CN115709482A - End effector suitable for robot change over switch - Google Patents
End effector suitable for robot change over switch Download PDFInfo
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- CN115709482A CN115709482A CN202211379411.7A CN202211379411A CN115709482A CN 115709482 A CN115709482 A CN 115709482A CN 202211379411 A CN202211379411 A CN 202211379411A CN 115709482 A CN115709482 A CN 115709482A
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- clamping jaw
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- 239000012636 effector Substances 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The invention provides an end effector suitable for a robot change-over switch, which comprises a rotating mechanism and a clamping mechanism, wherein the clamping mechanism is arranged on the rotating mechanism and is used for being matched with the change-over switch; the clamping mechanism comprises a transmission mechanism and two floating mechanisms arranged on the transmission mechanism, and each floating mechanism is provided with a corresponding clamping jaw assembly. The rotating mechanism is used for realizing the rotation of the clamping mechanism, and the clamping mechanism is matched for realizing the clamping of the change-over switch; the rotation conversion of the conversion switch can be controlled; the invention can complete corresponding switch operation without depending on the complicated movement of the mechanical arm, and is convenient to use; the floating structure is connected with the tail end clamping jaw, and the clamping jaws are arranged on the guide rod, so that the distance between the two clamping jaws can be adjusted to meet the requirements of change-over switches with different widths; the clamping jaw is provided with a two-stage hinge structure, and can adapt to shape changes of different change-over switch handles to a certain extent.
Description
Technical Field
The invention relates to the technical field of change-over switches, in particular to an end effector suitable for a robot change-over switch.
Background
With the continuous development of robot technology and the gradual reduction of machine manufacturing cost and part cost, the robot gradually infiltrates into our daily life from the industrial field, thereby gradually replacing human beings to do some dangerous works.
Many electrical switches are integrated in an electrical control cabinet of an electrical network and are important components of the electrical network, wherein the switches often have higher voltage, and if people do not operate properly, short circuit can occur, so that electric shock and explosion can occur, and the electrical control cabinet has great threat to the personal safety of operators.
In order to solve the above problems, patent CN202210143535.9 discloses a robot arm and inspection robot, which designs a composite end effector of the mechanical arm and has operating mechanisms of various electrical switches, and the end effector itself does not have a driver, and the mechanical arm drives the end effector to operate the switches. The operating structure applied to the change-over switch is a simple two-finger clamping jaw, a handle of the change-over switch can be clamped, and then the change-over switch is switched through movement of the mechanical arm, however, the mechanical arm is required to move in a complex mode, and operation is complex.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the end effector suitable for the robot change-over switch, and the end effector can complete corresponding operation without making complicated movement of a mechanical arm, and is convenient to use.
The technical scheme of the invention is as follows: an end effector suitable for a robot change-over switch comprises a rotating mechanism and a clamping mechanism which is arranged on the rotating mechanism and is used for being matched with the change-over switch;
the clamping mechanism comprises a transmission mechanism and two floating mechanisms arranged on the transmission mechanism, and each floating mechanism is provided with a corresponding clamping jaw assembly.
Preferably, the rotating mechanism comprises a rotating base and a rotating motor arranged in the rotating base, and an output shaft of the rotating motor is connected with the clamping mechanism.
Preferably, the transmission mechanism comprises a housing, a driving motor arranged in the housing, a gear, two racks and two guide rails, wherein the gear is arranged on an output shaft of the driving motor, and the gears are respectively meshed with the corresponding racks;
the lower end of each rack is provided with a corresponding roller assembly, each roller assembly is in rolling connection with a corresponding guide rail, and each rack is also provided with a corresponding floating mechanism.
Preferably, the two racks are oppositely arranged on two sides of the gear and move relatively.
Preferably, the floating mechanism comprises a floating base and a guide rod, the floating base is arranged on the rack, the guide rod is further arranged on the floating base, and the clamping jaw assembly is arranged on the guide rod.
Preferably, the roller assembly comprises a plurality of rolling wheels, each rolling wheel is arranged on the rack through a corresponding bearing, and the rolling wheels are positioned in the grooves of the guide rail and can roll in the grooves.
Preferably, the left side and the right side in the groove of the guide rail are symmetrically provided with U-shaped clamping grooves used for being matched with the rolling wheels.
Preferably, a spring is further arranged on the guide rod on one side of the clamping jaw assembly, one end of the spring is connected with the floating base, and the other end of the spring is connected with the clamping jaw assembly.
Preferably, the floating base is in a chevron structure, and the clamping jaw assembly and the spring are respectively positioned on the guide rods of the two notches of the chevron structure floating base.
Preferably, the clamping jaw assembly comprises a clamping jaw base, a first joint and a second joint, the clamping jaw base is sleeved on the guide rod and is connected with the first joint through a connecting shaft, and the first joint is provided with two second joints through corresponding connecting shafts.
Preferably, the clamping jaw base is of an L-shaped structure, a connecting hole used for being connected with the guide rod is formed in the lower end of the clamping jaw base, and a connecting shaft is arranged at the upper end of the clamping jaw base.
Preferably, the second joint is of a fan-shaped structure, and the inner side wall of the second joint, which is in contact with the change-over switch, is of an arc-shaped structure.
The invention has the beneficial effects that:
1. the rotation of the clamping mechanism is realized through the rotating mechanism, and the clamping of the change-over switch is realized through matching with the clamping mechanism; thereby controlling the rotation conversion of the change-over switch;
2. the invention can complete corresponding switch operation without depending on complicated movement of a mechanical arm, and is convenient to use;
3. the floating structure is connected with the tail end clamping jaw, and the clamping jaws are arranged on the guide rod, so that the distance between the two clamping jaws can be adjusted to meet the requirements of change-over switches with different widths;
4. the clamping jaw is provided with a two-stage hinge structure, and can adapt to the shape change of different change-over switch handles to a certain extent.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the present invention after a portion of the housing is hidden;
FIG. 3 is a schematic structural view of a clamping mechanism according to the present invention;
FIG. 4 is a schematic structural diagram of the transmission mechanism of the present invention;
FIG. 5 is a schematic structural diagram of the floating mechanism of the present invention;
FIG. 6 is a schematic view of the jaw assembly of the present invention;
in the figure, 1-rotating mechanism, 2-clamping mechanism and 3-change-over switch;
11-a rotating base, 12-a rotating motor;
21-transmission mechanism, 22-floating mechanism, 23-clamping jaw assembly;
211-shell, 212-driving motor, 213-gear, 214-rack, 215-guide rail, 216-rolling wheel, 217-U-shaped clamping groove;
221-floating base, 222-guide rod; 223-a spring;
231-clamping jaw base, 232-first joint, 233-second joint, 234-connecting shaft and 235-connecting hole.
Detailed Description
The following further describes embodiments of the present invention in conjunction with the attached figures:
as shown in fig. 1, the present embodiment provides an end effector suitable for a robot switch, which includes a rotating mechanism 1, and a clamping mechanism 2 disposed on the rotating mechanism 1 for cooperating with a switch 3.
As shown in fig. 2 and 3, in the present embodiment, the clamping mechanism 2 includes a transmission mechanism 21, two floating mechanisms 22 disposed on the transmission mechanism 21, each floating mechanism 22 is disposed with a corresponding clamping jaw assembly 23, and the two clamping jaw assemblies 23 cooperate to clamp the transfer switch 3.
Preferably, as shown in fig. 2, the rotating mechanism 1 includes a rotating base 11, and a rotating motor 12 disposed in the rotating base 11, and an output shaft of the rotating motor 12 is connected to the clamping mechanism 2. The rotation of the clamping mechanism 2 is controlled by the rotating motor 12.
As shown in fig. 2 to 4, the transmission mechanism 21 preferably includes a housing 211, a driving motor 212 disposed in the housing 211, a gear 213, two racks 214, and two guide rails 215, wherein the gear 213 is disposed on an output shaft of the driving motor 212, and the gears 213 are engaged with 2 of the racks 214 respectively;
a corresponding roller assembly is arranged at the lower end of each rack 214, each roller assembly is in rolling connection with a corresponding guide rail 215, and a corresponding floating mechanism 22 is arranged on each rack 214.
As shown in fig. 2-3 and 5, the floating mechanism 22 preferably includes a floating base 221 and a guide rod 222, the floating base 221 is disposed on the rack 214, the guide rod 222 is further disposed on the floating base 221, and the clamping jaw assembly 23 is disposed on the guide rod 222.
As shown in fig. 2-3 and 6, the jaw assembly 23 preferably includes a jaw base 231, a first joint 232 and a second joint 233, the jaw base 231 is sleeved on the guide rod 222, the jaw base 231 is connected to the first joint 232 through a connecting shaft 234, and the first joint 232 is provided with two second joints 233 through corresponding connecting shafts 234.
Preferably, as shown in fig. 2-4, two racks 214 are disposed on two sides of the gear 213 and move relatively.
As shown in fig. 2-4, the roller assembly preferably includes a plurality of rolling wheels 216, each rolling wheel 216 is disposed on the rack 214 through a corresponding bearing, and the rolling wheels 216 are disposed in the grooves of the guide rails 215 and can roll in the grooves.
Preferably, as shown in fig. 2 to 4, U-shaped slots 217 for matching with the rolling wheels 216 are symmetrically disposed on the left and right sides in the groove of the guide rail 215.
As shown in fig. 2, 3 and 5, in the preferred embodiment, a spring 223 is further disposed on the guide bar 222 on one side of the clamping jaw assembly 23, and one end of the spring 223 is connected to the floating base 221, and the other end is connected to the clamping jaw assembly 23.
Preferably, as shown in fig. 2, 3 and 5, the floating base 221 is in a chevron structure, and the jaw assembly 23 and the spring 223 are respectively located on the guide rods 222 at two notch positions of the chevron structure floating base 221.
As shown in fig. 2, 3 and 6, the jaw base 231 is preferably of an L-shaped structure, a connecting hole 235 is formed at the lower end of the jaw base 231 for connecting with the guide bar 222, and a connecting shaft 234 is disposed at the upper end of the jaw base 231.
As shown in fig. 2, 3 and 5, the second joint 233 is preferably of a fan-shaped structure, and the inner side wall of the second joint 233, which contacts with the switch 3, is of an arc-shaped structure.
The working principle of the embodiment is as follows:
the driving motor 212 controls the gear 213 to rotate, and because the gear 213 is engaged with the two racks 214, the gear 213 drives the 2 racks 214 to move relatively, so as to drive the clamping jaw assembly 23 at the upper end of the floating base 221 to move, and after the clamping jaw assembly 23 clamps the change-over switch 3, the rotating motor 11 drives the housing 211 to rotate, thereby controlling the switch of the change-over switch 3.
In addition, in this embodiment, since the jaw base 231 is disposed on the guide rod 222 and connected to the spring 223, the jaw base 231 can move on the guide rod 222 for a certain distance under the pulling force of the spring 223, so as to be better suitable for the change-over switch 3.
The foregoing embodiments and description have been provided to illustrate the principles and preferred embodiments of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. An end effector suitable for a robotic transfer switch, comprising: comprises a rotating mechanism (1) and a clamping mechanism (2) which is arranged on the rotating mechanism (1) and is used for being matched with a change-over switch (3);
the clamping mechanism (2) comprises a transmission mechanism (21) and two floating mechanisms (22) arranged on the transmission mechanism (21), wherein each floating mechanism (22) is provided with a corresponding clamping jaw assembly (23), and the two clamping jaw assemblies (23) are matched to clamp the change-over switch (3);
the transmission mechanism (21) comprises a shell (211), a driving motor (212) arranged in the shell (211), a gear (213), two racks (214) and two guide rails (215), wherein the gear (213) is arranged on an output shaft of the driving motor (212), and the gear (213) is meshed with the two racks (214) respectively;
the lower end of each rack (214) is also provided with a corresponding roller assembly, the roller assembly at the lower end of each rack (214) is in rolling connection with a corresponding guide rail (215), and each rack (214) is also provided with a corresponding floating mechanism (22);
the floating mechanism (22) comprises a floating base (221) and a guide rod (222), the floating base (221) is arranged on the rack (214), the guide rod (222) is further arranged on the floating base (221), and a clamping jaw assembly (23) is arranged on the guide rod (222);
clamping jaw subassembly (23) include clamping jaw base (231), first joint (232), second joint (233), clamping jaw base (231) overlap and establish on guide arm (222), just clamping jaw base (231) on be connected with first joint (232) through connecting axle (234), first joint (232) on be provided with two second joints (233) through corresponding connecting axle (234).
2. An end effector adapted for use with a robotic transfer switch as claimed in claim 1, wherein: the rotary mechanism (1) comprises a rotary base (11) and a rotary motor (12) arranged in the rotary base (11), and an output shaft of the rotary motor (12) is connected with a shell (211) of the clamping mechanism (2).
3. An end effector adapted for use with a robotic transfer switch as claimed in claim 1, wherein: the two racks (214) are oppositely arranged on two sides of the gear (213) and relatively move under the action of the gear (213).
4. An end effector adapted for use with a robotic transfer switch as claimed in claim 1, wherein: the roller assembly comprises a plurality of rolling wheels (216), each rolling wheel (216) is arranged on the rack (214) through a corresponding bearing, and the rolling wheels (216) are positioned in the grooves of the guide rail (215) and can roll in the grooves.
5. An end effector adapted for use with a robotic transfer switch as defined in claim 4, wherein: and U-shaped clamping grooves (217) which are matched with rolling wheels (216) are also symmetrically arranged on the left side wall and the right side wall in the groove of the guide rail (215).
6. An end effector adapted for use with a robotic transfer switch as defined in claim 1, wherein: a spring (223) is further arranged on the guide rod (222) on one side of the clamping jaw assembly (23), one end of the spring (223) is connected with the floating base (221), and the other end of the spring is connected with the clamping jaw assembly (23).
7. An end effector adapted for use with a robotic transfer switch as claimed in claim 6, wherein: the floating base (221) is of a herringbone structure, and the clamping jaw assembly (23) and the spring (223) are respectively positioned on the guide rods (222) at the positions of two notches of the herringbone structure floating base (221).
8. An end effector adapted for use with a robotic transfer switch as defined in claim 1, wherein: the clamping jaw base (231) is of an L-shaped structure, a connecting hole (235) for connecting the guide rod (222) is formed in the lower end of the clamping jaw base (231), and the clamping jaw base (231) is connected with the spring (223);
the upper end of the clamping jaw base (231) is provided with a connecting shaft (234), and the clamping jaw base is connected with a first joint (232) through the connecting shaft (234).
9. An end effector adapted for use with a robotic transfer switch as claimed in claim 1, wherein: the second joint (233) is of a fan-shaped structure, and the inner side wall of the second joint (233) in contact with the change-over switch (3) is of an arc-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211379411.7A CN115709482A (en) | 2022-11-04 | 2022-11-04 | End effector suitable for robot change over switch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211379411.7A CN115709482A (en) | 2022-11-04 | 2022-11-04 | End effector suitable for robot change over switch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115709482A true CN115709482A (en) | 2023-02-24 |
Family
ID=85232271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211379411.7A Withdrawn CN115709482A (en) | 2022-11-04 | 2022-11-04 | End effector suitable for robot change over switch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115709482A (en) |
-
2022
- 2022-11-04 CN CN202211379411.7A patent/CN115709482A/en not_active Withdrawn
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| 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 | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230919 Address after: 830002 Jianshe Road 5, Tianshan District, Urumqi, the Xinjiang Uygur Autonomous Region Applicant after: Super high voltage branch of State Grid Xinjiang Electric Power Co.,Ltd. Address before: 830002 Jianshe Road 5, Tianshan District, Urumqi, the Xinjiang Uygur Autonomous Region Applicant before: Super high voltage branch of State Grid Xinjiang Electric Power Co.,Ltd. Applicant before: Wuhan Nari Limited Liability Company of State Grid Electric Power Research Institute |
|
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230224 |