CN110253615A - One kind being used for equipotential damp type automatic shutter gripper - Google Patents
One kind being used for equipotential damp type automatic shutter gripper Download PDFInfo
- Publication number
- CN110253615A CN110253615A CN201910517073.0A CN201910517073A CN110253615A CN 110253615 A CN110253615 A CN 110253615A CN 201910517073 A CN201910517073 A CN 201910517073A CN 110253615 A CN110253615 A CN 110253615A
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- oppositely arranged
- gag lever
- lever post
- opening
- gripper
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- 239000000758 substrate Substances 0.000 claims abstract description 19
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000010891 electric arc Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The present invention provides one kind to be used for equipotential damp type automatic shutter gripper, comprising: substrate, two opening frame, two clamping jaws being oppositely arranged, U-shaped gear frame, limiting device, gag lever post, linear bearing and the operating sticks being oppositely arranged；Substrate is fixedly connected on one end of operating stick, and the lower end of two opening framves being oppositely arranged is respectively fixedly connected at the both ends of substrate, and the upper end of two opening framves being oppositely arranged and the lower end of two clamping jaws being oppositely arranged are rotatablely connected；The both ends of U-shaped gear frame are rotatablely connected respectively on the clamping jaw being oppositely arranged to two；It is equipped with opening among substrate, is fixedly installed with limiting device in opening；One end of gag lever post is fixedly connected on U-shaped gear frame, and the other end passes through one end that opening is slidably connected at operating stick by linear bearing.The beneficial effects of the present invention are: small in size, light-weight；It is grasped using link mechanism；Without motor, hydraulic-driven, suitable for the unstable clamping under particular surroundings by external force less.
Description
Technical field
The present invention relates to high-voltage hot-line work field, more particularly to one kind are mechanical for equipotential damp type automatic shutter
Pawl.
Background technique
High voltage substation is easy to happen various problem for a long time, under the operating of high load capacity, it is therefore desirable to periodically
Maintenance.Existing artificial high pressure maintenance solution has been difficult to meet the high reliability request of power grid O&M, it is therefore desirable to send out energetically
Exhibition automation hotline maintenance equipment.Due to the particularity of operating environment, equipment live maintenance is being carried out often using mechanical equipment
The phenomenon that will appear the starting the arc, gently then influence repair process, it is heavy then damage repair apparatus, therefore high pressure is being carried out using mechanical equipment
Hotline maintenance often needs to carry out equipotential operation.It needs equipotential equipment and high potential point during equipotential with mechanical arm
Contact avoids that there is a phenomenon where the starting the arc so that job platform is equal with setting current potential.Pass through shifting first in actual work
Moving platform send mechanical arm to setting, then drives equipotential pawl to grasp isopotential point by insulating bar by mechanical arm (practical
For tubular articles), complete equipotential operation.In view of mechanical arm is by being driven by electricity, thus using insulating bar increase mechanical arm with
The distance between isopotential point, to reduce influence of the electric current to mechanical arm, this requires gripper ontologies to have lighter matter
Amount.
According to above-mentioned work flow, significant difference is had no for equipotential gripper and common gripper, but need
Include following characteristics: light weight, cannot by being driven by electricity, can reliably grasp isopotential point.
It is analyzed from driving force and the mode of action, currently on the market mainly by following three classes gripper:
First is that the similar Chinese patent document that notification number is CN 109176580A, the day for announcing is on January 11st, 2019, it should
Device is mainly driven by motor, clamping certain shapes that can be stable, a certain size object, usage scenario than wide, but
In view of driving force, volume, weight, such gripper cannot use during equipotential.
Second is that similar notification number is CN 108529248A, the day for announcing is the Chinese patent on the 14th of September in 2018, such machine
Machinery claw is driven by the cylinder, and can provide biggish aid power and can guarantee is not influenced by external electromagnetic environmental change, but this
The general weight of gripper is very big, therefore is also not suitable for carrying out equipotential operation.
Third is that the similar Chinese patent that notification number is CN 109318248A, date of declaration is on 2 12nd, 2019, such
Mechanical arm possesses certain flexibility, can generate certain deformation when grasping object and the displacement that can not resist occurs for gripper, thus
Gripper is avoided to generate damage.Device involved in the patent is driven by piston, therefore its driving force can be motor, engine
Or cylinder, the device can preferably meet equipotential task from function and effect, but come in view of weight and driving force
Source, the device cannot be used for equipotential operation.
Prior art Shortcomings:
The prior art mainly has deficiency on power and weight, therefore can not be suitable for the equipotential behaviour based on mechanical arm
Make.Phenomenon of arc discharge can be generated during equipotential and has the electric current of some strength by equipment, and small electrical driving gripper makes
Use micro-machine as driving, since the voltage of itself, electric current are smaller, so its is affected by environment larger, therefore in safety
It cannot be met the requirements in stability；In order to protect mechanical arm, gripper need to pass through the insulation of certain length when equipotential operates
Bar is connected to guarantee the electric current on mechanical arm not on main road, so the weight of gripper cannot be too big, therefore base with mechanical arm
Although the gripper in hydraulic-driven can guarantee job security and stability, since weight is very big, so being also not suitable for
As equipotential device.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of for equipotential damp type automatic shutter gripper, comprising:
Substrate, two opening frame, two clamping jaws being oppositely arranged, U-shaped gear frame, the limiting devices, gag lever post, linear axis being oppositely arranged
It holds, operating stick and fixed plate；
The lower end of two opening framves being oppositely arranged is respectively fixedly connected in the both ends of substrate, two openings being oppositely arranged
The upper end of frame and the lower end of two clamping jaws being oppositely arranged are rotatablely connected；
The U-shaped gear frame includes two drive rods and driver plate being oppositely arranged；Two drive rods being oppositely arranged
One end is rotatably connected on the middle position for the clamping jaw that two are oppositely arranged respectively, and the other end is rotatably connected on the two of driver plate respectively
End；
It is equipped with opening among substrate, is fixedly installed with limiting device in opening；Limiting device includes sliding bar and position limiting clamp,
Position limiting clamp is two limiting sections being oppositely arranged, and two limiting sections being oppositely arranged are equipped with the sliding being adapted with sliding bar
Hole, one end of sliding bar are fixedly connected on the one side of opening, and the other end is fixedly connected on the another of opening after passing through the sliding eye
On one side；Two limiting sections being oppositely arranged slide on sliding bar, between two limiting sections being oppositely arranged and the opening
The sliding bar is provided with spring, spring pushes two limiting sections being oppositely arranged mutually to draw close along sliding bar；
It is thick bar among gag lever post, both ends are thin bar；Two limiting section edges being oppositely arranged are provided with limited mouth, and two
The size dimension of a limited mouth combined openings is greater than the thin bar size, is less than the thick bar size；And the thick bar is upper and lower
Edge and the coupling part of thin bar are bevel edge；
Fixed plate is fixedly attached to substrate on one side, and another side is fixedly attached to operating stick；Bearing is equipped among fixed plate
The position of opening among installing port, bearing installing port and the substrate is corresponding, is fixedly installed with straight line in bearing installing port
Bearing；One end of gag lever post is fixedly connected on the driver plate of U-shaped gear frame, and it is logical that the other end passes through two limited mouth combined openings
It crosses linear bearing to be connected in fixed plate, and can be slided up and down in linear bearing.
Further, when work, the original state of entire gripper is maximum opening state, at this point, gag lever post lower end
Thin bar is located in two limited mouth combined openings, and the thick bar among gag lever post is located above two limited mouth combined openings；Due to
The thrust of spring makes two limiting sections being oppositely arranged reach minimum distance, and the thick bar among gag lever post is stuck in two and sets relatively
The top for the limiting section set, so that driver plate is jacked up, so that two drive rods being oppositely arranged are softened to maximum rating, two
A clamping jaw being oppositely arranged also is strutted by the drive rod that two are oppositely arranged to maximum rating；
As entire gripper is to the close of pipe bus, pipe bus enters in two clamping jaws being oppositely arranged, when pipe bus
When touching driver plate, driver plate is pushed to move downward, and then two drive rods for being oppositely arranged drive two to be oppositely arranged
Clamping jaw closure, while driving gag lever post to move downward by driver plate, and then the thick bar among gag lever post squeezes two and sets relatively
The limiting section set passes through two limited mouth combined openings；When in the clamping jaw that pipe bus is oppositely arranged completely into two, two phases
Maximum close state is reached to the clamping jaw of setting, under this state, the thick bar among gag lever post passes completely through two limited mouth combinations
The thin bar of opening, gag lever post upper end is located in two limited mouth combined openings；Due to the thrust of spring, two are made to be oppositely arranged
Limiting section reaches minimum distance, and the thick bar among gag lever post is stuck in the lower section for the limiting section that two are oppositely arranged, thus driver plate
It is pulled down into, so that two drive rods being oppositely arranged are pulled to minimum state, two clamping jaws being oppositely arranged are also opposite by two
The drive rod of setting is pulled to minimum state；
When being detached from operating point, entire gripper is dragged out downwards, is detached from the clamping jaw that pipe bus is oppositely arranged from two, this
When, two clamping jaws being oppositely arranged are softened, and then the drive rod being oppositely arranged by two drives driver plate to move upwards, and are passed
Movable plate drives gag lever post to move upwards, and then the thick bar among gag lever post squeezes two limiting sections being oppositely arranged, and passes through two
Limited mouth combined openings；When pipe bus completely disengages two clamping jaws being oppositely arranged, the thick bar among gag lever post is passed completely through
The thin bar of two limited mouth combined openings, gag lever post lower end is located in two limited mouth combined openings, the thick bar among gag lever post
Above two limited mouth combined openings；Due to the thrust of spring, two limiting sections being oppositely arranged is made to reach minimum distance,
Thick bar among gag lever post is stuck in the top for the limiting section that two are oppositely arranged, so that driver plate is jacked up, so that two opposite
The drive rod of setting is softened to maximum rating, two clamping jaws being oppositely arranged also by the drive rod that two are oppositely arranged strut to
Maximum rating, so that entire gripper is maintained at maximum opening state.
Further, one end of two drive rods being oppositely arranged pass through respectively linear bearing be rotatably connected on two it is opposite
The middle position of the clamping jaw of setting, the other end pass through the both ends that linear bearing is rotatably connected on driver plate respectively.
Further, the sliding bar has two.
Further, the cross section of gag lever post is circle.
Further, two opening framves being oppositely arranged are outward shape, two connecting rods being oppositely arranged
For with two be oppositely arranged open the adaptable circular shape of frame shape, to increase opening face when entire gripper opens
Product.
Further, the edge of the limited mouth of two limiting section edge settings being oppositely arranged is inclined plane shape, to prevent
Only the thick bar among gag lever post is stuck when passing through two limited mouth combined openings.
Technical solution provided by the invention has the benefit that Technical Design proposed by the invention is a
Convert thrust to the flexible machinery gripping tool of aid power, gripper includes two stable point stress, and one is opened completely in gripper
Open state, one is in gripper fully closed condition, and radial push-in when use by gripper along tubular articles can be completed
Gripper grasps tubular articles, and there are certain flexibilities in clamping for gripper, therefore use edge more energetically in gripper end
Gripper can be detached from tubular articles by the radially outward pulling of tubular articles.There are following characteristics for this gripper: using thrust/
Pulling force can be combined driving gripper opening and closing as driving force by mechanical arm with tubular articles；It is light weight, small in size；It can be achieved soft
Property grasping；It is grasped using link mechanism, the size of limiting device and the elastic force setting clamping coefficient of spring can be passed through；Without electricity
Machine, hydraulic-driven, suitable for the unstable clamping under particular surroundings by external force less.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is a kind of single unit system figure for equipotential damp type automatic shutter gripper in the embodiment of the present invention；
Fig. 2 is a kind of maximum opening state for equipotential damp type automatic shutter gripper in the embodiment of the present invention
Schematic diagram；
Fig. 3 is a kind of for equipotential damp type automatic shutter gripper preparation grasping pipe bus in the embodiment of the present invention
When status diagram；
Fig. 4 is a kind of maximum close state for equipotential damp type automatic shutter gripper in the embodiment of the present invention
Schematic diagram；
Fig. 5 be in the embodiment of the present invention it is a kind of grasp pipe bus for equipotential damp type automatic shutter gripper after
Status diagram.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
The embodiment provides one kind to be used for equipotential damp type automatic shutter gripper.
Referring to FIG. 1, Fig. 1 is a kind of for the whole of equipotential damp type automatic shutter gripper in the embodiment of the present invention
Body device figure, comprising: substrate 1, two 2, two clamping jaws being oppositely arranged 3 of opening frame, the U-shaped gear frame 4, limit being oppositely arranged
Device 5, gag lever post 6, linear bearing 7, operating stick 8 and fixed plate 9；
The lower end of two opening framves 2 being oppositely arranged is respectively fixedly connected at the both ends of substrate 1, two being oppositely arranged
The upper end of open-shelf 2 and the lower end of two clamping jaws 3 being oppositely arranged are rotatablely connected；
The U-shaped gear frame 4 includes two drive rods 41 and driver plate 42 being oppositely arranged；Two transmissions being oppositely arranged
One end of bar 41 is rotatably connected on the middle position of two clamping jaws being oppositely arranged 3 respectively, and the other end is rotatably connected on biography respectively
The both ends of movable plate 42；
It is equipped with opening among substrate 1, is fixedly installed with limiting device 5 in opening；Limiting device 5 includes sliding bar 51 and limit
Position folder 52, position limiting clamp 52 are two limiting sections being oppositely arranged, and two limiting sections being oppositely arranged are equipped with and 51 phase of sliding bar
The sliding eye of adaptation, one end of sliding bar 51 are fixedly connected on the one side of opening, and the other end passes through fixed company after the sliding eye
Connect the another side in opening；Two limiting sections being oppositely arranged slide on sliding bar 51, two limiting sections being oppositely arranged with
The sliding bar is provided with spring between the opening, spring pushes two limiting sections being oppositely arranged along sliding bar
51 mutually draw close；
It is thick bar among gag lever post 6, both ends are thin bar；Two limiting section edges being oppositely arranged are provided with limited mouth,
The size dimension of two limited mouth combined openings is greater than the thin bar size, is less than the thick bar size；And the thick bar is upper
Lower edge and the coupling part of thin bar are bevel edge；
Fixed plate 9 is fixedly attached to substrate 1 on one side, and another side is fixedly attached to operating stick 8；It is equipped among fixed plate 9
The position of the intermediate opening of bearing installing port, bearing installing port and the substrate (1) is corresponding, is fixedly mounted in bearing installing port
There is linear bearing 7；One end of gag lever post 6 is fixedly connected on the driver plate 42 of U-shaped gear frame 4, and the other end passes through two limits
Mouth combined openings are connected in fixed plate 9 by linear bearing 7, and can be slided up and down in linear bearing 7.
As shown in Fig. 2, Fig. 2 be in the embodiment of the present invention it is a kind of for equipotential damp type automatic shutter gripper most
Big opening state schematic diagram；When work, the original state of entire gripper is maximum opening state, at this point, 6 lower end of gag lever post
Thin bar is located in two limited mouth combined openings, and the thick bar among gag lever post 6 is located above two limited mouth combined openings；Due to
The thrust of spring, makes two limiting sections being oppositely arranged reach minimum distance, and the thick bar among gag lever post 6 is stuck in two and sets relatively
The top for the limiting section set, so that driver plate 42 is jacked up, so that two drive rods 41 being oppositely arranged are softened to maximum shape
State, two clamping jaws 3 being oppositely arranged also are strutted by the drive rod 41 that two are oppositely arranged to maximum rating；
As entire gripper is to the close of pipe bus, pipe bus enters in two clamping jaws 3 being oppositely arranged (such as Fig. 3 institute
Show, when Fig. 3 is a kind of preparation grasping pipe bus for equipotential damp type automatic shutter gripper in the embodiment of the present invention
Status diagram), when pipe bus touches driver plate 42, driver plate 42 is pushed to move downward, and then two are oppositely arranged
Drive rod 41 drives two clamping jaws 3 being oppositely arranged to be closed, while driving gag lever post 6 to move downward by driver plate 42, in turn
Thick bar among gag lever post 6 squeezes two limiting sections being oppositely arranged, and passes through two limited mouth combined openings；Pipe bus completely into
When entering in two clamping jaws being oppositely arranged 3, two clamping jaws 3 being oppositely arranged reach maximum close state, under this state, gag lever post
Thick bar among 6 passes completely through two limited mouth combined openings, and the thin bar of 6 upper end of gag lever post is located at two limited mouth combined openings
In；Due to the thrust of spring, two limiting sections being oppositely arranged is made to reach minimum distance, the thick bar among gag lever post 6 is stuck in two
The lower section of a limiting section being oppositely arranged, so that driver plate 42 is pulled down into, so that two drive rods 41 being oppositely arranged are pulled to
Minimum state, two clamping jaws 3 being oppositely arranged also are pulled to minimum state by the drive rod 41 that two are oppositely arranged；(such as Fig. 4 and figure
Shown in 5, Fig. 4 is that a kind of maximum close state for equipotential damp type automatic shutter gripper is shown in the embodiment of the present invention
Be intended to, Fig. 5 be in the embodiment of the present invention it is a kind of grasp pipe bus for equipotential damp type automatic shutter gripper after
Status diagram)；
When being detached from operating point, entire gripper is dragged out downwards, pipe bus is detached from out of two the clamping jaws being oppositely arranged 3,
At this point, two clamping jaws 3 being oppositely arranged are softened, and then the drive rod 41 being oppositely arranged by two drives driver plate 42 upward
Movement, driver plate 42 drive gag lever post 6 to move upwards, and then the thick bar among gag lever post 6 squeezes two limits being oppositely arranged
Portion passes through two limited mouth combined openings；When pipe bus completely disengages two clamping jaws 3 being oppositely arranged, among gag lever post 6
Thick bar passes completely through two limited mouth combined openings, and the thin bar of 6 lower end of gag lever post is located in two limited mouth combined openings, limit
Thick bar among bar 6 is located above two limited mouth combined openings；Due to the thrust of spring, make two limiting sections being oppositely arranged
Reach minimum distance, the thick bar among gag lever post 6 is stuck in the top for the limiting section that two are oppositely arranged, so that driver plate 42 is pushed up
It rises, so that two drive rods 41 being oppositely arranged are softened to maximum rating, two clamping jaws 3 being oppositely arranged are also opposite by two
The drive rod 41 of setting is strutted to maximum rating, so that entire gripper is maintained at maximum opening state.
One end of two drive rods 41 being oppositely arranged, which passes through linear bearing respectively and is rotatably connected on two, to be oppositely arranged
The middle position of clamping jaw 3, the other end pass through the both ends that linear bearing is rotatably connected on driver plate 42 respectively.
The sliding bar 51 has two.
The cross section of gag lever post 6 is circle.
Two opening framves 2 being oppositely arranged are outward shape, and two connecting rods 41 being oppositely arranged are and two
A circular shape for opening 2 shape of frame and being adapted being oppositely arranged, to increase opening area when entire gripper opens.
The edge of the limited mouth of two limiting section edge settings being oppositely arranged is inclined plane shape, to prevent gag lever post 6
Intermediate thick bar is stuck when passing through two limited mouth combined openings.
The beneficial effects of the present invention are: Technical Design proposed by the invention is a by thrust to convert aid power
Flexible machinery gripping tool, gripper include two stable point stress, one be in the complete open configuration of gripper, one in machinery
Gripper grasping tubular articles can be completed along the radial push-in of tubular articles when use in gripper by pawl fully closed condition,
There are certain flexibilities in clamping for gripper, therefore use in gripper end more energetically along the radially outward drawing of tubular articles
It is dynamic gripper to be detached from tubular articles.There are following characteristics for this gripper: use push/pull as driving force, it can be by
Mechanical arm combines driving gripper opening and closing with tubular articles；It is light weight, small in size；Soft grasping can be achieved；Using link mechanism
It is grasped, the size of limiting device and the elastic force setting clamping coefficient of spring can be passed through；Without motor, hydraulic-driven, it is suitable for
By the unstable clamping that external force is little under particular surroundings.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. one kind is used for equipotential damp type automatic shutter gripper characterized by comprising substrate (1), two opposite set
Opening frame (2), two clamping jaw (3), U-shaped gear frame (4), limiting device (5), the gag lever posts (6), linear axis being oppositely arranged set
Hold (7), operating stick (8) and fixed plate (9)；
The lower end of two opening framves (2) being oppositely arranged is respectively fixedly connected at the both ends of substrate (1), two being oppositely arranged
The upper end of open-shelf (2) and the lower end of two clamping jaws 3 being oppositely arranged are rotatablely connected；
The U-shaped gear frame (4) includes two drive rods being oppositely arranged (41) and driver plate (42)；Two biographies being oppositely arranged
One end of lever (41) is rotatably connected on the middle position of two clamping jaws being oppositely arranged (3) respectively, the other end company of rotation respectively
Connect the both ends in driver plate (42)；
It is equipped with opening among substrate (1), is fixedly installed with limiting device (5) in opening；Limiting device (5) includes sliding bar (51)
With position limiting clamp (52), position limiting clamp (52) is two limiting sections being oppositely arranged, and two limiting sections being oppositely arranged are equipped with and cunning
The adaptable sliding eye of lever (51), one end of sliding bar (51) are fixedly connected on the one side of opening, and the other end passes through the cunning
The another side of opening is fixedly connected on behind dynamic hole；Two limiting sections being oppositely arranged slide on sliding bar (51), and two opposite
The sliding bar is provided with spring between the limiting section of setting and the opening, spring pushes two limits being oppositely arranged
Position portion is mutually drawn close along sliding bar (51)；
It is thick bar among gag lever post (6), both ends are thin bar；Two limiting section edges being oppositely arranged are provided with limited mouth, and two
The size dimension of a limited mouth combined openings is greater than the thin bar size, is less than the thick bar size；And the thick bar is upper and lower
Edge and the coupling part of thin bar are bevel edge；
Fixed plate (9) is fixedly attached to substrate (1) on one side, and another side is fixedly attached to operating stick (8)；Fixed plate (9) is intermediate
Equipped with bearing installing port, the position of the opening among bearing installing port and the substrate (1) is corresponding, fixed in bearing installing port
Linear bearing (7) are installed；One end of gag lever post (6) is fixedly connected on the driver plate (42) of U-shaped gear frame (4), the other end
It is connected on fixed plate (9) across two limited mouth combined openings by linear bearing (7), and can be in linear bearing (7)
It slides up and down.
2. as described in claim 1 a kind of for equipotential damp type automatic shutter gripper, it is characterised in that: work
When, the original state of entire gripper is maximum opening state, at this point, the thin bar of gag lever post (6) lower end is located at two limited mouths
In combined openings, the intermediate thick bar of gag lever post (6) is located above two limited mouth combined openings；Due to the thrust of spring, make two
A limiting section being oppositely arranged reaches minimum distance, and the intermediate thick bar of gag lever post (6) is stuck in the limiting section that two are oppositely arranged
Top, so that driver plate (42) is jacked up, so that two drive rods (41) being oppositely arranged are softened to maximum rating, two phases
The clamping jaw (3) of setting is also strutted by the drive rod (41) that two are oppositely arranged to maximum rating；
As entire gripper is to the close of pipe bus, pipe bus enters in two clamping jaws (3) being oppositely arranged, when pipe bus touches
When encountering driver plate (42), driver plate (42) is pushed to move downward, and then two drive rods (41) being oppositely arranged drive two
Clamping jaw (3) closure being oppositely arranged, while driving gag lever post (6) to move downward by driver plate (42), and then in gag lever post (6)
Between thick bar squeeze two limiting sections being oppositely arranged, pass through two limited mouth combined openings；Pipe bus is completely into two phases
When interior to the clamping jaw (3) of setting, two clamping jaws (3) being oppositely arranged reach maximum close state, under this state, gag lever post (6)
Intermediate thick bar passes completely through two limited mouth combined openings, and the thin bar of gag lever post (6) upper end is located at two limited mouth groups and runs jointly
In mouthful；Due to the thrust of spring, two limiting sections being oppositely arranged is made to reach minimum distance, the intermediate thick bar card of gag lever post (6)
In the lower section for the limiting section that two are oppositely arranged, so that driver plate (42) is pulled down into, so that two drive rods being oppositely arranged
(41) it is pulled to minimum state, two clamping jaws (3) being oppositely arranged also are pulled to minimum by the drive rod (41) that two are oppositely arranged
State；
When being detached from operating point, entire gripper is dragged out downwards, pipe bus is detached from out of two the clamping jaws being oppositely arranged (3), this
When, two clamping jaws (3) being oppositely arranged are softened, and then the drive rod (41) being oppositely arranged by two drives driver plate (42)
It moves upwards, driver plate (42) drives gag lever post (6) to move upwards, and then the thick bar among gag lever post (6) squeezes two relatively
The limiting section of setting passes through two limited mouth combined openings；When pipe bus completely disengages two clamping jaw being oppositely arranged (3),
The intermediate thick bar of gag lever post (6) passes completely through two limited mouth combined openings, and the thin bar of gag lever post (6) lower end is located at two limits
In mouth combined openings, the intermediate thick bar of gag lever post (6) is located above two limited mouth combined openings；Due to the thrust of spring, make
Two limiting sections being oppositely arranged reach minimum distance, and the intermediate thick bar of gag lever post (6) is stuck in two limiting sections being oppositely arranged
Top, so that driver plate (42) is jacked up so that two drive rods (41) being oppositely arranged are softened to maximum rating, two
The clamping jaw (3) being oppositely arranged also is strutted by the drive rod (41) that two are oppositely arranged to maximum rating, so that entire gripper is protected
It holds in maximum opening state.
3. as described in claim 1 a kind of for equipotential damp type automatic shutter gripper, it is characterised in that: two phases
The centre that linear bearing is rotatably connected on two clamping jaws being oppositely arranged (3) is passed through respectively to one end of the drive rod (41) of setting
Position, the other end pass through the both ends that linear bearing is rotatably connected on driver plate (42) respectively.
4. as described in claim 1 a kind of for equipotential damp type automatic shutter gripper, it is characterised in that: the cunning
Lever (51) has two.
5. as described in claim 1 a kind of for equipotential damp type automatic shutter gripper, it is characterised in that: gag lever post
(6) cross section is circle.
6. as described in claim 1 a kind of for equipotential damp type automatic shutter gripper, it is characterised in that: two phases
Opening frame (2) to setting is outward shape, and two connecting rods (41) being oppositely arranged are to be oppositely arranged with two
Opening frame | the adaptable circular shape of (2) shape, to increase opening area when entire gripper opens.
7. as described in claim 1 a kind of for equipotential damp type automatic shutter gripper, it is characterised in that: two phases
Edge to the limited mouth of the limiting section edge setting of setting is inclined plane shape, is existed with the thick bar for preventing gag lever post (6) intermediate
It is stuck when across two limited mouth combined openings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910517073.0A CN110253615B (en) | 2019-06-14 | 2019-06-14 | Damping type automatic opening and closing mechanical claw for equipotential |
Applications Claiming Priority (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113370239A (en) * | 2021-06-07 | 2021-09-10 | 北京理工大学 | Energy barrier adjustable bistable passive triggering soft gripper |
| CN113433505A (en) * | 2021-05-14 | 2021-09-24 | 国网山东省电力公司营销服务中心(计量中心) | Adjustable clamping jaw, device and method for electric energy meter verification |
| CN116495405A (en) * | 2023-06-28 | 2023-07-28 | 四川英创力电子科技股份有限公司 | Circuit board conveying and clamping device and using method thereof |
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| CN116495405B (en) * | 2023-06-28 | 2023-10-10 | 四川英创力电子科技股份有限公司 | Circuit board conveying and clamping device and using method thereof |
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| Publication number | Publication date |
|---|---|
| CN110253615B (en) | 2024-03-26 |
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