CN113858252A - Robot accessory grabbing device is used in transformer substation's maintenance - Google Patents
Robot accessory grabbing device is used in transformer substation's maintenance Download PDFInfo
- Publication number
- CN113858252A CN113858252A CN202111169978.7A CN202111169978A CN113858252A CN 113858252 A CN113858252 A CN 113858252A CN 202111169978 A CN202111169978 A CN 202111169978A CN 113858252 A CN113858252 A CN 113858252A
- Authority
- CN
- China
- Prior art keywords
- gear
- grabbing
- assembly
- piece
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
Landscapes
- 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 accessory grabbing device for maintaining a transformer substation, which comprises a connecting base, wherein a driving box is arranged on the connecting base, and the robot accessory grabbing device further comprises: the grabbing mechanism is arranged on the driving box and is movably connected with the bracket, and the grabbing mechanism is used for grabbing the accessory; and the adjusting mechanism comprises a driving assembly, a first transmission assembly, a second transmission assembly, a first rolling piece, a second rolling piece and an adjusting track. According to the robot accessory grabbing device for maintaining the transformer substation, the accessory is tightly attached to the adjusting track through the grabbing mechanism, and the accessory moves in position under the rotation of the adjusting track through the arrangement of the adjusting mechanism, so that the grabbing contact surface of the accessory and the adjusting track is improved, and the grabbing stability and the grabbing efficiency of the grabbing device are improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot accessory grabbing device for transformer substation maintenance.
Background
A robot is an automated machine, except that it has some intelligent capabilities similar to human or biological, such as perception capability, planning capability, action capability, and coordination capability, and is an automated machine with a high degree of flexibility. With the deepening of people's understanding of the intelligent essence of the robot technology, the robot technology starts to continuously permeate into various fields of human activities, and the robot is widely applied to various fields to carry out various automatic or semi-automatic works. Among them, various types of robots such as inspection robots, maintenance robots, and transfer robots are also present in the substation.
The existing robot accessory grabbing device for transformer substation maintenance cannot adjust the grabbing state of accessories due to different specifications of the accessories in the grabbing process, and therefore grabbing efficiency is not high.
Therefore, in view of the above current situation, there is an urgent need to develop a robot accessory gripping device for maintaining a transformer substation to overcome the shortcomings in the current practical application.
Disclosure of Invention
Aiming at the defects in the prior art, the embodiment of the invention aims to provide a robot accessory grabbing device for maintaining a transformer substation, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a maintenance of transformer substation is with robot accessory grabbing device, includes even the connection base, install the drive case on the connection base, still include:
the grabbing mechanism is movably connected with the bracket; and
the adjusting mechanism comprises a driving assembly, a first transmission assembly, a second transmission assembly, a first rolling piece, a second rolling piece and an adjusting track, the driving assembly is installed in a driving box, the first transmission assembly is movably installed on the driving box in a penetrating mode, and the driving assembly is movably connected with the first transmission assembly;
the second transmission assembly comprises a movable shaft, a fourth gear, a fifth gear and a sixth gear, two ends of the movable shaft are movably connected with the support, the fourth gear is fixedly installed on the movable shaft, two ends of the fifth gear are movably connected with the grabbing mechanism, the sixth gear is fixedly connected with the first rolling piece, the fourth gear is meshed with the fifth gear, the fifth gear is meshed with the sixth gear, the second transmission assembly is movably connected with the first transmission assembly, two ends of the first rolling piece and two ends of the second rolling piece are respectively movably connected with the grabbing piece, and the adjusting track is movably installed on the first rolling piece and the second rolling piece;
the drive assembly drives the first transmission assembly to rotate on the drive box, and the first transmission assembly drives the fourth gear to rotate, drives the first rolling part to rotate on the grabbing part and further drives the adjusting track to rotate on the first rolling part and the second rolling part so as to adjust the grabbing state of the accessory through the adjusting track.
As a further technical scheme, the grabbing mechanism comprises a driving element, a threaded shaft, a first gear, a rotating assembly and a grabbing piece, wherein the driving element is fixedly installed in a driving box, the threaded shaft is movably installed on the driving box in a penetrating mode, one end of the threaded shaft is connected with the output end of the driving element, the rotating assembly is movably installed on a support, one end of the rotating assembly is movably connected with the grabbing piece, the first gear is fixedly connected with one end of the rotating assembly, and the first gear is in meshed connection with the threaded shaft.
As a further technical scheme, the rotating assembly comprises a first rotating piece and a second rotating piece, two ends of the first rotating piece and two ends of the second rotating piece are respectively movably connected with the support and the grabbing piece, and the first gear is fixedly connected with one end of the first rotating piece.
As a further technical scheme, the driving assembly comprises a power element and a second gear, the power element is fixedly installed in the driving box, and the second gear is fixedly connected with the output end of the power element.
As a further technical scheme, the first transmission assembly comprises a third gear, a rotating shaft, a first bevel gear and a second bevel gear, the rotating shaft is movably arranged on the driving box in a penetrating mode, the third gear and the first bevel gear are respectively fixedly arranged at two ends of the rotating shaft, the third gear is arranged in the driving box, the first bevel gear and the second bevel gear are in meshed connection, and the second bevel gear is fixedly arranged on the movable shaft.
As a further technical scheme of the invention, a telescopic assembly is fixedly connected to the power element, one end of the telescopic assembly is fixedly mounted on the fixed frame, and the telescopic assembly is used for controlling the power element to move.
As a further technical scheme, the telescopic assembly comprises a fixing piece and a telescopic piece, one end of the fixing piece is fixedly arranged on the fixing frame, one end of the telescopic piece is movably arranged in the fixing piece, and the other end of the telescopic piece is fixedly connected with the power element.
As a further technical scheme of the invention, through holes for movably connecting the second transmission assembly and the rotating assembly are formed at two ends of the bracket.
Compared with the prior art, the invention has the beneficial effects that:
after the accessory is grabbed by the grabbing mechanism, the grabbing state is adjusted by the adjusting mechanism; the driving assembly is meshed with the first transmission assembly through the telescopic motion of the driving assembly and the telescopic assembly, the first transmission assembly is driven to rotate on the driving box through the rotation of the driving assembly, the second transmission assembly is driven to rotate through the rotation of the first transmission assembly, so that the first rolling piece is driven to rotate, and the adjusting track is driven to rotate on the first rolling piece and the second rolling piece through the rotation of the first rolling piece;
the accessory is by snatching the mechanism and snatching the back, closely laminates with the regulation track, has driven the accessory through the rotation of regulation track and has reciprocated for accessory and regulation track's contact surface greatly increased has improved grabbing stability of grabbing device to the accessory, and because of adjusting orbital structure setting, can carry out stable the snatching to the accessory of various specifications difference, has improved the efficiency of snatching of accessory.
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 diagram of a robot accessory gripping device for maintaining a transformer substation according to an embodiment of the present invention.
Fig. 2 is a sectional view of a driving box of the robot accessory gripping apparatus according to the embodiment of the present invention.
Fig. 3 is a partial structural schematic view of an accessory gripping device according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of the stent of fig. 1.
Reference numerals: 1-connecting base, 2-driving box, 3-support, 31-through hole, 4-grabbing piece, 5-grabbing mechanism, 51-driving element, 52-threaded shaft, 53-first gear, 54-rotating component, 541-first rotating component, 542-second rotating component, 55-shaft sleeve, 6-adjusting mechanism, 61-driving component, 611-power element, 612-second gear, 62-first transmission component, 621-third gear, 622-rotating shaft, 623-first bevel gear, 624-second bevel gear, 63-second transmission component, 631-movable shaft, 632-fourth gear, 633-fifth gear, 634-sixth gear, 64-first rolling piece, 65-second rolling piece, 66-adjusting track, 7-fixing frame, 8-telescopic component, 81-fixing piece and 82-telescopic piece.
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 expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; 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 4, a robot accessory gripping device for maintaining a transformer substation provided in an embodiment of the present invention includes a connection base 1, a driving box 2 is installed on the connection base 1, and the robot accessory gripping device further includes:
the grabbing mechanism 5 is movably connected with the support 3; and
the adjusting mechanism 6 comprises a driving assembly 61, a first transmission assembly 62, a second transmission assembly 63, a first rolling member 64, a second rolling member 65 and an adjusting track 66, wherein the driving assembly 61 is installed in the driving box 2, the first transmission assembly 62 is movably installed on the driving box 2 in a penetrating manner, and the driving assembly 61 is movably connected with the first transmission assembly 62;
the second transmission assembly 63 includes a movable shaft 631, a fourth gear 632, a fifth gear 633 and a sixth gear 634, two ends of the movable shaft 631 are movably connected with the bracket 3, the fourth gear 632 is fixedly sleeved on the movable shaft 631, two ends of the fifth gear 633 are movably connected with the second rotating member 542, the sixth gear 634 is fixedly connected with the first rolling member 64, the fourth gear 632 is in meshed connection with the fifth gear 633, the fifth gear 633 is in meshed connection with the sixth gear 634, the second transmission assembly 63 is movably connected with the first transmission assembly 62, two ends of the first rolling member 64 and the second rolling member 65 are respectively movably connected with the grabbing member 4, the first rolling member 64 is fixedly connected with the second transmission assembly 63, and the adjusting rail 66 is movably mounted on the first rolling member 64 and the second rolling member 65;
the driving assembly 61 drives the first transmission assembly 62 to rotate on the driving box 2, and the first transmission assembly 62 drives the fourth gear 632 to rotate, drives the first rolling member 64 to rotate on the grabbing member 4, and further drives the adjusting track 66 to rotate on the first rolling member 64 and the second rolling member 65, so that the grabbing state of the accessory by the adjusting track 66 is adjusted.
In the embodiment, the accessory is tightly attached to the adjusting track 66 through the grabbing mechanism 5, and the accessory moves in position under the rotation of the adjusting track 66 through the arrangement of the adjusting mechanism 6, so that the grabbing contact surface of the accessory and the adjusting track 66 is improved, and the grabbing stability and the grabbing efficiency of the grabbing device are improved;
the rotation of the movable shaft 631 drives the fourth gear 632 to rotate, and the rotation of the fourth gear 632 drives the fifth gear 633, the sixth gear 634 and the first rolling element 64 to rotate through the meshing connection of the fourth gear 632, the fifth gear 633 and the sixth gear 634, and the fixed connection of the sixth gear 634 and the first rolling element 64.
In a preferred embodiment, the first rolling member 64 and the second rolling member 65 are a roller structure, the second rolling members 65 are movably mounted at two ends of the gripping member 4, the adjusting rail 66 is sleeved on the first rolling member 64 and the two second rolling members 65, the stability of the adjusting rail 66 is improved in a triangular fixing mode, the adjusting rail 66 is a rail made of a belt material, and the arrangement can improve the friction force between the adjusting rail 66 and the accessory and improve the stability of the accessory in the adjusting process;
the fourth gear 632, the fifth gear 633 and the sixth gear 634 are straight gears with different gears and the same tooth profile; the first transmission assembly 62 and the second transmission assembly 63 can also be in transmission connection in the form of worm gears and worms.
As shown in fig. 1 and 3, as a preferred embodiment of the present invention, the grasping mechanism 5 includes a driving element 51, a threaded shaft 52, a first gear 53, a rotating assembly 54 and the grasping member 4, the driving element 51 is fixedly installed in the driving box 2, the threaded shaft 52 is movably installed on the driving box 2 in a penetrating manner, one end of the threaded shaft 52 is connected with the output end of the driving element 51, the rotating assembly 54 is movably installed on the bracket 3, one end of the rotating assembly 54 is movably connected with the grasping member 4, the first gear 53 is fixedly connected with one end of the rotating assembly 54, and the first gear 53 is connected with the threaded shaft 52 in a meshing manner.
As shown in fig. 1 and 3, as a preferred embodiment of the present invention, the rotating assembly 54 includes a first rotating member 541 and a second rotating member 542, two ends of the first rotating member 541 and the second rotating member 542 are movably connected to the bracket 3 and the grabbing member 4, respectively, and the first gear 53 is fixedly connected to one end of the first rotating member 541.
In this embodiment, the driving element 51 rotates to drive the threaded shaft 52 to rotate on the driving box 2, and the threaded shaft 52 is engaged with the first gear 53 to drive the first gear 53 to rotate, and the first gear 53 is fixedly connected with the first rotating piece 541, so that the first gear 53 rotates to drive the first rotating piece 541 to rotate on the bracket 3, and indirectly drives the second rotating rod 542 to rotate on the bracket 3, thereby driving the grabbing piece 4 to move to grab the accessory.
In a preferred embodiment, the grasping mechanism 5 is provided with three sets on the driving box 2, the driving element 51 is a motor capable of providing a driving force, and the first rotating member 541 and the second rotating member 542 are preferably a rotating piece, and a rotating rod or a rotating block satisfying a rotating condition can be used.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, the driving assembly 61 includes a power member 611 and a second gear 612, the power member 611 is fixedly installed in the driving box 2, and the second gear 612 is fixedly connected to an output end of the power member 611.
In a preferred embodiment, the power element 611 is preferably a motor that can provide rotational power to the second gear 612, and other power structures or power elements 611 that can provide rotational power to the second gear 612 can be used.
As shown in fig. 1 to 3, as a preferred embodiment of the present invention, the first transmission assembly 62 includes a third gear 621, a rotating shaft 622, a first bevel gear 623 and a second bevel gear 624, the rotating shaft 622 is movably installed on the driving box 2 in a penetrating manner, the third gear 621 and the first bevel gear 623 are respectively and fixedly installed at two ends of the rotating shaft 622, the third gear 621 is installed in the driving box 2, the first bevel gear 623 and the second bevel gear 624 are in a meshing connection, and the second bevel gear 624 is fixedly installed on the movable shaft 631.
In this embodiment, the power element 611 drives the second gear 612 to rotate, and the second gear 612 is in meshed connection with the third gear 621, so as to drive the rotating shaft 622 and the first bevel gear 623 to rotate on the driving box 2, and the rotation of the first bevel gear 623 drives the second bevel gear 624 and the movable shaft 631 to rotate on the bracket 3 through meshed connection of the first bevel gear 623 and the second bevel gear 624;
in a preferred embodiment, first bevel gear 623 and second bevel gear 624 are a straight bevel gear.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, a telescopic assembly 8 is fixedly connected to the power element 611, one end of the telescopic assembly 8 is fixedly mounted on the fixed frame 7, and the telescopic assembly 8 is used for controlling the power element 611 to move.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, the telescopic assembly 8 includes a fixing member 81 and a telescopic member 82, one end of the fixing member 81 is fixedly mounted on the fixing frame 7, one end of the telescopic member 82 is movably mounted in the fixing member 81, and the other end of the telescopic member 82 is fixedly connected to the power element 611.
When the gripping mechanism 5 grips the accessory, in this embodiment, the gripping member 4 and the rotating assembly 54 rotate, thereby driving the fourth gear 632, the fifth gear 633 and the sixth gear 634 in the second transmission assembly 63 to deflect, the meshed connection between the second gear 612 in the driving assembly 61 and the third gear 621 in the first transmission assembly 62, the meshed connection between the second bevel gear 624 and the first bevel gear 623, when the fourth gear 632 deflects, the second bevel gear 624 is driven to deflect, the first bevel gear 623 is indirectly driven to rotate, the third gear 621 is driven to rotate by the rotation of the first bevel gear 623, the rotation of the third gear 621 rotates the second gear 612 in the driving assembly 61, and because the power element 611 is in a non-working state at this time, the rotation of the second gear 612 affects the power element 611 in the driving assembly 61;
before the grabbing mechanism 5 grabs the accessory, the power element 611 drives the second gear 612 to rotate at a low speed while the telescopic rod 82 in the telescopic assembly 8 stretches and retracts the power element 611, and the second gear 612 and the third gear 621 in the first transmission assembly 62 are separated from each other in a meshing connection state through stretching of the telescopic assembly 8 and driving of the power element 611, so that the grabbing mechanism 5 is prevented from influencing the adjusting mechanism 6 when grabbing the accessory;
before the grabbing state of the accessory needs to be adjusted, the second gear 612 is meshed with the third gear 621 in the first transmission component 62 through the expansion of the expansion component 8 and the driving of the power element 611, so that the adjusting track 66 is driven to adjust the grabbing state of the accessory.
In a preferred embodiment, the telescopic assembly 8 is preferably a hydraulic cylinder and a hydraulic rod, and a pneumatic cylinder and a pneumatic telescopic rod can be used to control the driving assembly 61.
As shown in fig. 4, as a preferred embodiment of the present invention, through holes 31 for movably connecting the second transmission assembly 63 and the rotation assembly 51 are formed at two ends of the bracket 3.
The working principle of the invention is as follows:
the driving element 51 rotates to drive the threaded shaft 52 to rotate on the driving box 2, the threaded shaft 52 is meshed with the first gear 53 to drive the first gear 53 to rotate, the first gear 53 is fixedly connected with the first rotating piece 541, the first rotating piece 541 is driven to rotate on the support 3 by the rotation of the first gear 53, the second rotating rod 542 is indirectly driven to rotate on the support 3 to drive the grabbing piece 4 to move in position, and accessories are grabbed;
the second gear 612 is driven to rotate by the power element 611, and the second gear 612 is in meshed connection with the third gear 621, so that the rotating shaft 622 and the first bevel gear 623 are driven to rotate on the driving box 2, and the second bevel gear 624 and the movable shaft 631 are driven to rotate on the bracket 3 by the rotation of the first bevel gear 623 through meshed connection of the first hammer gear 623 and the second bevel gear 624;
the rotation of the movable shaft 631 drives the fourth gear 632 to rotate, and through the meshing connection of the fourth gear 632, the fifth gear 633 and the sixth gear 634, and the fixed connection of the first rolling element 64 of the sixth gear 634, the rotation of the fourth gear 632 drives the fifth gear 633, the sixth gear 634 and the first rolling element 64 to rotate, so as to drive the adjusting track 66 to rotate on the first rolling element 64 and the second rolling element 65;
after being grabbed by the grabbing mechanism 5, the accessories are tightly attached to the adjusting rail 66, and the accessories are driven to move up and down through the rotation of the adjusting rail 66, so that the contact surface between the accessories and the adjusting rail 66 is greatly increased, the grabbing stability of the grabbing device for the accessories is improved, and due to the structural arrangement of the adjusting rail 66, the accessories with different specifications can be stably grabbed, and the grabbing efficiency of the accessories is improved;
the working principle of the robot accessory grabbing device for maintaining the transformer substation is described above.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a maintenance of transformer substation is with robot accessory grabbing device, includes the connection base, its characterized in that still includes:
the grabbing mechanism is movably connected with the bracket; and
the adjusting mechanism comprises a driving assembly, a first transmission assembly, a second transmission assembly, a first rolling piece, a second rolling piece and an adjusting track, and the driving assembly is movably connected with the first transmission assembly;
the second transmission assembly comprises a movable shaft, a fourth gear, a fifth gear and a sixth gear, two ends of the movable shaft are movably connected with the bracket, the fourth gear is fixedly arranged on the movable shaft, two ends of the fifth gear are movably connected with the grabbing mechanism, the sixth gear is fixedly connected with the first rolling piece, the fourth gear, the fifth gear and the sixth gear are sequentially meshed and connected, the second transmission assembly is movably connected with the first transmission assembly, two ends of the first rolling piece and two ends of the second rolling piece are respectively movably connected with the grabbing piece, and the adjusting track is movably arranged on the first rolling piece and the second rolling piece;
the drive assembly drives the first transmission assembly to rotate on the drive box, and the first transmission assembly drives the fourth gear to rotate, drives the first rolling part to rotate on the grabbing part and further drives the adjusting track to rotate on the first rolling part and the second rolling part so as to adjust the grabbing state of the accessory through the adjusting track.
2. The substation maintenance robot accessory grabbing device of claim 1, wherein the grabbing mechanism comprises a driving element, a threaded shaft, a first gear, a rotating assembly and a grabbing piece, the driving element is fixedly installed in a driving box, the threaded shaft is movably installed on the driving box in a penetrating mode, one end of the threaded shaft is connected with the output end of the driving element, the rotating assembly is movably installed on a support, one end of the rotating assembly is movably connected with the grabbing piece, the first gear is fixedly connected with one end of the rotating assembly, and the first gear is meshed with the threaded shaft.
3. The substation maintenance robot accessory grabbing device of claim 2, wherein the rotating assembly comprises a first rotating piece and a second rotating piece, two ends of the first rotating piece and two ends of the second rotating piece are movably connected with the support and the grabbing piece respectively, and the first gear is fixedly connected with one end of the first rotating piece.
4. The substation maintenance robot accessory grabbing device of claim 1, wherein the driving assembly comprises a power element and a second gear, the power element is fixedly installed in a driving box, and the second gear is fixedly connected with an output end of the power element.
5. The substation maintenance robot accessory grabbing device of claim 1, wherein the first transmission assembly comprises a third gear, a rotating shaft, a first bevel gear and a second bevel gear, the rotating shaft is movably installed on a driving box in a penetrating mode, the third gear and the first bevel gear are fixedly installed at two ends of the rotating shaft respectively, the third gear is installed in the driving box, the first bevel gear and the second bevel gear are connected in a meshed mode, and the second bevel gear is fixedly installed on a movable shaft.
6. A robot accessory grabbing device for substation maintenance according to claim 4, characterized in that a telescopic assembly is fixedly connected to the power element, one end of the telescopic assembly is fixedly mounted on the fixed frame, and the telescopic assembly is used for controlling the power element to move.
7. The gripping device of a robot fitting for substation maintenance according to claim 6, wherein the telescopic assembly comprises a fixed member and a telescopic member, one end of the fixed member is fixedly mounted on the fixed frame, one end of the telescopic member is movably mounted in the fixed member, and the other end of the telescopic member is fixedly connected with the power element.
8. The substation maintenance robot accessory grabbing device of claim 1, wherein both ends of the support are provided with through holes for movably connecting the second transmission assembly and the rotating assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111169978.7A CN113858252B (en) | 2021-10-08 | 2021-10-08 | Robot accessory grabbing device is used in transformer substation's maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111169978.7A CN113858252B (en) | 2021-10-08 | 2021-10-08 | Robot accessory grabbing device is used in transformer substation's maintenance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113858252A true CN113858252A (en) | 2021-12-31 |
| CN113858252B CN113858252B (en) | 2023-01-17 |
Family
ID=79001795
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111169978.7A Active CN113858252B (en) | 2021-10-08 | 2021-10-08 | Robot accessory grabbing device is used in transformer substation's maintenance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113858252B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0300881A1 (en) * | 1987-07-17 | 1989-01-25 | Ecole Nationale Superieure D'arts Et Metiers Centre De Paris | Two-speed drive producing a given stationary force |
| US20100096870A1 (en) * | 2007-08-21 | 2010-04-22 | Mohsen Saadat | Gripper mechanism with split driveshaft for a gripping finger |
| US20150151433A1 (en) * | 2013-12-02 | 2015-06-04 | Harris Corporation | Compact robotic gripper |
| CN110842959A (en) * | 2019-11-15 | 2020-02-28 | 腾讯科技（深圳）有限公司 | Manipulator and robot |
| CN111993402A (en) * | 2020-07-14 | 2020-11-27 | 兰州电机股份有限公司 | Mechanical arm for grabbing shaft |
| CN113211475A (en) * | 2021-05-28 | 2021-08-06 | 陕西科技大学 | Gripping device |
-
2021
- 2021-10-08 CN CN202111169978.7A patent/CN113858252B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0300881A1 (en) * | 1987-07-17 | 1989-01-25 | Ecole Nationale Superieure D'arts Et Metiers Centre De Paris | Two-speed drive producing a given stationary force |
| US20100096870A1 (en) * | 2007-08-21 | 2010-04-22 | Mohsen Saadat | Gripper mechanism with split driveshaft for a gripping finger |
| US20150151433A1 (en) * | 2013-12-02 | 2015-06-04 | Harris Corporation | Compact robotic gripper |
| CN110842959A (en) * | 2019-11-15 | 2020-02-28 | 腾讯科技（深圳）有限公司 | Manipulator and robot |
| CN111993402A (en) * | 2020-07-14 | 2020-11-27 | 兰州电机股份有限公司 | Mechanical arm for grabbing shaft |
| CN113211475A (en) * | 2021-05-28 | 2021-08-06 | 陕西科技大学 | Gripping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113858252B (en) | 2023-01-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100379529C (en) | Robot travelling along overhead high voltage transmission line | |
| CN211737758U (en) | Slide rail convenient for replacing slide block | |
| CN113800359B (en) | Mine steel wire rope dust and dirt removing robot and working method | |
| CN107689495A (en) | A kind of earthing clamp of Portable angle continuously adjustabe | |
| CN112139943A (en) | Adjustable industrial robot who uses in just being applicable to machine production workshop | |
| CN113858252B (en) | Robot accessory grabbing device is used in transformer substation's maintenance | |
| CN102170097A (en) | Two-arm-regulating gravity type inspection robot for high-voltage transmission lines | |
| CN203246864U (en) | Automatic motor grasping mechanism of motor assembly line | |
| CN217844755U (en) | Multifunctional drill rod robot for industrial silicon furnace | |
| CN211386988U (en) | Drilling equipment is used in tubular product processing | |
| CN201927944U (en) | Robot for inspecting high-voltage transmission lines | |
| CN218052681U (en) | Multifunctional modularized mechanical clamping jaw for clamping rod piece | |
| CN112092000B (en) | Manipulator jaw adjusting rod for loading and unloading | |
| TWI541114B (en) | An adjustable gravity compensation device | |
| CN206916300U (en) | A kind of warping machine | |
| CN217799913U (en) | Welding tool for speed reducer machining | |
| CN218802905U (en) | Furniture frame slotting tool | |
| CN217376387U (en) | Flexible linkage single yarn clamp | |
| CN118046424A (en) | Five-degree-of-freedom mechanical arm suitable for unmanned connecting rod machining workshop | |
| CN220623512U (en) | Angle adjusting device for electromechanical installation | |
| CN219146155U (en) | Rhizome class medicinal material harvester | |
| CN213707537U (en) | Bridge type aviation of convenient maintenance hangs equipment | |
| CN210524957U (en) | Diesel generator equipment frock | |
| CN214690427U (en) | Transfer mechanism for welding rod boxing machine | |
| CN220998938U (en) | Hoisting device for machining conical bearing ring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |