first lead screw, is equipped with in the second installing frame and is used for the second brake motor who is connected with the second lead screw.
The beneficial effects of the invention are as follows: unlike the prior art, the manipulator for carrying the high-voltage porcelain insulator applied to the electric power field disclosed by the invention comprises the following components: a manipulator mounting base; the first claw supporting plate and the second claw supporting plate are symmetrically arranged on one side surface of the mechanical arm installation base, wherein the first claw supporting plate is provided with a first clamping block for clamping the high-voltage porcelain bottle, and the second claw supporting plate is provided with a second clamping block for clamping the high-voltage porcelain bottle; the first claw plate is hinged to one end of the first claw supporting plate, which is far away from the manipulator mounting base, and a third clamping block for clamping the high-voltage porcelain bottle is arranged at one end of the first claw plate; the second gripper plate is hinged to one end of the second gripper supporting plate, which is far away from the manipulator mounting base, and a fourth clamping block for clamping the high-voltage porcelain bottle is arranged at one end of the second gripper plate; wherein, first claw backup pad, second claw backup pad, the one end of first claw board and the one end of second claw board are formed with the chamber of acceping that is used for acceping high-pressure vase, and the both sides end of manipulator installation base is movably respectively provided with first push plate and second push plate, wherein the other end of first push plate and first claw board is connected, in order to drive the relative first claw backup pad of first claw board through first push plate and rotate, the other end of second push plate and second claw board is connected, in order to drive the relative second claw backup pad of second claw board through the second push plate and rotate. Through the mode, the manipulator disclosed by the invention can automatically carry the high-voltage porcelain insulator, so that the working efficiency of the operation is high, and safety accidents are not easy to occur.
Drawings
FIG. 1 is a schematic view of a first construction of a manipulator for handling high voltage porcelain insulators applied to the electric power field;
FIG. 2 is a schematic view of a second structure of a manipulator for transporting high voltage porcelain insulator applied to the electric power field;
FIG. 3 is a schematic view of a third construction of a manipulator for handling high voltage porcelain insulators applied to the electric power field according to the present invention;
fig. 4 is a schematic view of a fourth configuration of a manipulator for transporting high-voltage porcelain insulators, which is applied to the electric power field.
Detailed Description
As shown in fig. 1 to 4, fig. 1 is a schematic view of a first structure of a manipulator for transporting high-voltage porcelain bottles, which is applied to the electric power field; FIG. 2 is a schematic view of a second structure of a manipulator for transporting high voltage porcelain insulator applied to the electric power field; FIG. 3 is a schematic view of a third construction of a manipulator for handling high voltage porcelain insulators applied to the electric power field according to the present invention; fig. 4 is a schematic view of a fourth configuration of a manipulator for transporting high-voltage porcelain insulators, which is applied to the electric power field. The manipulator for carrying the high-voltage porcelain insulator applied to the electric power field comprises a manipulator mounting base 10, a first paw supporting plate 11, a second paw supporting plate 12, a first paw plate 13, a second paw plate 14, a first pushing plate 15 and a second pushing plate 16.
The first motor 17 is arranged in the manipulator mounting base 10, and a first screw rod 171 and a second screw rod 172 connected with the first motor 17 are respectively arranged at two ends in the manipulator mounting base 10 so as to drive the first screw rod 171 and the second screw rod 172 to rotate through the first motor 17. It should be appreciated that in some embodiments, 2 first motors 17 may be mounted in the robot mounting base 10, and the 2 first motors 17 may be connected to the first screw 171 and the second screw 172, respectively.
In this embodiment, the two side ends of the manipulator mounting base 10 are respectively provided with a first mounting frame 101 and a second mounting frame 103, wherein a first brake motor 102 for connecting with a first screw rod 171 is provided in the first mounting frame 101, and a second brake motor 104 for connecting with a second screw rod 172 is provided in the second mounting frame 103, so that the first screw rod 171 is limited in speed by the first brake motor 102, and the second screw rod 172 is limited in speed by the second brake motor 104.
It should be understood that the first mounting frame 101 and the second mounting frame 103 are provided at the outer wall of the robot mounting base 10, respectively.
The first and second jaw support plates 11 and 12 are symmetrically disposed on one side of the manipulator mounting base 10, wherein the first jaw support plate 11 is provided with a first clamping block 114 for clamping the high-voltage porcelain bottle 20, and the second jaw support plate 12 is provided with a second clamping block 124 for clamping the high-voltage porcelain bottle 20.
In the present embodiment, the first gripper supporting plate 11 includes a first carrying plate 111 provided on one side surface of the robot mounting base 10 and a second carrying plate 112 provided to extend in a direction away from the robot mounting base 10, wherein a side surface of the second carrying plate 112 facing the second gripper supporting plate 12 is provided with a first clamping block 114.
In the present embodiment, the second gripper supporting plate 12 includes a third carrying plate 121 provided on one side of the robot mounting base 10 and a fourth carrying plate 122 provided extending in a direction away from the robot mounting base 10, wherein a side of the fourth carrying plate 122 facing the second carrying plate 112 is provided with a second clamping block 124.
Further, a side surface of the first bearing plate 111 and the third bearing plate 121, which is far away from the manipulator mounting base 10, is provided with a fifth clamping block 110.
In the present embodiment, the first loading plate 111 and the third loading plate 121 are symmetrically disposed, and the second loading plate 112 and the fourth loading plate 122 are symmetrically disposed. Preferably, the first, second, third and fourth carrier plates 111, 112, 121 and 122 form a receiving cavity for receiving the high voltage porcelain insulator 20.
The first claw plate 13 is hinged to one end of the first claw supporting plate 11 away from the manipulator mounting base 10, and a third clamping block 131 for clamping the high-voltage porcelain bottle 20 is arranged at one end of the first claw plate 13.
The second paw plate 14 is hinged to an end of the second paw supporting plate 12 away from the manipulator mounting base 10, wherein a fourth clamping block 141 for clamping the high-voltage porcelain bottle 20 is arranged on one end of the second paw plate 14.
In the present embodiment, the first and second jaw support plates 11, 12, one end of the first and second jaw plates 13, 14 are formed with receiving cavities for receiving the high-voltage porcelain bottles 20. Preferably, one end of the first carrier plate 111, the third carrier plate 121, the second carrier plate 112, the fourth carrier plate 122, the first hand claw plate 13, and one end of the second hand claw plate 14 are formed with receiving cavities for receiving the high voltage porcelain insulators 20.
Further, the first clamping block 114, the second clamping block 124, the third clamping block 131, the fourth clamping block 141 and the fifth clamping block 110 are made of insulating materials, so that electric shock is not generated, and safety accidents are reduced. In addition, the first clamping block 114, the second clamping block 124, the third clamping block 131, the fourth clamping block 141 and the fifth clamping block 110 are respectively provided with receiving grooves for receiving the flange edges of the high voltage porcelain insulator 20, so that the high voltage porcelain insulator 20 is clamped by the receiving grooves when the high voltage porcelain insulator 20 is conveyed.
Specifically, at least one first rotating portion 113 is disposed at an end of the second carrying plate 112 away from the first carrying plate 111, and a first through hole is disposed in at least one first rotating portion 113. The middle part of the first claw plate 13 is provided with at least one first accommodating hole 134 for accommodating at least one first rotating part 113, and the middle part of the first claw plate 13 is also provided with at least one second rotating part 132 corresponding to the at least one first rotating part 113, and the at least one second rotating part 132 is provided with a second through hole corresponding to the first through hole. The first through hole and the second through hole are penetrated with a first rotating pin 133, so that the first claw plate 13 is rotatably connected with one end of the second bearing plate 112 far away from the first bearing plate 111.
It should be understood that the number of the at least one first rotating portion 113 may be plural, and may be disposed at an end of the second carrying plate 112 away from the first carrying plate 111 at intervals, while the number of the at least one first receiving hole 134 may be plural, and may be disposed at an intermediate portion of the first claw plate 13 at intervals, and of course, the number of the at least one second rotating portion 132 may be plural, and may be disposed at an intermediate portion of the first claw plate 13 at intervals. Further, the at least one first rotating portion 113 and the at least one second rotating portion 132 are cylindrically disposed, the at least one first receiving hole 134 is rectangular, and an outer diameter of the at least one first rotating portion 113 is smaller than a length of the at least one first receiving hole 134. Of course, the number of the at least one first rotating portion 113 corresponds to the number of the at least one first receiving hole 134, and the number of the at least one first rotating portion 113 corresponds to the number of the at least one second rotating portion 132.
Specifically, at least one third rotating portion 123 is disposed at an end of the fourth bearing plate 122 away from the third bearing plate 121, and a third through hole is disposed in the at least one third rotating portion 123. The middle part of the second finger board 14 is provided with at least one second accommodating hole 144 for accommodating at least one third rotating part 123, and the middle part of the second finger board 14 is also provided with at least one fourth rotating part 142 corresponding to the at least one third rotating part 123, and the at least one fourth rotating part 142 is provided with a fourth through hole corresponding to the third through hole. The third through hole and the fourth through hole are penetrated with a second rotating pin 143, so that the second paw plate 14 is rotatably connected with one end of the fourth bearing plate 122 far away from the third bearing plate 121.
It should be understood that the number of the at least one third rotating portion 123 may be plural, and may be disposed at an end of the fourth bearing plate 122 away from the third bearing plate 121 at intervals, while the number of the at least one second receiving hole 144 may be plural, and may be disposed at intervals on the middle portion of the second finger plate 14, and of course, the number of the at least one fourth rotating portion 142 may be plural, and may be disposed at intervals on the middle portion of the second finger plate 14. Further, the at least one third rotating portion 123 and the at least one fourth rotating portion 142 are disposed in a cylindrical shape, the at least one second receiving hole 144 is disposed in a rectangular shape, and an outer diameter of the at least one third rotating portion 123 is smaller than a length of the at least one second receiving hole 144. Of course, the number of the at least one third rotating portion 123 corresponds to the number of the at least one second receiving hole 144, and the number of the at least one third rotating portion 123 corresponds to the number of the at least one fourth rotating portion 142.
The first pushing plate 15 and the second pushing plate 16 are respectively movably disposed at both side ends of the robot mounting base 10. In this embodiment, the first pushing plate 15 is connected to the other end of the first claw plate 13, so that the first claw plate 13 is driven to rotate relative to the first claw supporting plate 11 by the first pushing plate 15, specifically, the other end of the first claw plate 13 can be driven to move by the first pushing plate 15, so that one end of the first claw plate 13 is driven to rotate relative to the second supporting plate 112 away from one end of the first supporting plate 111. Further, the second pushing plate 16 is connected to the other end of the second gripper plate 14, so that the second gripper plate 14 is driven to rotate relative to the second gripper supporting plate 12 by the second pushing plate 16, and specifically, the second pushing plate 16 can drive the other end of the second gripper plate 14 to move, so as to drive one end of the second gripper plate 14 to rotate relative to one end of the fourth bearing plate 122 away from the second bearing plate 121.
Specifically, the other end of the first claw plate 13 is provided with at least one first connecting portion 135, at least the first connecting portion 135 is provided with a first opening, the first pushing plate 15 is provided with at least one second connecting portion 151 corresponding to the at least one first connecting portion 135, and at least one second connecting portion 151 is provided with a second opening 152 corresponding to the first opening, wherein the first opening and the second opening 152 are provided with third rotation pins 153 in a penetrating manner.
It should be understood that the at least one first connecting portion 135 may be provided in a plurality at intervals on the other end of the first claw plate 13, and the at least one second connecting portion 151 may be provided in a plurality at intervals on the first pushing plate 15.
Specifically, the other end of the second finger board 14 is provided with at least one third connecting portion 145, the at least one third connecting portion 145 is provided with a third opening, the second pushing board 16 is provided with at least one fourth connecting portion 161 corresponding to the at least one third connecting portion 145, the at least one fourth connecting portion 161 is provided with a fourth opening 162 corresponding to the third opening, and the fourth rotating pin 163 is arranged in the third opening and the fourth opening 162 in a penetrating manner.
It should be understood that the at least one third connecting portion 145 may be provided in a plurality in number and may be provided at the other end of the second claw plate 14 at intervals, and the at least one fourth connecting portion 161 may be provided in a plurality in number and may be provided at the second pushing plate 16 at intervals.
In the present embodiment, the second opening 152 is arranged in an oval shape, so that the other end of the first claw plate 13 can move in the first opening 152 of the first pushing plate 15, and the second opening 152 and the fourth opening 162 are arranged in an oval shape, so that the other end of the second claw plate 14 can move in the second opening 162 of the second pushing plate 16.
Further, the first pushing plate 15 is provided with a first moving part 154 in threaded connection with a first screw rod 171, the second pushing plate 16 is provided with a second moving part 164 in threaded connection with a second screw rod 172, so that the first screw rod 171 and the second screw rod 172 are driven to rotate by the first motor 17 to drive the first moving part 154 to move on the first screw rod 171, and the second moving part 164 is driven to move on the second screw rod 172, so that the first pushing plate 15 and the second pushing plate 16 are driven to move at two side ends of the manipulator mounting base 10.
In the present embodiment, the two side ends of the manipulator mounting base 10 are respectively provided with a first slide rail 105 and a second slide rail 106, the first pushing plate 15 is provided with a first slider 155 for moving on the first slide rail 105, and the second pushing plate 16 is provided with a second slider 165 for moving on the second slide rail 106.
It should be understood that in this embodiment, the manipulator further includes a hydraulic cylinder, wherein a telescopic rod of the hydraulic cylinder is connected to the manipulator mounting base 10 to drive the manipulator mounting base 10 to move up and down by driving the telescopic rod of the hydraulic cylinder.
In a specific working principle, when the manipulator needs to clamp the high-voltage porcelain insulator 20, the first motor 17 controls the first screw rod 171 and the second screw rod 172 to rotate so as to drive the first moving part 154 and the second moving part 165 to move towards a direction away from the first motor 17, so that the first moving part 154 drives the first pushing plate 15 to move towards a direction away from the first motor 17, and the second moving part 164 drives the second pushing plate 16 to move towards a direction away from the first motor 17. At this time, the first pushing plate 15 drives the other end of the first claw plate 13 to move together, and since the middle part of the first claw plate 13 is hinged on the end of the second bearing plate 112 away from the first bearing plate 111, the end of the first claw plate 13 approaches toward the second claw supporting plate 12 to clamp the high voltage porcelain bottle 20; similarly, the second pushing plate 16 drives the other end of the second paw plate 14 to move together, and since the middle part of the second paw plate 14 is hinged to the end of the fourth bearing plate 122 away from the third bearing plate 121, the end of the second paw plate 14 approaches toward the first paw supporting plate 11 to clamp the high voltage porcelain bottle 20.
On the contrary, when the manipulator needs to loosen the high-voltage porcelain insulator 20, the first motor 17 controls the first screw rod 171 and the second screw rod 172 to rotate in opposite directions, so as to drive the first moving part 154 and the second moving part 165 to move towards the direction approaching the first motor 17, so that the first moving part 154 drives the first pushing plate 15 to move towards the direction approaching the first motor 17, and the second moving part 164 drives the second pushing plate 16 to move towards the direction approaching the first motor 17. At this time, the first pushing plate 15 drives the other end of the first claw plate 13 to move together, and since the middle part of the first claw plate 13 is hinged to the end of the second bearing plate 112 away from the first bearing plate 111, the end of the first claw plate 13 moves in a direction away from the second claw supporting plate 12 to loosen the high voltage porcelain bottle 20; similarly, the second pushing plate 16 drives the other end of the second claw plate 14 to move together, and since the middle part of the second claw plate 14 is hinged to the end of the fourth bearing plate 122 away from the third bearing plate 121, the end of the second claw plate 14 moves towards the direction away from the first claw supporting plate 11 to loosen the high voltage porcelain bottle 20.
In summary, the manipulator for carrying high-voltage porcelain bottles, which is disclosed by the invention and applied to the electric power field, comprises: a manipulator mounting base; the first claw supporting plate and the second claw supporting plate are symmetrically arranged on one side surface of the mechanical arm installation base, wherein the first claw supporting plate is provided with a first clamping block for clamping the high-voltage porcelain bottle, and the second claw supporting plate is provided with a second clamping block for clamping the high-voltage porcelain bottle; the first claw plate is hinged to one end of the first claw supporting plate, which is far away from the manipulator mounting base, and a third clamping block for clamping the high-voltage porcelain bottle is arranged at one end of the first claw plate; the second gripper plate is hinged to one end of the second gripper supporting plate, which is far away from the manipulator mounting base, and a fourth clamping block for clamping the high-voltage porcelain bottle is arranged at one end of the second gripper plate; wherein, first claw backup pad, second claw backup pad, the one end of first claw board and the one end of second claw board are formed with the chamber of acceping that is used for acceping high-pressure vase, and the both sides end of manipulator installation base is movably respectively provided with first push plate and second push plate, wherein the other end of first push plate and first claw board is connected, in order to drive the relative first claw backup pad of first claw board through first push plate and rotate, the other end of second push plate and second claw board is connected, in order to drive the relative second claw backup pad of second claw board through the second push plate and rotate. Through the mode, the manipulator disclosed by the invention can automatically carry the high-voltage porcelain insulator, so that the working efficiency of the operation is high, and safety accidents are not easy to occur.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (9)
1. Be applied to manipulator that electric power field carried high voltage vase was used, its characterized in that includes:
a manipulator mounting base;
the first paw supporting plate and the second paw supporting plate are symmetrically arranged on one side surface of the manipulator mounting base, wherein the first paw supporting plate is provided with a first clamping block for clamping the high-voltage porcelain bottle, and the second paw supporting plate is provided with a second clamping block for clamping the high-voltage porcelain bottle;
the first hand claw plate is hinged to one end, away from the manipulator mounting base, of the first hand claw support plate, and a third clamping block used for clamping the high-voltage porcelain bottle is arranged at one end of the first hand claw plate;
the second gripper plate is hinged to one end, away from the manipulator mounting base, of the second gripper support plate, and a fourth clamping block used for clamping the high-voltage porcelain bottle is arranged at one end of the second gripper plate;
the first claw supporting plate, the second claw supporting plate, one end of the first claw plate and one end of the second claw plate are provided with accommodating cavities for accommodating the high-voltage porcelain bottles, and two side ends of the manipulator installation base are respectively and movably provided with a first pushing plate and a second pushing plate, wherein the first pushing plate is connected with the other end of the first claw plate so as to drive the first claw plate to rotate relative to the first claw supporting plate through the first pushing plate, and the second pushing plate is connected with the other end of the second claw plate so as to drive the second claw plate to rotate relative to the second claw supporting plate through the second pushing plate;
the first paw supporting plate comprises a first bearing plate and a second bearing plate, the first bearing plate is arranged on one side face of the manipulator installation base, the second bearing plate is arranged in an extending mode in the direction away from the manipulator installation base, and the first clamping block is arranged on one side face of the second bearing plate, facing the second paw supporting plate; the second paw supporting plate comprises a third bearing plate arranged on one side surface of the manipulator installation base and a fourth bearing plate which is arranged in an extending mode in the direction away from the manipulator installation base, wherein the fourth bearing plate faces one side surface of the second bearing plate and is provided with the second clamping block.
2. The manipulator for carrying high-voltage porcelain insulators applied to the electric power field according to claim 1, wherein the first bearing plate and the third bearing plate are symmetrically arranged, the second bearing plate and the fourth bearing plate are symmetrically arranged, one end of the first bearing plate, the third bearing plate, the second bearing plate, the fourth bearing plate, one end of the first hand claw plate and one end of the second hand claw plate are formed with a containing cavity for containing the high-voltage porcelain insulator, and a side surface, away from the manipulator mounting base, of the first bearing plate and the third bearing plate is provided with a fifth clamping block.
3. The manipulator for carrying high-voltage porcelain insulators in the electric power field according to claim 2, wherein one end of the second bearing plate far away from the first bearing plate is provided with at least one first rotating part, a first through hole is formed in the at least one first rotating part, at least one first accommodating hole for accommodating the at least one first rotating part is formed in the middle of the first claw plate, at least one second rotating part corresponding to the at least one first rotating part is further formed in the middle of the first claw plate, a second through hole corresponding to the first through hole is formed in the at least one second rotating part, and a first rotating pin is arranged in the first through hole and the second through hole in a penetrating manner, so that the first claw plate is in rotating connection with one end of the second bearing plate far away from the first bearing plate relatively.
4. The manipulator for carrying high-voltage porcelain insulators in the electric power field according to claim 3, wherein one end of the fourth bearing plate far away from the third bearing plate is provided with at least one third rotating part, a third through hole is formed in the at least one third rotating part, at least one second accommodating hole for accommodating the at least one third rotating part is formed in the middle of the second hand claw plate, at least one fourth rotating part corresponding to the at least one third rotating part is further formed in the middle of the second hand claw plate, a fourth through hole corresponding to the third through hole is formed in the at least one fourth rotating part, and a second rotating pin is arranged in the third through hole and the fourth through hole in a penetrating manner, so that the second hand claw plate is in rotating connection with one end of the fourth bearing plate far away from the third bearing plate.
5. The manipulator for carrying high-voltage porcelain insulators applied to the electric power field according to claim 4, wherein at least one first connecting part is arranged at the other end of the first claw plate, a first opening is arranged at the at least one first connecting part, at least one second connecting part corresponding to the at least one first connecting part is arranged on the first pushing plate, a second opening corresponding to the first opening is arranged at the at least one second connecting part, and a third rotating pin is arranged in the first opening and the second opening in a penetrating manner; the other end of the second hand claw plate is provided with at least one third connecting portion, the at least one third connecting portion is provided with a third opening, the second pushing plate is provided with at least one fourth connecting portion corresponding to the at least one third connecting portion, the at least one fourth connecting portion is provided with a fourth opening corresponding to the third opening, and a fourth rotating pin is arranged in the third opening and the fourth opening in a penetrating mode.
6. The manipulator for transporting a high-voltage porcelain insulator in the electric power field according to claim 5, wherein the second opening and the fourth opening are provided in an elliptical shape, the first clamping block, the second clamping block, the third clamping block, the fourth clamping block and the fifth clamping block are made of an insulating material, and the first clamping block, the second clamping block, the third clamping block, the fourth clamping block and the fifth clamping block are respectively provided with a receiving groove for receiving a flange edge of the high-voltage porcelain insulator.
7. The manipulator for carrying high-voltage porcelain insulators applied to the electric power field according to claim 1, wherein a first motor is arranged in the manipulator mounting base, a first screw rod and a second screw rod which are connected with the first motor are respectively arranged at two ends in the manipulator mounting base, wherein the first pushing plate is provided with a first moving part which is in threaded connection with the first screw rod, and the second pushing plate is provided with a second moving part which is in threaded connection with the second screw rod, so that the first screw rod and the second screw rod are driven to rotate through the first motor to drive the first pushing plate and the second pushing plate to move at two side ends of the manipulator mounting base.
8. The manipulator for handling high-voltage porcelain insulators applied to the electric power field according to claim 7, wherein the two side ends of the manipulator mounting base are respectively provided with a first sliding guide rail and a second sliding guide rail, the first pushing plate is provided with a first sliding block used for moving on the first sliding guide rail, and the second pushing plate is provided with a second sliding block used for moving on the second sliding guide rail.
9. The manipulator for carrying high-voltage porcelain insulators applied to the electric power field according to claim 7, wherein a first mounting frame and a second mounting frame are respectively arranged at two side ends of the manipulator mounting base, a first brake motor used for being connected with the first screw rod is arranged in the first mounting frame, and a second brake motor used for being connected with the second screw rod is arranged in the second mounting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105878.1A CN107901067B (en) | 2017-11-10 | 2017-11-10 | Be applied to manipulator that electric power field transport high voltage vase was used |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105878.1A CN107901067B (en) | 2017-11-10 | 2017-11-10 | Be applied to manipulator that electric power field transport high voltage vase was used |
Publications (2)
| Publication Number | Publication Date |
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| CN107901067A CN107901067A (en) | 2018-04-13 |
| CN107901067B true CN107901067B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711105878.1A Active CN107901067B (en) | 2017-11-10 | 2017-11-10 | Be applied to manipulator that electric power field transport high voltage vase was used |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202703A (en) * | 2018-08-21 | 2019-01-15 | 东莞理工学院 | A kind of loading and unloading gripper |
| CN110653019A (en) * | 2019-09-24 | 2020-01-07 | 广州供电局有限公司 | Sample bottle, clamping structure and robot |
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| DE3312483A1 (en) * | 1983-04-07 | 1984-10-11 | Blohm + Voss Ag, 2000 Hamburg | Gripper for industrial robots |
| JPH0769450A (en) * | 1993-09-07 | 1995-03-14 | Okura Yusoki Co Ltd | Transfer load holding device |
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| CN107901067A (en) | 2018-04-13 |
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