CN113843819B - Robot carrying and supporting mechanism for transformer substation equipment - Google Patents
Robot carrying and supporting mechanism for transformer substation equipment Download PDFInfo
- Publication number
- CN113843819B CN113843819B CN202111154114.8A CN202111154114A CN113843819B CN 113843819 B CN113843819 B CN 113843819B CN 202111154114 A CN202111154114 A CN 202111154114A CN 113843819 B CN113843819 B CN 113843819B
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- rotating
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the technical field of robots, and provides a robot carrying and supporting mechanism for transformer substation equipment, which comprises a connecting box, wherein an installation cavity is arranged in the connecting box, and the mechanism also comprises: the carrying mechanism comprises a driving assembly, a clamping assembly and a carrying assembly, the driving assembly drives the rotating module to rotate on the mounting seat, the clamping assembly is driven to move on the driving assembly in opposite directions, and the carrying frame moves under the rotation of the rotating module in a mode that the clamping assembly and the carrying frame are matched to carry and hold the transformer substation equipment. According to the robot carrying and supporting mechanism for the substation equipment, the clamping assembly and the carrying assembly are driven by the driving assembly to carry and support the substation equipment, so that the stability of the equipment during carrying can be ensured, and the carrying efficiency of the equipment and the practicability of the robot are improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot carrying and supporting mechanism for substation equipment.
Background
A robot is an automated machine, except that it has some intelligent capabilities similar to a human or a living being, and is an automated machine with a high degree of flexibility. With the deepening of the intelligent essence understanding of the robot technology, the robot technology continuously permeates into various fields of human activities, and the robot is widely applied to various fields to carry out various automatic or semi-automatic work. In the actual work of a substation, the equipment of the substation often needs to be displaced or replaced, and robots play an important role therein.
When carrying substation equipment, the existing robot carrying and supporting mechanism only depends on the clamping mechanism to carry the equipment, so that the substation equipment is easy to topple over in the carrying process due to the dead weight of the equipment.
Therefore, in view of the above current situation, there is an urgent need to develop a robot carrying and supporting mechanism for substation equipment to overcome the shortcomings in the current practical application.
Disclosure of Invention
In view of the defects in the prior art, an embodiment of the present invention provides a robot carrying and supporting mechanism for substation equipment, so as to solve the problems in the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a robot transport bearing mechanism for substation equipment, includes even connecting box, still includes:
the conveying mechanism comprises a driving assembly, a clamping assembly and a conveying assembly, and the driving assembly is used for driving the clamping assembly and the conveying assembly in a power mode;
the clamping assembly comprises a movable seat, a connecting piece and a clamping part, the movable seat is movably arranged at two ends of the driving assembly, and two ends of the connecting piece are fixedly connected with the movable seat and the clamping part respectively;
the carrying assembly comprises a rotating module, a connecting seat and a carrying frame, wherein the rotating module comprises a first rotating piece, a second rotating piece, a third rotating piece and a fourth rotating piece, the first rotating piece is fixedly arranged on a first rotating shaft, two ends of the second rotating piece are respectively and rotatably connected with the first rotating piece and the fourth rotating piece, two ends of the third rotating piece are respectively and rotatably connected with the first rotating piece and the carrying frame, two ends of the fourth rotating piece are respectively and rotatably connected with the connecting seat and the carrying frame, and the connecting seat is fixedly arranged on the mounting seat;
the driving assembly drives the rotating module to rotate on the mounting seat, drives the clamping assembly to move on the driving assembly in opposite directions, and drives the carrying frame to move under the rotation of the rotating module, so that the clamping assembly and the carrying frame are matched to carry and support the transformer substation equipment.
As a further technical solution of the present invention, the driving assembly includes a first driving element, a first gear, a second gear, a first rotating shaft, and a screw shaft, the first driving element is fixedly installed at one end of the mounting base, two ends of the first rotating shaft are respectively connected with an output end of the first driving element and the mounting base, two ends of the screw shaft are connected with the mounting base, the first gear and the second gear are respectively fixedly installed on the first rotating shaft and the screw shaft, and the first gear and the second gear are engaged and connected.
As a further technical scheme, one end of the connecting box is also provided with a supporting mechanism, and the supporting mechanism is matched with the clamping component to support and fix the substation equipment.
As a further technical scheme of the invention, the supporting mechanism comprises a power assembly, a supporting seat, a fixed seat, a supporting clamping piece and a sliding piece, the power assembly comprises a power element and a first rotary table, the power element is fixed in an installation cavity formed in a connecting box, the first rotary table is connected with an output end of the power element, the supporting seat and the fixed seat are respectively and fixedly installed on the connecting box, one end of the supporting clamping piece is movably installed in the fixed seat, and the sliding piece is fixedly installed on the supporting clamping piece.
As a further technical solution of the present invention, the first rotary table is provided with a sliding slot for sliding of the slider, and the support base is provided with a through hole for supporting the clamping member to move telescopically.
As a further technical solution of the present invention, the mounting seat is fixedly mounted on a rotating mechanism, and the rotating mechanism is used for rotating the mounting seat.
As a further technical scheme of the present invention, the rotating mechanism includes a second driving element, a second rotating shaft, a third rotating disk and rolling members, the second driving element is installed in the installation cavity, two ends of the second rotating shaft penetrate through the connection box and are respectively connected with an output end of the second driving element and the third rotating disk, one end of the third rotating disk is fixedly connected with the installation seat, and a plurality of rolling members are installed on the other end of the third rotating disk.
As a further technical scheme of the invention, a support piece is arranged on the mounting seat, the support piece is movably connected with the movable seat, and the support piece is used for supporting the movable seat.
Compared with the prior art, the invention has the beneficial effects that:
the first rotating shaft and the first gear are driven by a first driving element in the driving assembly, and the second gear and the threaded shaft are driven to rotate on the bracket by the rotation of the first gear through the meshed connection of the first gear and the second gear;
through the bidirectional thread arrangement of the threaded shaft, the threaded shaft drives the two movable seats to move oppositely in the rotating process, so that the equipment is clamped;
the first rotating member is driven to rotate by the rotation of the first rotating shaft, and the second rotating member, the third rotating member and the fourth rotating member are indirectly driven to rotate, so that the carrying frame moves under the rotation of the rotating module, and the substation equipment is lifted and carried;
the clamping assembly and the carrying assembly are driven to move simultaneously through the driving of the driving assembly, so that the transformer substation equipment is carried, the stability of the equipment during carrying can be guaranteed through the arrangement, the carrying efficiency of the equipment is improved, and the practicability of the robot is improved.
To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a schematic structural view of a robot carrying and supporting mechanism for substation equipment according to an embodiment of the present invention.
Fig. 2 isbase:Sub>A structural sectional view ofbase:Sub>A-base:Sub>A in fig. 1.
Fig. 3 is a structural sectional view of B-B in fig. 1.
Fig. 4 is a schematic structural view of the support bracket of fig. 1.
Reference numerals are as follows: 1-connecting box, 11-mounting cavity, 2-mounting seat, 3-carrying mechanism, 31-driving component, 311-first driving element, 312-first gear, 313-second gear, 314-first rotating shaft, 315-threaded shaft, 32-clamping component, 321-movable seat, 322-connecting component, 323-clamping part, 324-anti-slip component, 33-carrying component, 331-rotating module, 3311-first rotating component, 3312-second rotating component, 3313-third rotating component, 3314-fourth rotating component, 332-connecting seat, 333-carrying frame, 4-support, 5-supporting mechanism, 51-power component, 511-power component, 512-first rotating disk, 5121-sliding slot, 52-supporting seat, 521-through hole, 53-fixing seat, 54-supporting clamping component, 55-sliding component, 6-rotating mechanism, 61-second driving element, 62-second rotating shaft, 63-second rotating disk, 64-rolling component, 7-supporting component.
Detailed Description
In the description of the present invention, it is to be understood that the terms "longitudinal," "lateral," "upper," "lower," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1 to 3, a robot carrying and supporting mechanism for substation equipment according to an embodiment of the present invention includes a connection box 1, and further includes:
the conveying mechanism 3 comprises a driving assembly 31, a clamping assembly 32 and a conveying assembly 33, wherein the driving assembly 31 is used for driving the clamping assembly 32 and the conveying assembly 33 in a power mode;
the clamping assembly 32 comprises a movable seat 321, a connecting piece 322 and a clamping part 323, the movable seat 321 is movably arranged at two ends of the driving assembly 31, and two ends of the connecting piece 322 are respectively fixedly connected with the movable seat 321 and the clamping part 323;
the carrying assembly 33 includes a rotating module 331, a connecting seat 332 and a carrying frame 333, the rotating module 331 includes a first rotating member 3311, a second rotating member 3312, a third rotating member 3313 and a fourth rotating member 3314, the first rotating member 3311 is fixedly installed on the first rotating shaft 314, two ends of the second rotating member 3312 are respectively rotatably connected with the first rotating member 3311 and the fourth rotating member 3314, two ends of the third rotating member 3313 are respectively rotatably connected with the first rotating member 3311 and the carrying frame 333, two ends of the fourth rotating member 3314 are respectively rotatably connected with the connecting seat 332 and the carrying frame 333, and the connecting seat 332 is fixedly installed on the installing seat 2;
the clamping component 32 and the carrying frame 333 are matched to carry and support the substation equipment in a manner that the driving component 31 drives the rotating module 331 to rotate on the mounting base 2, drives the clamping component 32 to move on the driving component 31 in a relative manner, and drives the carrying frame 333 to move under the rotation of the rotating module 331.
In the embodiment, the clamping assembly 32 and the carrying assembly 33 are driven by the driving assembly 31 to move simultaneously, so that the transformer substation equipment is carried, the stability of the equipment during carrying can be ensured, and the carrying efficiency of the equipment and the practicability of the robot are improved;
the two movable seats 321 move oppositely under the driving of the driving assembly 31, so as to clamp the equipment; the driving component 31 drives the clamping component 32 and also drives the conveying component 33, the two rotating modules 331 are driven by the driving component 31 to rotate, so that the conveying frame 333 moves in position under the rotation of the rotating modules 331 to lift and convey the substation equipment;
the first rotating member 3311 rotates around the first rotating shaft 314 to drive the second, third and fourth rotating members 3312, 3313 and 3314 to rotate, and the carrying frame 333 is rotationally connected to the third and fourth rotating members 3313 and 3314 to move the carrying frame 333 to a position corresponding to the rotation of the rotating module 331, so as to lift and carry the device.
In a preferred embodiment, the carrying frame 333 is an L-shaped frame, the clamping portion 323 is provided with the anti-slip member 324, the anti-slip member 324 is made of a material with a strong friction force, and the anti-slip member 324 can provide stability for the clamping portion 323 to clamp the device; the rotating module 331 is a rotating rod structure, and the first, second, third and fourth rotating members 3311, 3312, 3313 and 3314 are rotating rods, or rotating plates or plates, to realize the rotation of the rotating module 331.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, the driving assembly 3 includes a first driving element 311, a first gear 312, a second gear 313, a first rotating shaft 314 and a screw shaft 315, the first driving element 311 is fixedly installed at one end of the mounting base 2, two ends of the first rotating shaft 314 are respectively connected to an output end of the first driving element 311 and the mounting base 2, two ends of the screw shaft 315 are connected to the mounting base 2, the first gear 312 and the second gear 313 are respectively fixedly installed on the first rotating shaft 314 and the screw shaft 315, and the first gear 312 and the second gear 313 are engaged and connected.
In this embodiment, the first driving element 311 drives the first rotating shaft 314 and the first gear 312 to rotate on the bracket 4, and the rotation of the first gear 312 drives the second gear 313 and the threaded shaft 315 to rotate through the meshed connection between the first gear 312 and the second gear 313.
In a preferred embodiment, the threaded shaft 315 is a bi-directional threaded shaft 315, the first driving element 311 is a motor that satisfies the driving conditions, and the driving assembly 31 is a worm gear that satisfies the driving conditions to power the clamping assembly 32 and the handling assembly 33.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, a supporting mechanism 5 is further installed at one end of the connection box 1, and the supporting mechanism 5 cooperates with the clamping assembly 32 to support and fix the substation equipment.
As shown in fig. 1 and 3, as a preferred embodiment of the present invention, the supporting mechanism 5 includes a power assembly 51, a supporting seat 52, a fixed seat 53, a supporting clamp 54 and a slider 55, the power assembly 51 includes a power element 511 and a first rotating disk 512, the power element 511 is fixed in an installation cavity 11 formed on the connection box 1, the first rotating disk 512 is connected with an output end of the power element 511, the supporting seat 52 and the fixed seat 53 are respectively and fixedly installed on the connection box 1, one end of the supporting clamp 54 is movably installed in the fixed seat 53, and the slider 55 is fixedly installed on the supporting clamp 54.
As shown in fig. 3 and 4, as a preferred embodiment of the present invention, a sliding groove 5121 for sliding the slider 55 is formed on the first rotating disc 512, and a through hole 521 for supporting the clamping member 54 to move telescopically is formed on the supporting base 52.
In this embodiment, after the equipment is transported to the supporting seat 52 by the transporting mechanism 3, the power component 511 drives the first rotating disc 512 to rotate on the fixed seat 53, and drives the supporting clamping member 54 to move telescopically on the fixed seat 53 by the sliding of the sliding member 55 on the sliding groove 5121, so as to support and tighten the bottom of the equipment;
in a preferred embodiment, the said support clamps 54 are arranged in 4 groups on the fixed seat 52, the said slider 55 is a cylindrical structure, but also can be other structures meeting the requirements, the said power element 511 is a motor meeting the rotation conditions.
As shown in fig. 1, as a preferred embodiment of the present invention, the mounting base 2 is fixedly mounted on a rotating mechanism 6, and the rotating mechanism 6 is used for rotating the mounting base 2.
In a preferred embodiment, the mounting base 2 is a U-shaped structure, and the U-shaped structure is configured to facilitate more stable fixing of the driving assembly 31, thereby improving the stability of the carrying mechanism 3.
As shown in fig. 1, as a preferred embodiment of the present invention, the rotating mechanism 6 includes a second driving element 61, a second rotating shaft 62, a second rotating disc 63 and rolling members 64, the second driving element 61 is installed in the installation cavity 11, two ends of the second rotating shaft 62 penetrate through the connection box 1 and are respectively connected to an output end of the second driving element 61 and the second rotating disc 63, one end of the second rotating disc 63 is fixedly connected to the installation base 2, and a plurality of rolling members 64 are installed on the other end of the second rotating disc 63.
In this embodiment, after the carrying mechanism 3 carries and holds up the equipment, the second driving element 61 rotates to drive the second rotating shaft 62 and the second turntable 63 to rotate, so as to drive the mounting base 2 and the carrying mechanism 3 mounted on the mounting base 2 to rotate, so that the carrying mechanism 3 places the equipment on the supporting mechanism 5, and the clamping component 31 and the supporting mechanism 5 simultaneously carry out supporting and clamping on the equipment, thereby improving the stability of the equipment;
after the carrying mechanism 3 rotates on the connecting box 1 through the rotating mechanism 6, the equipment carried by the carrying mechanism 3 is just above the supporting mechanism 5, the supporting clamping piece 54 on the supporting mechanism 5 is a telescopic mechanism, and when the equipment is supported on the supporting seat 52 through the carrying mechanism 3, the supporting clamping piece 54 is telescopic to support and clamp the bottom of the equipment.
In a preferred embodiment, the second driving element 61 is a motor satisfying the rotation condition, and the second rotating disc 63 is a circular rotating disc or a square rotating disc; the rolling member 64 is a ball-and-socket structure, and the ball structure can support the second turntable 63 and ensure the stability and convenience of the rotation of the second turntable 63.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, a supporting member 7 is mounted on the mounting base 2, the supporting member 7 is movably connected to the movable base 321, and the supporting member 7 is used for supporting the movable base 321.
In a preferred embodiment, the supporting member 7 is a sliding rail structure, specifically, a sliding rail with a cylindrical structure, the supporting member 7 is respectively installed at the upper end and the lower end of the threaded shaft 315, and the movable seat 321 is slidably connected to the supporting member 7, so as to improve the clamping stability of the clamping portion 323.
The working principle of the invention is as follows:
the first driving element 311 drives the first rotating shaft 314 and the first gear 312 to rotate on the bracket 4, and the rotation of the first gear 312 drives the second gear 313 and the threaded shaft 315 to rotate through the meshing connection of the first gear 312 and the second gear 313;
the two movable seats 321 move towards each other under the driving of the threaded shaft 315, so as to clamp the equipment; the driving unit 31 drives the gripping unit 32 and also drives the carrying unit 33; the first rotating member 3311 rotates around the first rotating shaft 314 to drive the second, third and fourth rotating members 3312, 3313 and 3314 to rotate, and the carrying frame 333 is rotationally connected to the third and fourth rotating members 3313 and 3314 through the carrying frame 333, so that the carrying frame 333 moves under the rotation of the rotating module 331;
when the carrying mechanism 3 carries and supports the equipment, the second driving element 61 rotates to drive the second rotating shaft 62 and the second turntable 63 to rotate, so as to drive the mounting base 2 and the carrying mechanism 3 mounted on the mounting base 2 to rotate, and the carrying mechanism 3 places the equipment on the supporting mechanism 5;
after the equipment is conveyed to the bearing seat 52 by the conveying mechanism 3, the power element 511 drives the first rotating disc 512 to rotate on the fixed seat 53, and drives the bearing clamping piece 54 to extend and retract on the fixed seat 53 through the sliding of the sliding piece 55 on the sliding groove 5121, so that the bottom of the equipment is supported and fastened, and the equipment is simultaneously supported and clamped by the clamping component 31 and the bearing mechanism 5;
the working principle of the robot carrying and supporting mechanism for the substation equipment is described above.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (4)
1. The utility model provides a robot transport bearing mechanism for substation equipment, includes the connecting box, set up the installation cavity in the connecting box, its characterized in that still includes:
the conveying mechanism comprises a driving assembly, a clamping assembly and a conveying assembly, and the driving assembly is used for driving the clamping assembly and the conveying assembly in a power mode;
a supporting mechanism is further mounted at one end of the connecting box and is matched with the clamping assembly to support and fix the transformer substation equipment;
the clamping assembly comprises a movable seat, a connecting piece and a clamping part, the movable seat is movably arranged at two ends of the driving assembly, and two ends of the connecting piece are respectively and fixedly connected with the movable seat and the clamping part;
the driving assembly comprises a first driving element, a first gear, a second gear, a first rotating shaft and a screw shaft, the first driving element is fixedly installed at one end of the installation seat, two ends of the first rotating shaft are respectively connected with the output end of the first driving element and the installation seat, two ends of the screw shaft are connected with the installation seat, the first gear and the second gear are respectively and fixedly installed on the first rotating shaft and the screw shaft, and the first gear and the second gear are meshed and connected;
the carrying assembly comprises a rotating module, a connecting seat and a carrying frame, the rotating module comprises a first rotating piece, a second rotating piece, a third rotating piece and a fourth rotating piece, the first rotating piece is fixedly arranged on a first rotating shaft, two ends of the second rotating piece are respectively and rotatably connected with the first rotating piece and the fourth rotating piece, two ends of the third rotating piece are respectively and rotatably connected with the first rotating piece and the carrying frame, two ends of the fourth rotating piece are respectively and rotatably connected with the connecting seat and the carrying frame, and the connecting seat is fixedly arranged on the mounting seat;
the mounting seat is fixedly arranged on the rotating mechanism, and the rotating mechanism is used for rotating the mounting seat;
the rotating mechanism comprises a second driving element, a second rotating shaft, a third rotating disc and rolling pieces, the second driving element is installed in the installation cavity, two ends of the second rotating shaft penetrate through the connecting box and are respectively connected with the output end of the second driving element and the third rotating disc, one end of the third rotating disc is fixedly connected with the installation seat, and a plurality of rolling pieces are installed at the other end of the third rotating disc;
the driving assembly drives the rotating module to rotate on the mounting seat, drives the clamping assembly to move on the driving assembly in opposite directions, and drives the carrying frame to move under the rotation of the rotating module, so that the clamping assembly and the carrying frame are matched to carry and support the transformer substation equipment.
2. The robot carrying and supporting mechanism for the substation equipment according to claim 1, wherein the supporting mechanism includes a power assembly, a supporting seat, a fixing seat, a supporting holder and a slider, the power assembly includes a power element and a first rotary table, the power element is fixed in an installation cavity formed in the connection box, the first rotary table is connected to an output end of the power element, the supporting seat and the fixing seat are respectively and fixedly installed on the connection box, one end of the supporting holder is movably installed in the fixing seat, and the slider is fixedly installed on the supporting holder.
3. The robot carrying and supporting mechanism for the substation equipment according to claim 2, wherein a sliding groove for sliding of the sliding piece is formed in the first turntable, and a through hole for supporting the clamping piece to move in a telescopic manner is formed in the supporting seat.
4. The robot carrying and supporting mechanism for the substation equipment according to claim 1, wherein a support member is mounted on the mounting seat, the support member is movably connected with the movable seat, and the support member is used for supporting the movable seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111154114.8A CN113843819B (en) | 2021-09-29 | 2021-09-29 | Robot carrying and supporting mechanism for transformer substation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111154114.8A CN113843819B (en) | 2021-09-29 | 2021-09-29 | Robot carrying and supporting mechanism for transformer substation equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113843819A CN113843819A (en) | 2021-12-28 |
| CN113843819B true CN113843819B (en) | 2023-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111154114.8A Active CN113843819B (en) | 2021-09-29 | 2021-09-29 | Robot carrying and supporting mechanism for transformer substation equipment |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210174763U (en) * | 2019-04-24 | 2020-03-24 | 李基旭 | Gear linkage horizontal clamping type vehicle-mounted support |
| CN110340923B (en) * | 2019-09-09 | 2020-01-10 | 广东博智林机器人有限公司 | Clamping mechanism of transfer robot |
| DE212020000040U1 (en) * | 2020-04-03 | 2020-05-15 | Kunshan Daike Intelligent Technology Co., Ltd. | Freight removal and release mechanism for intelligent robots |
| CN112045696A (en) * | 2020-08-27 | 2020-12-08 | 广东博智林机器人有限公司 | Clamping device and transfer robot |
| CN112008749A (en) * | 2020-09-01 | 2020-12-01 | 钱海兰 | Industrial robot tongs |
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| CN113843819A (en) | 2021-12-28 |
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