CN110181549A - A kind of adaptive manipulator formula grounding rod - Google Patents
A kind of adaptive manipulator formula grounding rod Download PDFInfo
- Publication number
- CN110181549A CN110181549A CN201910610044.9A CN201910610044A CN110181549A CN 110181549 A CN110181549 A CN 110181549A CN 201910610044 A CN201910610044 A CN 201910610044A CN 110181549 A CN110181549 A CN 110181549A
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- chamber
- finger
- insulating bar
- mechanical
- manipulator
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- 230000003044 adaptive effect Effects 0.000 title claims abstract description 21
- 230000005611 electricity Effects 0.000 claims abstract description 8
- 230000001681 protective effect Effects 0.000 claims description 8
- 244000060701 Kaempferia pandurata Species 0.000 claims description 6
- 235000016390 Uvaria chamae Nutrition 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 239000004020 conductor Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 244000060234 Gmelina philippensis Species 0.000 description 1
- 241000577951 Hydnum Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
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- 239000007787 solid Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R11/00—Individual connecting elements providing two or more spaced connecting locations for conductive members which are, or may be, thereby interconnected, e.g. end pieces for wires or cables supported by the wire or cable and having means for facilitating electrical connection to some other wire, terminal, or conductive member, blocks of binding posts
- H01R11/11—End pieces or tapping pieces for wires, supported by the wire and for facilitating electrical connection to some other wire, terminal or conductive member
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
- H01R4/28—Clamped connections, spring connections
Abstract
The invention discloses a kind of adaptive manipulator formula grounding rods, including insulating bar, the manipulator being mounted on insulating bar and the control box for being mounted on insulating bar bottom end, manipulator includes the mechanical palm for being fixedly attached to insulating bar top, it is respectively articulated with a pair of of the mechanical finger for being mounted on mechanical palm two sides and the drive disk being mounted on a pair of of mechanical finger, the driving assembly for referring to movement by drive disk driving manipulator is installed on insulating bar, the bottom of mechanical palm is equipped with binding post, ground line is connected on binding post, electricity-linkingup point is firmly grasped by being driven by electricity the manipulator with form adaptive ability to fix grounding rod, to enable grounding rod to use on electricity-linkingup point of different shapes, and by being driven by electricity, it is easy to use, reduce the labor intensity of operator, improve operating efficiency, and it is fixed.
Description
Technical field
The present invention relates to power construction equipment technical fields, and in particular to a kind of adaptive manipulator formula grounding rod.
Background technique
Grounding rod be to improve earth conductor inner conductive performance, reduce soil resistivity outside earth conductor be it is theoretical according to
According to designed production, it is generally applicable to the numerous areas such as communication, electric power, traffic, finance, petrochemical industry, building system, such as communication bureau
(station), mobile base station, scheduling computer room, substation, freeway infrastructure, computer floor, intellectual communityintellectualized village etc. are tight to grounding requirement
The unit of lattice and department.
In the maintenance of main distribution day-to-day operation, equipment grid switching operation, dismounting ground line is to influence operating time and operation matter
A key step for amount, the consuming time is longer, often expends the close of total operating time in the large size power failure work such as main transformer, bus
34%.
Existing grounding rod overall structure is larger and heavy, takes time and effort to install, and especially connects electricity in dead earth stick hedgehog hydnum formula
It when clamping equipment, is easy that operator's power is made to exhaust and cause danger, the requirement with safe and civilized production greatly differs from each other, and into one
Operating efficiency is reduced to step, wastes a large amount of time, in order to improve the effect that day-to-day operation maintenance is put with equipment grid switching operation
Rate, while guaranteeing to run the safety of grid switching operation and checking experiment work, it would be highly desirable to inventing one kind can conveniently, safely, reliably
Complete the grounding rod that ground line hangs operation.
Summary of the invention
The purpose of the present invention is to provide a kind of adaptive manipulator formula grounding rods, by being driven by electricity underactuated manipulator
Docking electricity point is grabbed and is fixed, with solve in the prior art due to grounding rod chucking device it is inconvenient caused by operator
Large labor intensity and the low problem of operating efficiency.
To achieve this purpose, the present invention adopts the following technical scheme:
The present invention provides a kind of adaptive manipulator formula grounding rods, including insulating bar, the machinery being mounted on insulating bar
Hand and the control box for being mounted on insulating bar bottom end, the manipulator include the mechanical palm for being fixedly attached to insulating bar top, divide
The drive disk for not being hingedly mounted on a pair of of mechanical finger of mechanical palm two sides and being mounted on a pair of mechanical finger, it is described
Driving assembly by mechanical finger movement described in driving dish driving, the bottom installation of the machinery palm are installed on insulating bar
There is binding post, ground line is connected on the binding post.
Further, the mechanical finger includes the finger root section being hinged on mechanical palm, is hinged on the finger root section other end
Finger in save and be hinged on refer in save the finger tip section of the other end, it is described to refer to that root section and the hinged place of mechanical palm are also hinged with first
Strut, first strut have been respectively articulated with the first push rod and the second push rod, first push rod far from one end of mechanical palm
The other end and drive disk it is hinged, the other end of second push rod is hinged with third push rod, and the third push rod is another
End is hinged on finger tip section, and the hinged place of second push rod and third push rod and referring to is cut with scissors between root section and the hinged place for referring to middle section
It connects and the second strut is installed.
Further, first chamber and second chamber are equipped in the top of the insulating bar, the driving component includes peace
Driving motor in the first chamber and be mounted in the second chamber, and with the output shaft of driving motor week
To the rope drum that is fixedly connected of the other end and one end be fixedly mounted on the rope drum, and the other end passes through described the
The cavity wall of two chambers is connected to wirerope on the drive disk.
Further, a circle gear teeth of protrusion, the chamber of the second chamber are equipped at the top and bottom of the rope drum
Wall is equipped with through-hole corresponding with the gear teeth, and the U-shaped card block that one end can be clamped with the gear teeth is slidably fitted in the through-hole, described
Protective shell is installed on the outer wall of second chamber, electromagnet, the sliding axle of the electromagnet are fixedly installed in the protective shell
It is fixedly connected with the other end of the U-shaped fixture block, and is socketed with the thrust for pushing U-shaped card block and gear teeth clamping on the sliding axle
Spring.
Further, a pair of guide rods is installed close to the side of drive disk on the mechanical palm, is opened on the drive disk
Equipped with the slide opening being slidably matched with guide rod, one end that a pair of guide rod passes through slide opening is connected by connecting rod, and on the connecting rod
The tension spring that the other end is connect with the drive disk is installed.
Further, it is separated between the bottom chamber wall and side wall of the first chamber, the bottom chamber of the first chamber
The top of insulating bar lower end barred body is arranged in wall, and the inner sidewall of the first chamber is equipped with internal screw thread, the first chamber
Bottom chamber wall is equipped with the external screw thread engaged with internal screw thread.
Further, the top of the insulating bar is equipped with the opening of connection second chamber, and the top week of the insulating bar
To top pressure closure is fixedly installed with, the axis matched with the driving motor output shaft is fixedly mounted in the bottom of the top pressure closure
It holds.
Further, between the binding post and mechanical palm, mechanical palm and refer between root section, refer to and saved in root section and finger
Between, and referring between middle section and finger tip section is electrical connection.
Further, the manipulator is underactuated manipulator.
Embodiments of the present invention have the advantages that
Various electricity-linkingup point shapes are adapted to by the underactuated manipulator with form adaptive ability to be grabbed and consolidated
It is fixed, to enable grounding rod to use on the electricity-linkingup point of different shape (such as flat, cylinder and Polygonal column shape etc.), and logical
It crosses and is driven by electricity, it is easy to use, the labor intensity of operator is reduced, improves operating efficiency, and fixed.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other attached drawings according to these attached drawings.
Structure depicted in this specification attached drawing, ratio, size etc., only to cooperate the revealed content of specification,
So that those skilled in the art understands and reads, enforceable qualifications are not intended to limit the invention, therefore do not have technology
On essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size can be generated not influencing the present invention
The effect of and the purpose that can reach under, should all still fall in the range of disclosed technology contents obtain and can cover.
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is top view of the invention；
Fig. 3 is driving assembly structural schematic diagram of the invention.
In figure:
1- insulating bar；2- controls box；3- machinery palm；4- mechanical finger；5- drive disk；6- driving assembly；7- binding post；
8- ground line；The 9- gear teeth；10-U type fixture block；11- protective shell；12- electromagnet；13- guide rod；14- connecting rod；15- tension spring；
16- top pressure closure；17- bearing；18- thrust spring；
101- first chamber；102- second chamber；
401- refers to root section；402- refers to middle section；403- finger tip section；The first push rod of 404-；The second push rod of 405-；406- third pushes away
Bar；The first strut of 407-；The second strut of 408-；
601- driving motor；602- rope drum；603- wirerope.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
In the description of the present invention, it is to be understood that, term " on ", "lower", "top", "bottom", "inner", "outside" etc. indicate
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.It should be noted that when a component is considered as " connection " another component,
It can be directly to another component or may be simultaneously present the component being centrally located.
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, the present invention provides a kind of adaptive manipulator formula grounding rod, including insulating bar 1 and it is mounted on absolutely
Manipulator on edge stick 1, the manipulator are underactuated manipulator, with reference to available data it is found that underactuated manipulator has shape
Shape adaptive ability, when underactuated manipulator grabs object, finger can envelope object completely, and can adapt to object
Shape combines underactuated manipulator with insulating bar 1, by underactuated manipulator come adaptive various by means of electricity-linkingup point shape
The crawl and fixation of (such as flat, cylinder and Polygonal column shape etc.), so that grounding rod can be adaptive to existing each voltage
The various grounding static contacts of grade equipment, line bank, bus and conducting wire construction, save the operating time, reduction operation difficulty makes it
It can be used in plurality of application scenes, and easy to operate, it is fixed reliable.
As shown in Fig. 2, the general mechanical finger 4 including conventional mechanical part of the manipulator, the manipulator include
The top for being fixedly attached to the insulating bar 1 has been fixedly attached mechanical palm 3, and a pair of mechanical finger 4 is hingedly mounted on machine
The two sides of tool palm 3, a pair are equipped on the outside of described 4 one end of mechanical finger for driving a pair of of mechanical finger 4 mutually to close up
Or isolated drive disk 5 (driving and motion mode with reference to existing underactuated manipulator), the drive disk 5 is by driving assembly
6 are driven, and move back and forth drive disk 5 relative to mechanical palm 3, a pair of mechanical when moving to drive disk 5 to mechanical palm 3
Finger 4 is mutually drawn close, on the contrary, being then located remotely from each other a pair of of mechanical finger 4, is installed in the bottom of 3 one end of the mechanical palm
There is the binding post 7 for being electrically connected ground line 8, and is also to be electrically connected to close between the mechanical palm 3 and mechanical finger 4
System, to be grounded the basic function of stick ground connection.
The mechanical finger 4 is specifically described as follows:
The mechanical finger 4 includes the finger root section 401 being hinged on mechanical palm 3, is hinged on finger 401 other end of root section
402 are saved in finger and are hinged on the finger tip section 403 that 402 other ends are saved in finger, the hinged place for referring to root section 401 and machinery palm 3
It is also hinged with the first strut 404, first strut 404 has been respectively articulated with 405 He of the first push rod far from one end of mechanical palm 3
Second push rod 406, the other end and drive disk 5 of first push rod 405 are hinged, and the other end of second push rod 406 is hinged
There is third push rod 407, and the other end of the third push rod 407 is hinged on finger tip section 403, second push rod 406 and
The hinged place of three push rods 407 and refers to the second strut 408 is hingedly installed between root section 401 and the hinged place for referring to middle section 402, it is described
Refer to that root section 401, the second push rod 406, the first strut 404 and the second strut 408 are in rectangle, drive disk 5 by the first push rod 405,
Second push rod 406 and third push rod 407 drive the finger root section 401 for being located inside, refer to middle section 402 and the movement of finger tip section 403, pass through
First strut 404 and the second strut 408 guarantee that mechanical finger 4 moves back and forth the stabilization of posture.
About being specifically described as follows for the driving component 6:
As shown in figure 3, the driving component 6 includes the driving motor 601 that is mounted in insulating bar 1 and electric with the driving
The rope drum 602 and one end that the other end of the output shaft circumferential direction of machine 601 is fixedly connected are fixedly mounted on the rope drum 602
On, and the wirerope 603 that the other end is connect with the drive disk 5, it drives rope drum 602 to rotate by driving motor 601, works as volume
When rope roll 602 tightens wirerope 603, pulls drive disk 5 to move to mechanical palm 3 by wirerope 603, make the manipulator of two sides
Refer to that 4 is close to each other；
And in order to which the movement to drive disk 5 is oriented to, prevents 5 deflection of drive disk and two mechanical fingers 4 is caused to move
It is asynchronous, a pair of guide rods 13 is installed close to the side of drive disk 5 on the machinery palm 3, offered on the drive disk 5 with
The slide opening that guide rod 13 is slidably matched is limited and is oriented to the movement of drive disk 5 by the cooperation of guide rod 13 and slide opening；
In addition, one end that a pair of guide rod 13 passes through slide opening is connected by connecting rod 14, and it is equipped on the connecting rod 14
The tension spring 15 that the other end is connect with the drive disk 5 drives institute by driving motor 601 when manipulator needs to unclamp
It states rope drum 602 to rotate backward, wirerope 603 is extended, meanwhile, drive disk 5 is pulled and resetted by tension spring 15, to make
The mechanical finger 4 of two sides is located remotely from each other.
Present embodiment is further characterized in that, for installing driving motor 601 is equipped in the top of the insulating bar 1
One chamber 101 and second chamber 102 for installing rope drum 602, between the bottom chamber wall and side wall of the first chamber 101
It is separable, and the top of second chamber 102 is equipped with the opening for taking out and being put into rope drum 602, the purpose being arranged in this way exists
In, facilitate the dismounting of driving assembly, particularly:
The top of 1 lower end barred body of insulating bar, the first chamber 101 is arranged in the bottom chamber wall of the first chamber 101
Inner sidewall be equipped with internal screw thread, the bottom chamber wall of the first chamber 101 is equipped with the external screw thread engaged with internal screw thread；
The circular hole for passing through and sliding for wirerope 603, the second chamber are offered on the side wall of the second chamber 102
The opening inner circumferential at 102 tops is fixedly installed with the top pressure closure 16 of opening sealing, and the bottom of the top pressure closure 16 is solid
Dingan County fills the bearing 17 matched with 601 output shaft of driving motor, by top pressure closure 16 and bearing 17 to driving motor
The other ends of 601 output shafts limits, prevent output shaft by wirerope 603 pulling force effect and deflection, be conducive to extend driving electricity
The service life of machine 601.
Compared to traditional by cylinder or oil cylinder driving manipulator, such driving method can reduce manipulator and driving dress
The length set, can more be bonded the actual use demand of grounding rod, and the center of gravity of manipulator is made to be closer to the weight of insulating bar 1
The heart, to increase the comfort and stability of gripping when using grounding rod.
Present embodiment is further characterized in that, is also equipped on the top of the insulating bar 1 for for preventing rope drum
602 self-reversing locking mechanisms, particularly:
As shown in figure 3, the top and bottom of the rope drum 602 are equipped with a circle gear teeth 9 of protrusion, the second chamber
102 cavity wall is equipped with through-hole corresponding with the gear teeth 9, and one end is slidably fitted in the through-hole can be U-shaped with the clamping of the gear teeth 9
Fixture block 10, protective shell 11 is equipped on the outer wall of the second chamber 102 (can be embedded in protective shell 11 and be arranged in mechanical palm
1 front side makes compact-sized), electromagnet 12, the sliding axle of the electromagnet 12 and institute are fixedly installed in the protective shell 11
The other end for stating U-shaped fixture block 10 is fixedly connected, and is socketed on the sliding axle and U-shaped card block 10 is pushed to push away with what the gear teeth 9 were clamped
Power spring 18 pushes U-shaped card block 10 to engage with the holding of the gear teeth 9, locks rope drum 602 by thrust spring 18, thus will
A pair of of mechanical finger 4 is fixed, and when needing to adjust mechanical finger 4, power on electromagnet 12, keeps sliding axle contracting dynamic, and
U-shaped card block 10 and the gear teeth 9 is driven to be detached from.
It should be further noted that between the binding post 7 and mechanical palm 3, mechanical palm 3 with refer to root section 401 it
Between, refer to root section 401 and refer between middle section 402, and refer to that between middle section 402 and finger tip section 403 be electrical connection.
It should be added that the grounding rod further includes the control box 2 being mounted at 1 bottom end handle of insulating bar, institute
The control chip (such as ARM, single-chip microcontroller) for being equipped in control box 2 and executing for controlling driving motor 601 and electromagnet 12 is stated,
And power module is also equipped in the control box 2, the power module includes changeable type power supply, power source charges mouth and interim
Mobile power source access port is the components power supply such as control chip, driving motor 601 and electromagnet 12 by changeable type power supply, and
Using chargeable, replaceable power supply, and interim mobile power source access port is provided, makes device using more flexible, enhancement device
Cruising ability and practicability.
It should be further noted that a pair of of mechanical finger 4 can be set on the machinery palm, it also can be set three
Or the mechanical finger 4 of the numbers such as four.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (9)
1. a kind of adaptive manipulator formula grounding rod, which is characterized in that including insulating bar (1), the machine being mounted on insulating bar (1)
Tool hand and the control box (2) for being mounted on insulating bar (1) bottom end, the manipulator include being fixedly attached to insulating bar (1) top
Mechanical palm (3) is respectively articulated with a pair of of the mechanical finger (4) for being mounted on mechanical palm (3) two sides and is mounted on a pair of machine
Drive disk (5) on tool finger (4) is equipped on the insulating bar (1) and drives the mechanical finger (4) by drive disk (5)
The bottom of the driving assembly (6) of movement, the machinery palm (3) is equipped with binding post (7), is connected on the binding post (7)
It is grounded (8).
2. a kind of adaptive manipulator formula grounding rod according to claim 1, which is characterized in that the mechanical finger (4)
Including be hinged on mechanical palm (3) finger root section (401), be hinged on refer to root section (401) other end finger in save (402) and cut with scissors
The finger tip section (403) that (402) other end is saved in finger is connect, it is described to refer to that root section (401) and the hinged place of mechanical palm (3) are also hinged
Have the first strut (404), first strut (404) has been respectively articulated with the first push rod (405) far from one end of mechanical palm (3)
With the second push rod (406), the other end of first push rod (405) and drive disk (5) hingedly, second push rod (406)
The other end is hinged with third push rod (407), and the other end of the third push rod (407) is hinged on finger tip section (403), described
It saves in the hinged place and finger root section (401) of second push rod (406) and third push rod (407) and finger and is cut with scissors between the hinged place of (402)
It connects and the second strut (408) is installed.
3. a kind of adaptive manipulator formula grounding rod according to claim 1, which is characterized in that the insulating bar (1)
First chamber (101) and second chamber (102) are equipped in top, the driving component (6) includes being mounted on the first chamber
(101) it driving motor (601) in and is mounted in the second chamber (102), and the output with the driving motor (601)
The rope drum (602) and one end that the other end of axis circumferential direction is fixedly connected are fixedly mounted on the rope drum (602), and another
The cavity wall that one end passes through the second chamber (102) is connected to wirerope (603) on the drive disk (5).
4. a kind of adaptive manipulator formula grounding rod according to claim 3, which is characterized in that the rope drum (602)
Top and bottom be equipped with the circle gear teeth (9) of protrusion, the cavity wall of the second chamber (102) is equipped with and the gear teeth
(9) corresponding through-hole, is slidably fitted with the U-shaped card block (10) that one end can be clamped with the gear teeth (9) in the through-hole, and described second
It is equipped on the outer wall of chamber (102) protective shell (11), is fixedly installed with electromagnet (12), the electricity in the protective shell (11)
The sliding axle of magnet (12) is fixedly connected with the other end of the U-shaped fixture block (10), and it is U-shaped that promotion is socketed on the sliding axle
The thrust spring (18) of fixture block (10) and the gear teeth (9) clamping.
5. a kind of adaptive manipulator formula grounding rod according to claim 1, which is characterized in that the machinery palm (3)
The upper side close to drive disk (5) is equipped with a pair of guide rods (13), is offered on the drive disk (5) and is matched with guide rod (13) sliding
The slide opening of conjunction, one end that a pair of guide rod (13) passes through slide opening is connected by connecting rod (14), and is installed on the connecting rod (14)
The tension spring (15) for thering is the other end to connect with the drive disk (5).
6. a kind of adaptive manipulator formula grounding rod according to claim 3, which is characterized in that the first chamber
(101) it is separated between bottom chamber wall and side wall, the bottom chamber wall of the first chamber (101) is arranged under insulating bar (1)
The top of barred body is held, the inner sidewall of the first chamber (101) is equipped with internal screw thread, the bottom chamber of the first chamber (101)
Wall is equipped with the external screw thread engaged with internal screw thread.
7. a kind of adaptive manipulator formula grounding rod according to claim 3, which is characterized in that the insulating bar (1)
Top is equipped with the opening of connection second chamber (102), and the top of the insulating bar (1) circumferentially fixed is equipped with top pressure closure
(16), the bearing (17) matched with the driving motor (601) output shaft is fixedly mounted in the bottom of the top pressure closure (16).
8. a kind of adaptive manipulator formula grounding rod according to claim 2, which is characterized in that the binding post (7) with
Between mechanical palm (3), mechanical palm (3) and refers between root section (401), refers between root section (401) and section (402) in finger, with
And refer to that between middle section (402) and finger tip section (403) be electrical connection.
9. a kind of adaptive manipulator formula grounding rod according to claim 1, which is characterized in that the manipulator is to owe to drive
Dynamic manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910610044.9A CN110181549B (en) | 2019-07-04 | 2019-07-04 | Self-adaptive manipulator type grounding rod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910610044.9A CN110181549B (en) | 2019-07-04 | 2019-07-04 | Self-adaptive manipulator type grounding rod |
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| Publication Number | Publication Date |
|---|---|
| CN110181549A true CN110181549A (en) | 2019-08-30 |
| CN110181549B CN110181549B (en) | 2024-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910610044.9A Active CN110181549B (en) | 2019-07-04 | 2019-07-04 | Self-adaptive manipulator type grounding rod |
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| RU2672041C1 (en) * | 2017-11-08 | 2018-11-08 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Уральский государственный университет путей сообщения" (УрГУПС) | Portable grounding rod |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE7019955U (en) * | 1970-05-29 | 1971-12-02 | Pfisterer Elektrotech Karl | EARTHING ROD. |
| CN205928654U (en) * | 2016-04-26 | 2017-02-08 | 江南大学 | Two motor drive cooperative control's underactuated manipulator |
| CN106945004A (en) * | 2017-03-16 | 2017-07-14 | 重庆市永川区渝林机械厂 | Automobile-used clip |
| CN207705416U (en) * | 2017-11-06 | 2018-08-07 | 广西电网有限责任公司南宁供电局 | Substation grounding bar |
| RU2672041C1 (en) * | 2017-11-08 | 2018-11-08 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Уральский государственный университет путей сообщения" (УрГУПС) | Portable grounding rod |
| CN108017000A (en) * | 2018-01-17 | 2018-05-11 | 合肥工业大学 | A kind of Novel hoisting device |
| CN210336004U (en) * | 2019-07-04 | 2020-04-17 | 广东电网有限责任公司 | Self-adaptive manipulator type ground rod |
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|---|---|
| CN110181549B (en) | 2024-04-26 |
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