CN111463713A

CN111463713A - Palm device and patrol car that opens and shuts

Info

Publication number: CN111463713A
Application number: CN202010446492.2A
Authority: CN
Inventors: 周向利; 王春芳; 陈跃中
Original assignee: State Grid Corp of China SGCC; Jiangxi Vocational and Technical College of Electricity
Current assignee: State Grid Corp of China SGCC; Jiangxi Vocational and Technical College of Electricity
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-07-28
Anticipated expiration: 2040-05-26
Also published as: CN111463713B

Abstract

The application provides a palm device and patrols line car that opens and shuts relates to electric power facility detection field. The palm opening and closing device comprises a base body, a clamping mechanism and a driving mechanism. The clamping mechanism comprises two clamping units which are oppositely arranged on the base body along a first preset direction. The clamping mechanism has a closed state in which the two clamping units clamp the cable together and an open state in which both the two clamping units are separated from the cable. The driving mechanism is used for driving the clamping mechanism to move along a second preset direction, and the second preset direction is perpendicular to the first preset direction. This device that opens and shuts can the centre gripping cable, also can separate with the cable, and when two centre gripping units all separated with the cable, this palm device that opens and shuts can cross the barrier that is located on the cable, does not need artifical the participation to cross the barrier, and actuating mechanism can drive fixture simultaneously and remove for this palm device that opens and shuts can move along the extending direction of cable, can cross the barrier through the realization that opens and shuts of two centre gripping units at the removal in-process, has improved cable maintenance efficiency.

Description

Palm device and patrol car that opens and shuts

Technical Field

The application relates to an electric power facility detection field particularly, relates to a palm device and patrols line car that opens and shuts.

Background

The overhead cable is long in span and large in dead weight, so that loads of the cable are reduced by arranging suspension clamps, vibration dampers and the like in the length direction of the cable frequently in order to reduce the dead weight borne by the cable, but the suspension clamps, the vibration dampers and the like bring inconvenience to a detection circuit of a patrol car.

Disclosure of Invention

The embodiment of the application provides a palm device and a line patrol car that opens and shuts to improve the inconvenient problem of line patrol car obstacle surmounting.

In a first aspect, an embodiment of the present application provides a palm opening and closing device, which includes a base, a clamping mechanism, and a driving mechanism. The clamping mechanism comprises two clamping units which are oppositely arranged on the base body along a first preset direction. The clamping mechanism has a closed state in which the two clamping units clamp the cable together and an open state in which both the two clamping units are separated from the cable. The driving mechanism is used for driving the clamping mechanism to move along a second preset direction, and the second preset direction is perpendicular to the first preset direction.

Among the above-mentioned technical scheme, when fixture is in the closure state, the palm device centre gripping that opens and shuts is in the cable, when fixture is in the open mode, two clamping unit all separate with the cable, this device that opens and shuts promptly can the centre gripping cable, also can separate with the cable, when two clamping unit all separate with the cable, this palm device that opens and shuts can cross the barrier that is located on the cable, do not need artifical the participation to cross the barrier, actuating mechanism can drive clamping mechanism and predetermine the direction removal along the second simultaneously, make this palm device that opens and shuts can follow the extending direction removal of cable, can cross the barrier through the realization that opens and shuts of two clamping unit at the removal in-process, cable maintenance efficiency has been improved.

In addition, the palm opening and closing device of the embodiment of the application also has the following additional technical characteristics:

in some embodiments of the first aspect of the present application, each gripping unit comprises a gripping arm, a gripping portion and a drive device; the driving device is used for driving the clamping part to move relative to the clamping arm so as to enable the clamping part to be positioned in a clamping state of clamping the cable or in a separated state of separating the cable; when each clamping part is in a clamping state, the clamping mechanism is in a closed state; when each of the gripping portions is in the separated state, the gripping mechanism is in the open state.

Among the above-mentioned technical scheme, drive arrangement drive clamping part removes to make the centre gripping can the centre gripping cable or separate with the cable, when the clamping part of two clamping units all centre gripping in the cable, whole fixture is in closed state, the palm device that opens and shuts can suspend in midair on the cable, when the clamping part of two clamping units all separated with the cable, whole fixture is in open mode, drive arrangement drive clamping mechanism removes and to make whole palm device that opens and shuts hinder more, can realize the walking of palm device that opens and shuts on the cable, also can avoid the barrier.

In some embodiments of the first aspect of the present application, each clamping unit further comprises a locking mechanism for maintaining the clamping portion in the clamped state.

Among the above-mentioned technical scheme, locking mechanism's setting can be in the clamping state with clamping part and cable locking in order to keep the clamping part in the state of centre gripping cable when clamping part to make the palm device that opens and shuts can hang in midair on the cable steadily.

In some embodiments of the first aspect of the present application, the locking mechanism is configured to compress the clamping portion to deform the clamping portion in the first predetermined direction and maintain the clamping state.

Among the above-mentioned technical scheme, locking mechanism makes clamping part warp along first direction of predetermineeing to the clamping part that makes can support tightly the cable on first direction of predetermineeing, and locking effect is better, and the palm device that opens and shuts can suspend in midair on the cable more steadily.

In some embodiments of the first aspect of the present application, the clamping portion has a clamping groove that mates with the cable.

Among the above-mentioned technical scheme, the clamping part passes through centre gripping groove and cable cooperation centre gripping for clamping part and cable surface can be better laminating, thereby the centre gripping is firm more reliable.

In some embodiments of the first aspect of the present application, the gripper arms comprise a first arm and a second arm, the first arm and the second arm being arranged at an angle, the angles formed by the first arm and the second arm of the two gripper mechanisms being arranged opposite to each other; the clamping part is arranged at one end, far away from the second arm, of the first arm, and one end, far away from the first arm, of the second arm is connected to the base body.

In the technical scheme, each clamping arm comprises a first arm and a second arm which are arranged at an included angle, and the included angles formed by the first arms and the second arms of the two clamping mechanisms are oppositely arranged, so that enough space is reserved between the clamping arms of the two clamping units, and an obstacle suspended below the cable can pass through the space.

In some embodiments of the first aspect of the present application, each of the clamping units further comprises an adjustment mechanism for adjusting a distance between the clamping portion and the base.

Among the above-mentioned technical scheme, adjustment mechanism can adjust the distance between base member and the clamping part for this palm device that opens and shuts can be applicable to the environment of co-altitude not, and application scope is wider.

In some embodiments of the first aspect of the present application, the drive mechanism comprises a first drive unit and a second drive unit; the first driving unit is used for driving one of the two clamping units to move along a second preset direction, and the second driving unit is used for driving the other of the two clamping units to move along the second preset direction.

Among the above-mentioned technical scheme, every clamping unit all has independent drive unit, the control that the fixture of being convenient for removed to when two clamping units are far away in first predetermined direction interval, the condition that two clamping units remove the asynchronization can not appear.

In some embodiments of the first aspect of the present application, the clamping mechanism is a plurality of clamping mechanisms, and each clamping mechanism is arranged on the base at intervals along the second preset direction; the driving mechanism is multiple, and each driving mechanism is used for driving one clamping mechanism to move along a second preset direction.

Among the above-mentioned technical scheme, fixture is a plurality of, and the palm device that opens and shuts can rely on a plurality of fixture's synergism to realize along the removal of the second preset direction, need not set up other drive structure again for the structure of palm device that opens and shuts is lighter, also can alleviate the load of cable.

In a second aspect, an embodiment of the present application provides a patrol car, which includes the palm opening and closing device provided in the embodiment of the first aspect.

Among the above-mentioned technical scheme, the line patrol car includes the palm device that opens and shuts that the embodiment of the first aspect provided for this line patrol car can cross the barrier that is located the cable when patrolling and examining the cable, does not need artifical the participation to cross the barrier, and actuating mechanism can drive fixture and predetermine the direction removal along the second simultaneously, makes this line patrol car can follow the extending direction removal of cable, can cross the barrier through the realization of opening and shutting of two centre gripping units at the removal in-process, has improved cable maintenance efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic view of a palm opening and closing device provided in an embodiment of a first aspect of the present application in an open state;

fig. 2 is a schematic view of a palm opening and closing device provided in an embodiment of the first aspect of the present application in a closed state;

fig. 3 is a schematic view of a palm rest device provided in an embodiment of the first aspect of the present application passing over obstacles above and below a cable;

FIG. 4 is an enlarged view taken at IV in FIG. 1;

fig. 5 is a schematic view of a palm opening/closing device having a plurality of clamping mechanisms according to an embodiment of the first aspect of the present application.

Icon: 100-palm opening and closing device; 10-a substrate; 20-a clamping mechanism; 21-a clamping unit; 211-a gripper arm; 2111-first arm; 2112-second arm; 212-a clamping portion; 2121-a clamping groove; 2122-a through hole; 2123-a first stop; 213-a drive device; 214-a locking mechanism; 2141-a screw mandrel; 2142-a second limiting piece; 22-a first clamping mechanism; 23-a second clamping mechanism; 24-a third clamping mechanism; 30-a drive mechanism; 200-a cable; 300-an obstacle; a-a first preset direction; b-a second predetermined direction.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, or the orientation or positional relationship which is usually understood by those skilled in the art, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Examples

As shown in fig. 1 and fig. 2, a palm opening and closing device 100 is provided according to an embodiment of the first aspect of the present application, where the palm opening and closing device 100 includes a base 10, a clamping mechanism 20, and a driving mechanism 30. The clamping mechanism 20 comprises two clamping units 21 arranged opposite to each other along the first preset direction a on the base body 10. The clamping mechanism 20 has a closed state in which the two clamping units 21 clamp the cable 200 together and an open state in which both the clamping units 21 are separated from the cable 200. The driving mechanism 30 is used for driving the clamping mechanism 20 to move along a second preset direction B, and the second preset direction B is perpendicular to the first preset direction a. When fixture 20 is in the closed state, palm device 100 that opens and shuts is centre gripping in cable 200, when fixture 20 is in the open mode, two clamping unit 21 all separate with cable 200, this device that opens and shuts can centre gripping cable 200 promptly, also can separate with cable 200, when two clamping unit 21 all separate with cable 200, this palm device 100 that opens and shuts can cross the barrier 300 that is located on cable 200, do not need artifical the participation to cross the barrier, actuating mechanism 30 can drive clamping mechanism 20 and remove along second preset direction B simultaneously, make this palm device 100 that opens and shuts can remove along the extending direction of cable 200, can realize crossing the barrier through opening and shutting of two clamping unit 21 in the removal process, cable 200 maintenance efficiency has been improved.

In the present embodiment, each gripper unit 21 includes a gripper arm 211, a gripper portion 212, and a driving device 213; the clamping portion 212 is movably connected to one end of the clamping arm 211, and the driving device 213 is used for driving the clamping portion 212 to move relative to the clamping arm 211, so that the clamping portion 212 is located in a clamping state for clamping the cable 200 or located in a separated state for separating the cable 200; when each of the clamping portions 212 is in the clamping state, the clamping mechanism 20 is in the closed state; when each of the gripper portions 212 is in the separated state, the gripper mechanism 20 is in the open state.

Wherein each clamping portion 212 has a clamping groove 2121 that mates with the cable 200. The clamping portion 212 is clamped by the clamping groove 2121 in cooperation with the cable 200, so that the clamping portion 212 can be better attached to the surface of the cable 200, and the clamping is firmer and more reliable. Each driving device 213 is used for driving the corresponding clamping portion 212 to approach or depart from the other clamping portion 212 along the first preset direction a. When each driving device 213 drives the corresponding clamping parts 212 to approach each other along the first preset direction a, the cable 200 can be clamped into the clamping grooves 2121 of the two clamping parts 212, and the clamping grooves 2121 of the two clamping parts 212 together define a clamping area for clamping the cable 200; when each driving device 213 drives the corresponding clamping portion 212 to move away from each other along the first preset direction a, the two clamping portions 212 can be separated from the cable 200 and the distance between the two clamping portions 212 in the first preset direction a is increased, so that a passing space is provided for the obstacle 300 suspended on the cable 200, and the obstacle 300 suspended on the cable 200 can pass through the space between the two clamping portions 212, thereby realizing obstacle crossing.

In the present embodiment, the driving device 213 is a driving structure capable of linearly driving the clamp, such as a linear motor, a hydraulic cylinder, and an air cylinder, provided at one end of the clamp arm 211 remote from the base 10. In this embodiment, the driving device 213 is a motor, and the motor is connected to the clamping portion 212 through a transmission mechanism having a self-locking function, such as a worm gear, so that the clamping portion 212 is held at a certain position and does not shake in the first predetermined direction a.

In other embodiments, the clamping portion 212 can be moved in other configurations, for example, the clamping portion is connected to one end of the clamping arm 211, the end of the clamping arm 211 away from the clamping portion 212 is rotatably connected to the base 10, and the driving device 213 is used for driving the clamping arm 211 to rotate relative to the base 10, so that the two clamping portions 212 can move toward or away from each other.

Increasing the distance between the two clamping portions 212 enables the palmar retractor 100 to pass over the obstacle 300 disposed on the cable 200 and suspended above the cable 200, and in order to enable the palmar retractor 100 to pass over the obstacle 300 suspended below the cable 200, in the present embodiment, as shown in fig. 1 and 3, the clamping arm 211 includes a first arm 2111 and a second arm 2112, the first arm 2111 and the second arm 2112 are arranged at an angle, and the angles formed by the first arm 2111 and the second arm 2112 of the two clamping mechanisms 20 are arranged oppositely; the clip portion 212 is provided at an end of the first arm 2111 remote from the second arm 2112, and an end of the second arm 2112 remote from the first arm 2111 is connected to the base 10. Each gripping arm 211 comprises a first arm 2111 and a second arm 2112 arranged at an angle, the angle formed by the first arm 2111 and the second arm 2112 of the two gripping devices 20 being arranged opposite each other, so that there is sufficient space between the gripping arms 211 of the two gripping units 21 to enable the passage of an obstacle 300 suspended under the cable 200.

In order to enable the palm folding device 100 to accommodate different sized obstacles 300 hanging under the cable 200 and to accommodate cables 200 at different height positions, each grip unit 21 further comprises an adjustment mechanism for adjusting the distance between the grip portion 212 and the base body 10. The palm opening and closing device 100 can cross the obstacle 300 with large height under the cable 200 by increasing the distance between the clamping part 212 and the base body 10 through the adjusting mechanism, and the distance between the base body 10 and the clamping part 212 can also be reduced through the adjusting mechanism, so that the palm opening and closing device can not only adapt to the cable 200 with low height, but also reduce the distance between the gravity center of the palm opening and closing device 100 and the cable 200, and the stability of the palm opening and closing device 100 moving on the cable 200 is better.

The structure of the adjusting mechanism may be various, for example, at least one of the first arm 2111 and the second arm 2112 of the clamp arm 211 is a telescopic structure, and the first arm 2111 and/or the second arm 2112 can be telescopic to change the distance between the substrate 10 and the clamp portion 212. For another example, the first arm 2111 and the second arm 2112 of the clamping arm 211 are rotatably connected, a driving element is disposed on the clamping arm 211, the driving element is used for driving the first arm 2111 and the second arm 2112 to rotate relatively, so that an included angle between the first arm 2111 and the second arm 2112 is changed (the driving element may also be a motor, and the driving element is in transmission connection with the first arm 2111 or the second arm 2112 through a worm gear, so that the first arm 2111 and the second arm 2112 can be maintained at a certain included angle position by engagement between the worm gear and the worm gear after the angle between the first arm 2111 and the second arm 2112 is changed), and when the first arm 2111 and the second arm 2112 are located on the same straight line (when the first arm 2111 and the second arm 2112 form an included angle of 180 °, the distance between the base 10 and the clamping portion 212 is the largest).

Further, each of the clamp units 21 further includes a lock mechanism 214 for holding the clamp portion 212 in a clamped state. The locking mechanism 214 is provided to lock the clamping portion 212 and the cable 200 when the clamping portion 212 is in the clamped state, so as to hold the clamping portion 212 in the state of clamping the cable 200, so that the palm opening and closing device 100 can be stably suspended from the cable 200.

In the present embodiment, the locking mechanism 214 is configured to press the clamping portion 212 to deform the clamping portion 212 along the first predetermined direction a and maintain the clamping state. The locking mechanism 214 deforms the clamping portion 212 along the first preset direction a, so that the clamping portion 212 can tightly abut against the cable 200 in the first preset direction a, the locking effect is better, and the palm opening and closing device 100 can be more stably suspended on the cable 200.

As shown in fig. 4, the locking mechanism 214 is a lead screw 2141 motor, a through hole 2122 penetrating through the upper and lower surfaces of the clamping portion 212 is disposed at a rear position of a clamping groove 2121 of the clamping portion 212, a first limiting member 2123 having a threaded hole is disposed on the upper surface of the clamping portion 212, the threaded hole and the through hole 2122 are coaxially arranged, the lead screw 2141 of the lead screw 2141 motor sequentially penetrates through the threaded hole and the through hole 2122, the lead screw 2141 is screwed with the threaded hole, a free end of the lead screw 2141 extends out of the through hole 2122, a second limiting member 2142 is disposed at the free end of the lead screw 2141, forward rotation of the lead screw 2141 motor can enable the first limiting member 2123 and the second limiting member 2142 to press the clamping portion 212 in the up-down direction, so that the upper and lower abutting portions of the clamping groove 2121 can be close to each other to enable the cable 200 to be tightened more firmly, and at the clamping portion 212 can be deformed, so that the clamping portion 212 is clamped on the cable 200 more firmly, the screw 2141 rotates reversely by the motor to release the clamping portion and the cable 200, and the clamping force between the clamping portion and the cable 200 is reduced. By using the lead screw 2141 motor as the locking mechanism 214, the locking or releasing of the clamping portion 212 and the cable 200 is controlled.

Of course, the locking mechanism 214 may be other structures, such as a bolt.

Further, the drive mechanism 30 includes a first drive unit and a second drive unit; the first driving unit is used for driving one of the two clamping units 21 to move along a second preset direction B, and the second driving unit is used for driving the other of the two clamping units 21 to move along the second preset direction B. Each gripping unit 21 has an independent driving unit, which facilitates the control of the movement of the gripping mechanism 20, and when the two gripping units 21 are spaced far apart in the first predetermined direction a, the two gripping units 21 do not move out of synchronization. The first and second driving units may be linear motors, hydraulic cylinders, air cylinders, etc.

In other embodiments, the two clamping units 21 can be driven by one driving unit to move in the second preset direction B simultaneously.

In the present embodiment, the clamping mechanism 20 is plural, and each clamping mechanism 20 is arranged at intervals on the substrate 10 along the second preset direction B; the driving mechanism 30 is plural, and each driving mechanism 30 is used for driving one clamping mechanism 20 to move along the second preset direction B. The clamping mechanisms 20 are multiple, the palm opening and closing device 100 can move along the second preset direction B under the cooperation of the clamping mechanisms 20, other driving structures do not need to be arranged, the structure of the palm opening and closing device 100 is lighter, and the load of the cable 200 can be reduced.

The second predetermined direction B is an extending direction of the cable 200.

Illustratively, as shown in fig. 5, there are three gripper mechanisms 20, which are defined in turn as a first gripper mechanism 22, a second gripper mechanism 23, and a third gripper mechanism 24. The moving mode of the palm folding device 100 on the cable 200 is as follows:

(1) the first gripper mechanism 22 is in an open state, and the second gripper mechanism 23 and the third gripper mechanism 24 are in a closed state;

(2) the driving mechanism 30 corresponding to the first clamping mechanism 22 drives the first clamping mechanism 22 to move forward, after moving for a certain distance, the first clamping mechanism 22 is in a closed state, and then the second clamping mechanism 23 and the third clamping mechanism 24 are both in an open state;

(3) at this time, the first clamping mechanism 22 clamps on the cable 200, and the driving mechanism 30 corresponding to the first clamping mechanism 22 operates to enable the base 10 to be driven to move forward, so as to realize the forward movement of the whole palm opening and closing device 100.

During the moving process, if the obstacle 300 is encountered, the clamping mechanism 20 can pass over the obstacle 300 by making the clamping mechanism 20 in the open state and then driving the clamping mechanism 20 in the second preset direction B through the driving mechanism 30.

Of course, during the moving process, the first clamping mechanism 22 and the second clamping mechanism 23 may be in the open state, and the third clamping mechanism 24 may be in the closed state; the driving mechanism 30 corresponding to the first clamping mechanism 22 drives the first clamping mechanism 22 to move forward, the driving mechanism 30 corresponding to the second clamping mechanism 23 drives the second clamping mechanism 23 to move forward, after moving for a certain distance, the first clamping mechanism 22 and the second clamping mechanism 23 are in a closed state, and then the third clamping mechanism 24 is in an open state; at this time, the first clamping mechanism 22 and the second clamping mechanism 23 are clamped on the cable 200, and the driving mechanism 30 corresponding to the first clamping mechanism 22 and the driving mechanism 30 corresponding to the second clamping mechanism 23 act to enable the base body 10 to be driven to move forward, so that the entire palm opening and closing device 100 moves forward.

The number of the clamping mechanisms 20 may also be two, four, or more than four, and the moving manner and the obstacle crossing manner of the palm opening and closing device 100 having other numbers of clamping mechanisms 20 on the cable 200 can refer to the above exemplary description, and are not described herein again.

The embodiment of the second aspect of the application provides an inspection vehicle, including the palm device 100 that opens and shuts that the embodiment of the first aspect provided makes, make this inspection vehicle can cross the barrier 300 that is located on the cable 200 when patrolling and examining cable 200, do not need artifical the participation to cross the obstacle, actuating mechanism 30 can drive fixture 20 and remove along the second direction B that predetermines simultaneously, make this inspection vehicle can remove along the extending direction of cable 200, can realize crossing the obstacle through the opening and shutting of two clamping unit 21 in the removal process, improved cable 200 maintenance efficiency.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A palm opening and closing device, comprising:

a substrate;

the clamping mechanism comprises two clamping units which are oppositely arranged on the base body along a first preset direction; the clamping mechanism is provided with a closed state in which the two clamping units clamp the cable together and an open state in which the two clamping units are separated from the cable; and

and the driving mechanism is used for driving the clamping mechanism to move along a second preset direction, and the second preset direction is perpendicular to the first preset direction.

2. The palm opening and closing device according to claim 1, wherein each grip unit includes a grip arm, a grip portion, and a driving device;

the clamping part is movably connected to one end of the clamping arm, and the driving device is used for driving the clamping part to move relative to the clamping arm so as to enable the clamping part to be located in a clamping state of clamping a cable or in a separated state of separating the cable;

when each clamping part is in a clamping state, the clamping mechanism is in a closed state;

when each clamping part is in the separated state, the clamping mechanism is in the open state.

3. The palm opening and closing device according to claim 2, wherein each grip unit further includes a locking mechanism for holding the grip portion in the grip state.

4. The palm opening and closing device according to claim 3, wherein the locking mechanism is configured to press the clamping portion so that the clamping portion is deformed in the first predetermined direction and is maintained in the clamping state.

5. The palm opening and closing device according to claim 2, wherein the grip portion has a grip groove to be fitted with a cable.

6. The palm opening and closing device according to claim 2, wherein the clamping arms comprise a first arm and a second arm, the first arm and the second arm are arranged at an included angle, and the included angles formed by the first arm and the second arm of the two clamping mechanisms are oppositely arranged;

the clamping part is arranged at one end, far away from the second arm, of the first arm, and one end, far away from the first arm, of the second arm is connected to the base body.

7. The palm opening and closing device according to claim 2, wherein each grip unit further includes an adjustment mechanism for adjusting a distance between the grip portion and the base.

8. The palm opening and closing device according to any one of claims 1 to 7, wherein the driving mechanism includes a first driving unit and a second driving unit;

the first driving unit is used for driving one of the two clamping units to move along the second preset direction, and the second driving unit is used for driving the other of the two clamping units to move along the second preset direction.

9. The palm opening and closing device according to claim 1, wherein the plurality of clamping mechanisms are arranged on the base body at intervals along the second preset direction;

the driving mechanisms are multiple, and each driving mechanism is used for driving one clamping mechanism to move along the second preset direction.

10. A patrol car, comprising the palm opening and closing device according to any one of claims 1 to 9.