CN217727803U - Clamping jaw structure - Google Patents
Clamping jaw structure Download PDFInfo
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- CN217727803U CN217727803U CN202221548403.6U CN202221548403U CN217727803U CN 217727803 U CN217727803 U CN 217727803U CN 202221548403 U CN202221548403 U CN 202221548403U CN 217727803 U CN217727803 U CN 217727803U
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- push
- rod body
- pull
- swing guide
- guide sleeve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Clamps And Clips (AREA)
- Manipulator (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Suspension Of Electric Lines Or Cables (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The utility model discloses a clamping jaw structure, which comprises a fixed base, the fixing base is gone up the swing and is set up a pair of claw pole, the claw pole is including the articulated back body of rod together, preceding body of rod, and when two claw poles opened, the inboard contained angle between the back body of rod and the preceding body of rod was greater than 180. The utility model has the advantages that: the opening angle of the clamping jaw structure is larger than the opening angle of a common clamping jaw in the prior art, so that longer obstacles such as foot nails can be avoided, and the avoiding range is wider compared with the prior art.
Description
Technical Field
The utility model relates to an electric power operation climbing robot field, concretely relates to clamping jaw structure.
Background
An angle steel tower is an important facility in the field of electric power, and is shown in fig. 14 and 15 as a schematic diagram of an angle steel main material a of the angle steel tower in the prior art, the cross section of the angle steel main material a is in a right-angle shape, a plurality of foot nails a1 are distributed on two outer sides of the angle steel main material from bottom to top, the foot nails a1 are in rod-shaped structures and are perpendicular to the outer side surface of the angle steel main material a, two adjacent angle steel main materials a are connected through a connecting plate a2 in the right-angle shape, the connecting plate a2 is located on the outer side of the joint of the two angle steel main materials a, and the connecting plate a2 is fixedly connected with the end part of the angle steel main material a through bolts. The electric angle steel tower has the advantages that the number is large, the distribution is wide, the electric angle steel tower can be exposed to a field environment or even a dusty strong wind high-humidity severe environment for a long time, maintenance personnel need to ascend and operate in the follow-up maintenance process, the connecting bolt at the position of the electric angle steel tower is stably tightened, the danger coefficient is high, the labor intensity is high, the idle time is long, physical strength of the working personnel is easily penetrated, the physical health of the working personnel is further harmed, and meanwhile, the maintenance mode is obviously extremely low in efficiency. Therefore, in the prior art, various overhaul robots used for electric angle steel towers or other high-altitude operations have been developed to meet the requirement of bolt tightening operation under full high-altitude operations, for example, chinese patent application publication No. CN112356940a discloses a climbing robot for angle steel towers, which can climb the angle steel towers by clamping jaws on angle steel and avoid obstacles such as pins on the angle steel towers by opening the jaws in the climbing process, but the jaws have limited opening angles, cannot avoid longer pins, and have a small avoiding range.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that will solve lies in:
the technical problems of limited opening angle and small avoiding range of the clamping jaw in the prior art are solved.
The utility model discloses an solve above-mentioned technical problem through following technical means:
the utility model provides a clamping jaw structure, includes the fixing base, the swing sets up a pair of claw pole on the fixing base, the claw pole is including the articulated back body of rod together, preceding body of rod, and when two claw poles opened, the inboard contained angle between the back body of rod and the preceding body of rod was greater than 180.
The utility model provides a clamping jaw structure is when actual application, and two claw poles can realize the centre gripping or open when being close to or keeping away from, and the claw pole is two segmentations, and when two claw poles opened promptly, because the inboard contained angle between the back body of rod and the preceding body of rod can open to being greater than 180, so, the angle that opens of this clamping jaw structure is greater than the common clamping jaw of prior art and opens the angle, consequently just can dodge barriers such as longer foot nail, and for prior art, it dodges the scope wider.
Preferably, the fixed seat is hinged with a pair of swing guide sleeves, and the rear rod body is slidably mounted in the swing guide sleeves; the fixed seat is provided with a push-pull plate in a sliding mode, the push-pull plate can pull the hinged position of the rear rod body and the hinged position of the front rod body to the swing guide sleeve to achieve clamping of the two claw rods, and the push-pull plate can push the hinged position of the rear rod body and the hinged position of the front rod body to the outside of the swing guide sleeve to achieve opening of the two claw rods.
In practical application, the push-pull plate is used for providing a clamping and opening power source, during clamping, the push-pull plate moves to pull the rear rod body, so that the hinged position of the rear rod body and the front rod body can be pulled into the swing guide sleeve, meanwhile, the two swing guide sleeves can swing to enable the two claw rods to be close to each other for clamping, when the hinged position of the rear rod body and the front rod body is pulled into the swing guide sleeve, the rear rod body and the front rod body are limited by the swing guide sleeve, the internal included angle between the rear rod body and the front rod body is reduced to be 180 degrees, the limited rear rod body and the limited front rod body do not swing, so that stable clamping can be realized, when the push-pull plate stops at different positions, the positions of the two claw rods in the swing guide sleeves and the included angle between the two swing guide sleeves are different, and the clamping angle of the two claw rods can be adjusted flexibly through the movement stopping position of the push-pull plate; when opening, the body of rod pushes away the articulated position of the body of rod of back body of rod and preceding body of rod outside to the swing uide bushing after the push-and-pull board promotes, realizes that two claw poles open, and when the articulated position of the body of rod of back body of rod and preceding body of rod pushed away the swing uide bushing outside, the swing then can take place between the two, and at this moment, the inboard contained angle between the body of rod of back body of rod and the preceding body of rod is greater than 180, and then realizes opening great angle, can dodge barriers such as longer foot nail, for prior art, it dodges the scope wider.
Preferably, the push-pull plate is provided with a pair of guide grooves, the fixed seat is provided with an installation plate, and the installation plate is provided with a pair of directional grooves; the end part of the rear rod body is provided with a vertical push-pull shaft, and two ends of the vertical push-pull shaft are respectively installed in the guide groove and the orientation groove in a sliding mode.
The arrangement of the guide groove and the orientation groove can respectively guide the vertical push-pull shaft to move according to a preset track when the push-pull plate moves, so that two rear rod bodies can be pulled simultaneously and swing along with the swing guide sleeve in the reciprocating movement process of the push-pull plate, the hinged positions of the rear rod bodies and the front rod body are pulled into the swing guide sleeve, and the two claw rods realize clamping; it is also possible to realize: the two rear rod bodies can be pushed simultaneously and swing reversely along with the swing guide sleeve, the hinged positions of the rear rod bodies and the front rod body are pushed to the outside of the swing guide sleeve, the inner side included angle between the rear rod bodies and the front rod body is larger than 180 degrees, and the two claw rods are opened; the arrangement of the guide groove and the orientation groove can ensure the reliability of clamping and opening actions.
Preferably, the fixed seat is provided with a push-pull driving mechanism, and the push-pull driving mechanism can drive the push-pull plate to move in a reciprocating manner.
Preferably, the push-pull driving mechanism comprises a push-pull lead screw rotatably mounted on the fixed seat, the push-pull lead screw is rotatably mounted in the push-pull plate through threads, and the push-pull driving mechanism further comprises a push-pull motor arranged on the fixed seat, and the push-pull motor is connected with the push-pull lead screw through a worm and gear mechanism.
In practical application, when the push-pull motor rotates, the worm in the worm-gear mechanism can be driven to rotate, the worm wheel is driven to rotate, the worm wheel drives the push-pull screw rod to rotate, the push-pull plate is driven to reciprocate through the push-pull screw rod, the worm-gear mechanism and the screw rod nut mechanism can achieve a large transmission ratio, and a large push-pull driving force can be provided for the push-pull plate, so that stable clamping and opening actions can be achieved, the worm-gear mechanism and the screw rod nut mechanism have reverse locking characteristics, namely, power can be transmitted to the push-pull plate only through the push-pull motor and cannot be transmitted reversely, the clamping and opening stability can be effectively guaranteed, and the defects that clamping is not tight or opening is not smooth and the like are avoided.
Preferably, the swing guide sleeve is provided with a limiting elastic sheet, the front rod body is provided with a notch matched with the limiting elastic sheet, and when the hinged position of the rear rod body and the front rod body is pushed to the outside of the swing guide sleeve, the limiting elastic sheet can be clamped into the notch so that the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees.
In practical application, when the articulated position of the back body of rod and the preceding body of rod is pushed away to the swing uide bushing when outside, breach on the preceding body of rod exposes from swing uide bushing tip, when the breach removes to spacing shell fragment department, spacing shell fragment card is to in the breach, exert the stirring effect to the preceding body of rod in the breach at spacing shell fragment card under, the preceding body of rod is around its articulated position for the outside swing of the back body of rod to can swing to the inboard contained angle between the back body of rod and the preceding body of rod and be greater than 180 states, and then realize dodging the expansion of scope, the structure is the following, the principle is comparatively simple, the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the limiting elastic sheet slides out of the notch to realize clamping.
Preferably, the limiting elastic sheet is located on the outer side of the swing guide sleeve, a bending end bent to the inner side is arranged at the first end of the limiting elastic sheet, the bending end is pressed on the outer side of the front rod body, and the notch is located on the outer side of one end, hinged to the rear rod body, of the front rod body.
In practical application, the bending end is clamped in the notch to adjust the opening angle between the rear rod body and the front rod body, and the bending end is simple in structure and reliable in action.
The swing guide sleeve is characterized in that a fixing column is arranged on the outer side of the swing guide sleeve, a long hole is formed in the limiting elastic sheet, the length direction of the long hole is parallel to the guide direction of the swing guide sleeve, the fixing column is located in the long hole, a connecting lug bent outwards is arranged at the second end of the limiting elastic sheet, and an axial tension spring is connected between the connecting lug and the fixing column.
The axial extension spring can exert pulling force to the one end at engaging lug place, and then makes the end of buckling have the trend that compresses tightly the preceding body of rod outside to can accurately slide into the position when guaranteeing the breach roll-off, and when the breach slides in the swing uide bushing, the end of buckling then can be in a flexible way from the breach roll-off, overall structure, principle are simple, and the action is reliable.
Preferably, a radial tension spring is arranged between the limiting elastic sheet and the swing guide sleeve and can enable the limiting elastic sheet to be pressed on the swing guide sleeve.
The radial tension spring can enable the limiting elastic sheet to be tightly attached to the swing guide sleeve so as to ensure that the limiting elastic sheet can accurately slide into the position when the notch slides out, and the limiting elastic sheet can flexibly slide out of the notch when the notch slides into the swing guide sleeve, so that the overall structure and principle are simple, and the action is reliable.
Preferably, a reset tension spring is arranged between the rear rod body and the front rod body, and the reset tension spring can enable the front rod body to swing outwards around the end part of the rear rod body.
In practical application, when the hinged position of the rear rod body and the front rod body is pushed to the outside of the swing guide sleeve, under the action of the tension force applied to the front rod body by the reset tension spring, the front rod body swings outwards relative to the rear rod body around the hinged position of the front rod body, and can swing to a state that the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees, so that the expansion of the avoiding range is realized, and the structure and the principle of the swing guide sleeve are simpler, and the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the reset tension spring is stretched to realize clamping.
The utility model has the advantages that:
1. the utility model provides a clamping jaw structure is when actual application, and two claw poles can realize the centre gripping or open when being close to or keeping away from, and the claw pole is two segmentations, and when two claw poles opened promptly, because the inboard contained angle between the back body of rod and the preceding body of rod can open to being greater than 180, so, the angle that opens of this clamping jaw structure is greater than the common clamping jaw of prior art and opens the angle, consequently just can dodge barriers such as longer foot nail, and for prior art, it dodges the scope wider.
2. In practical application, the push-pull plate is used for providing a clamping and opening power source, during clamping, the push-pull plate moves to pull the rear rod body, so that the hinged position of the rear rod body and the front rod body can be pulled into the swing guide sleeve, meanwhile, the two swing guide sleeves can swing to enable the two claw rods to be close to each other for clamping, when the hinged position of the rear rod body and the front rod body is pulled into the swing guide sleeve, the rear rod body and the front rod body are limited by the swing guide sleeve, the internal included angle between the rear rod body and the front rod body is reduced to be 180 degrees, the limited rear rod body and the limited front rod body do not swing, so that stable clamping can be realized, when the push-pull plate stops at different positions, the positions of the two claw rods in the swing guide sleeves and the included angle between the two swing guide sleeves are different, and the clamping angle of the two claw rods can be adjusted flexibly through the movement stopping position of the push-pull plate; when opening, the push-and-pull board promotes the articulated position of the back body of rod and the preceding body of rod and pushes away to swing uide bushing outside, realizes that two claw poles open, and when the articulated position of the back body of rod and the preceding body of rod pushed away to swing uide bushing outside, the swing then can take place between the two, and at this moment, the inboard contained angle between the back body of rod and the preceding body of rod is greater than 180, and then realizes opening great angle, can dodge barriers such as longer foot nail, for prior art, it dodges the scope wider.
3. The arrangement of the guide groove and the orientation groove can respectively guide the vertical push-pull shaft to move according to a preset track when the push-pull plate moves, so that two rear rod bodies can be pulled simultaneously and swing along with the swing guide sleeve in the reciprocating movement process of the push-pull plate, the hinged positions of the rear rod bodies and the front rod body are pulled into the swing guide sleeve, and the two claw rods realize clamping; it is also possible to realize: the two rear rod bodies can be pushed simultaneously and swing reversely along with the swing guide sleeve, the hinged positions of the rear rod bodies and the front rod body are pushed to the outside of the swing guide sleeve, the inner side included angle between the rear rod bodies and the front rod body is larger than 180 degrees, and the two claw rods are opened; the arrangement of the guide groove and the orientation groove can ensure the reliability of clamping and opening actions.
4. In practical application, when the push-pull motor rotates, the worm in the worm-gear mechanism can be driven to rotate, the worm wheel is driven to rotate, the worm wheel drives the push-pull screw rod to rotate, the push-pull plate is driven to reciprocate through the push-pull screw rod, the worm-gear mechanism and the screw rod nut mechanism can achieve a large transmission ratio, and a large push-pull driving force can be provided for the push-pull plate, so that stable clamping and opening actions can be achieved, the worm-gear mechanism and the screw rod nut mechanism have reverse locking characteristics, namely, power can be transmitted to the push-pull plate only through the push-pull motor and cannot be transmitted reversely, the clamping and opening stability can be effectively guaranteed, and the defects that clamping is not tight or opening is not smooth and the like are avoided.
5. In practical application, when the articulated position of the back body of rod and the preceding body of rod is pushed away to the swing uide bushing when outside, breach on the preceding body of rod exposes from swing uide bushing tip, when the breach removes to spacing shell fragment department, spacing shell fragment card is to in the breach, exert the stirring effect to the preceding body of rod in the breach at spacing shell fragment card under, the preceding body of rod is around its articulated position for the outside swing of the back body of rod to can swing to the inboard contained angle between the back body of rod and the preceding body of rod and be greater than 180 states, and then realize dodging the expansion of scope, the structure is the following, the principle is comparatively simple, the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the limiting elastic sheet slides out of the notch to realize clamping.
6. In practical application, the bending end is used for being clamped in the notch to adjust the opening angle between the rear rod body and the front rod body, and the bending end is simple in structure and reliable in action.
7. The axial extension spring can exert pulling force to the one end at engaging lug place, and then makes the end of buckling have the trend that compresses tightly the preceding body of rod outside to can accurately slide into the position when guaranteeing the breach roll-off, and when the breach slides in the swing uide bushing, the end of buckling then can be in a flexible way from the breach roll-off, overall structure, principle are simple, and the action is reliable.
8. The radial tension spring can enable the limiting elastic sheet to be tightly attached to the swing guide sleeve so as to ensure that the limiting elastic sheet can accurately slide into the position when the notch slides out, and the limiting elastic sheet can flexibly slide out of the notch when the notch slides into the swing guide sleeve, so that the overall structure and principle are simple, and the action is reliable.
9. In practical application, when the hinged position of the rear rod body and the front rod body is pushed to the outside of the swing guide sleeve, under the action of the tension force applied to the front rod body by the reset tension spring, the front rod body swings outwards relative to the rear rod body around the hinged position of the front rod body, and can swing to a state that the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees, so that the expansion of the avoiding range is realized, and the structure and the principle of the swing guide sleeve are simpler, and the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the reset tension spring is stretched to realize clamping.
Drawings
Fig. 1 and 2 are schematic perspective views (clamping states) of a clamping jaw structure in an embodiment of the present invention; fig. 3 and 4 are exploded views (open state) of a jaw structure according to an embodiment of the present invention;
fig. 5 is a cross-sectional view (open state) of a jaw structure in an embodiment of the invention;
fig. 6 is a schematic structural view of a clamping jaw structure in an open state of a jaw rod according to an embodiment of the present invention;
FIG. 7 is a cross-sectional view of FIG. 6;
FIG. 8 is a view showing the state of FIG. 6 in which the lower-limit resilient piece is engaged with the front rod body;
fig. 9 is a schematic perspective view of an embodiment of the present invention;
fig. 10 is a schematic structural view of the claw rod in the clamping process according to the embodiment of the present invention;
fig. 11 is a schematic structural view of the claw rod in a clamping state according to the embodiment of the present invention;
fig. 12 is a schematic perspective view of a mounting plate in an embodiment of the present invention;
fig. 13 is a schematic view of a clamping jaw structure in an actual application according to an embodiment of the present invention;
fig. 14 and 15 are schematic diagrams of main angle steel materials in the prior art;
wherein the content of the first and second substances,
a-angle steel main material; a 1-foot nail; a 2-connecting plate;
32-a sliding block; 34-a sliding sleeve;
41-a fixed seat; 411-a backplane; 412-vertical plate; 413-a mounting frame; 414-front mount; 415-a rear mount; 416-a connecting plate; 417-a reinforcement plate;
42-a pressing part; 421-V shaped block; 422-thread insert; 423-screw rod; 424-synchronous belt; 425-a synchronous machine; 43-a clamping portion; 431-claw rod; 431 a-vertical push-pull shaft; 431 b-rear rod body; 431 c-front rod body; 431 d-vertical axis; 431 e-middle jaw; 431 f-notch; 431 g-claw head; 431 h-clamping jaw connecting block; 432-a swing guide sleeve; 432 a-mating wall; 433-a vertical hinge base; 434-mounting plate; 434 a-oriented slot; 434 b-curved section; 434 c-straight line segment; 434 d-inclined section; 435-push-pull plate; 435 a-guiding groove; 436-limit spring pieces; 436 a-horizontal plate section; 436 b-engaging ears; 436 c-bent end; 437 a-a reset tension spring; 437 b-radial tension spring; 437 c-axial tension spring; 438 a-push-pull screw rod; 438 b-push-pull motor; 438 c-turbine; 438 d-worm.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
The first embodiment is as follows:
as shown in fig. 1, a jaw structure includes a fixing seat 41 and a clamping portion 43.
In the present embodiment, for convenience of understanding and description, the side of the clamping portion 43 located relative to the fixing base 41 is taken as the front side, that is, the clamping portion 43 is disposed on the front side of the fixing base 41, and the rest of the orientations are analogized based on this, it should be understood that this orientation is set merely for convenience of description and understanding, and should not be construed as a limitation to the present invention.
In this embodiment, the fixing base 41 is used to provide an installation position for other components, and is not limited to a specific shape, and may provide an installation position for other components and enable each component to cooperate with each other to achieve a corresponding function. As shown in fig. 1, in this embodiment, the fixing base 41 is a vertically disposed plate-shaped structure, a bottom plate 411 is installed at the bottom of the fixing base 41, and a vertical plate 412 is vertically disposed at the front end of the bottom plate 411.
As shown in fig. 3, the clamping portion 43 includes a pair of claw rods 431 swingably disposed on the fixing base 41, and as shown in fig. 7, the claw rods 431 include a rear rod 431b and a front rod 431c hinged together, and hinged together by a vertical shaft 431d, and when the two claw rods 431 are opened, an inner angle between the rear rod 431b and the front rod 431c is greater than 180 °.
Further, as shown in fig. 6, a pair of swing guide sleeves 432 is hinged to the fixing base 41, specifically, a left vertical hinge base 433 and a right vertical hinge base 433 are arranged on the front side of the fixing base 41, as shown in fig. 1, an opening of the horizontal U-shaped structure of the vertical hinge base 433 faces forward, each swing guide sleeve 432 is hinged to the opening of the vertical hinge base 433 through an upper coaxial hinge shaft and a lower coaxial hinge shaft, the hinge shafts on the vertical hinge bases 433 are along a vertical direction, and further, as shown in fig. 2, the hinge positions of the swing guide sleeves 432 are located at inner ends of the swing guide sleeves 432.
As shown in fig. 1, the swing guide sleeve 432 is a rectangular square tubular structure, a rectangular through hole is formed in the swing guide sleeve 432, and the rear rod body 431b is slidably installed in the rectangular through hole of the swing guide sleeve 432; specifically, the cross-sectional shape of the rear rod body 431b is a rectangle in sliding fit with the rectangular through hole of the swing guide sleeve 432, and the cross-sectional shape of the end, hinged to the front rod body 431c and the rear rod body 431b, of the front rod body is also a rectangle in sliding fit with the rectangular through hole of the swing guide sleeve 432.
Further, as shown in fig. 2, the front rod body 431c includes two sets of middle claws 431e and claw heads 431g which are symmetrically arranged up and down, the two sets of middle claws 431e and claw heads 431g are connected through a claw connecting block 431h, specifically, the middle claw 431e is a sheet structure with the middle part bent outwards, two ends of the middle claw 431e are straight, the claw head 431g is a sheet structure with the middle part bent outwards, the end parts of the middle claws 431e and the claw heads 431g are both mounted on the claw connecting block 431h through screws, the section shape of the claw connecting block 431h is a transverse T shape, the two sets of middle claws 431e and claw heads 431g are respectively mounted on the upper side and the lower side of the claw connecting block 431h, and the outer side surfaces of the end parts of the middle claws 431e and the claw heads 431g abut against the front side surface of the claw connecting block 431h, so that the claw heads 431g can be flexibly replaced to meet different use requirements.
As shown in fig. 3, a push-pull plate 435 is slidably mounted on the fixed seat 41, specifically, a guide rail along the front-back direction is disposed on the bottom plate 411, a slider is disposed at the bottom of the push-pull plate 435, the slider is mounted on the guide rail in a sliding manner, a front photoelectric switch and a rear photoelectric switch are further disposed on the bottom plate 411, the front photoelectric switch and the rear photoelectric switch are respectively located at the front-back limit position of the stroke of the push-pull plate 435, and a blocking piece matched with the two photoelectric switches is disposed on the push-pull plate 435 to limit the front-back sliding stroke of the push-pull plate 435.
The push-pull plate 435 can pull the rear rod body 431b to pull the hinged position of the rear rod body 431b and the front rod body 431c into the swing guide sleeve 432 to clamp the two claw rods 431, namely, the state shown in fig. 10 and 11. The push-pull plate 435 can push the rear rod body 431b to push the hinged position of the rear rod body 431b and the front rod body 431c to the outside of the swing guide sleeve 432, so that the two claw rods 431 are opened.
Specifically, as shown in fig. 7, a pair of symmetrical guide grooves 435a is disposed on the top surface of the push-pull plate 435, the guide grooves 435a are in an inclined straight shape, and the distance between the two guide grooves 435a is small in the front and large in the rear, and is in a rearward open shape.
As shown in fig. 1 and 3, a mounting plate 434 is arranged on the fixed seat 41, the mounting plate 434 is a horizontal plate-shaped structure, the front end of the mounting plate 434 is connected to the top end of the vertical plate 412 through a bolt, and the mounting plate 434 is located above the push-pull plate 435.
As shown in fig. 12, the bottom surface of the mounting plate 434 is provided with a pair of symmetrical directional grooves 434a, the directional groove 434a sequentially includes a curved section 434b, a straight section 434c and an inclined section 434d which are communicated with each other from front to back, the three sections are transited by a fillet, the front end of the curved section 434b is bent outwards, the straight section 434c is along the front-back direction, the rear end of the inclined section 434d is inclined inwards, and the rear ends of the inclined sections 434d of the two directional grooves 434a are communicated with each other.
As shown in fig. 1, a vertical push-pull shaft 431a is disposed at an end of the rear rod body 431b in a vertical direction, two ends of the vertical push-pull shaft 431a are slidably mounted in the guide groove 435a and the orientation groove 434a, further, two ends of the vertical push-pull shaft 431a are rotatably mounted with a rolling element, two ends of the vertical push-pull shaft 431a are rotatably mounted in the guide groove 435a and the orientation groove 434a through the rolling element, and the rolling element may be a sliding sleeve, a rolling bearing, a roller, or the like.
As shown in fig. 2 and 3, a push-pull driving mechanism is disposed on the fixed seat 41, and the push-pull driving mechanism can drive the push-pull plate 435 to reciprocate. Further, the push-pull driving mechanism includes a push-pull lead screw 438a rotatably mounted on the fixed seat 41, the push-pull lead screw 438a is rotatably mounted on the vertical plate 412 along the front-back direction, the front end of the push-pull lead screw 438a is rotatably mounted on the push-pull plate 435 through a thread, and the push-pull driving mechanism further includes a push-pull motor 438b disposed on the fixed seat 41, and the push-pull motor 438b is connected with the push-pull lead screw 438a through a worm gear mechanism.
Specifically, as shown in fig. 2, a mounting frame 413 is disposed on the rear side of the fixing base 41, the rear end of the push-pull screw rod 438a penetrates through the fixing base 41 and is rotatably mounted on the mounting frame 413, a worm wheel 438c is disposed at the rear end of the push-pull screw rod 438a, the push-pull motor 438b is disposed on the rear side of the fixing base 41, a worm 438d is disposed on an output shaft of the push-pull motor 438b, and the worm 438d is horizontally disposed above and engaged with the worm wheel 438 c.
As shown in fig. 6 and 8, the swing guide sleeve 432 is provided with a limiting elastic sheet 436, the front rod 431c is provided with a notch 431f matched with the limiting elastic sheet 436, and when the hinged position of the rear rod 431b and the front rod 431c is pushed to the outside of the swing guide sleeve 432, the limiting elastic sheet 436 can be clamped into the notch 431f so that the inner included angle between the rear rod 431b and the front rod 431c is greater than 180 °.
Specifically, as shown in fig. 8 and 9, the limiting elastic sheet 436 is located on a matching wall 432a outside the swing guide sleeve 432, a main body of the limiting elastic sheet 436 is a sheet structure attached to the outside of the swing guide sleeve 432, and includes a horizontal plate section 436a, an upper bending end 436c and a lower bending end 436c bent inward are provided at a first end of the limiting elastic sheet 436, the bending ends 436c are pressed on the outside of the front rod body 431c, and the notch 431f is located on the outside of one end of the front rod body 431c hinged to the rear rod body 431 b. Specifically, the notch 431f is located outside one end of the hinge position of each set of middle claws 431 e.
Further, as shown in fig. 8, a fixing post perpendicular to the swing guide sleeve 432 is disposed outside the swing guide sleeve 432, a long hole is disposed on the limit elastic piece 436, a length direction of the long hole is parallel to a guiding direction of the swing guide sleeve 432, the fixing post is located in the long hole, a connection lug 436b bent outward is disposed at a second end of the limit elastic piece 436, and an axial tension spring 437c is connected between the connection lug 436b and the fixing post.
Further, as shown in fig. 8, a radial tension spring 437b is arranged between the limiting elastic sheet 436 and the swing guide sleeve 432, specifically, the upper surface and the lower surface of the swing guide sleeve 432 are respectively provided with a connecting column, the upper edge and the lower edge of the limiting elastic sheet 436 are symmetrically provided with two engaging lugs, the two engaging lugs are respectively connected with the corresponding connecting columns through the radial tension spring 437b, and the radial tension spring 437b can press the limiting elastic sheet 436 on the swing guide sleeve 432.
Further, as shown in fig. 6 and 7, a return tension spring 437a is disposed between the rear rod 431b and the front rod 431c, and the return tension spring 437a enables the front rod 431c to swing outward around the end of the rear rod 431 b. Specifically, the one end that is close to the back body of rod 431b on the clamping jaw connecting block 431h is crooked to the inboard, and this crooked tip is provided with the connecting hole, articulated one end outside is provided with the connecting hole on the back body of rod 431b, the both ends of extension spring 437a that reset are connected respectively on two connecting holes.
Example two:
further, referring to fig. 1-5, the clamping jaw structure further includes a pressing portion 42 mounted on the fixing base 41, the pressing portion 42 includes a V-shaped block 421 capable of sliding back and forth, the V-shaped block 421 is a vertical long strip-shaped structure, a V-shaped groove is formed in the front side of the V-shaped block, the V-shaped groove is vertical, an opening of the V-shaped groove faces forward, threaded sleeves 422 are respectively disposed on the rear sides of the upper end and the lower end of the V-shaped block 421, and the axes of the threaded sleeves 422 are along the back and forth direction. Furthermore, a rubber pad is arranged on the inner wall of the V-shaped groove.
Wherein, a slide block is arranged below the rear end of the screw sleeve 422 above, a guide rail along the front-back direction is arranged at the top of the mounting plate 434, and the slide block is slidably mounted on the guide rail. Further, a front photoelectric switch and a rear photoelectric switch are arranged at the top of the mounting plate 434, the two photoelectric switches are respectively located at the limit positions of the front stroke and the rear stroke of the upper screw sleeve 422, a blocking piece matched with the photoelectric switches is arranged at the rear end of the upper screw sleeve 422, and the blocking piece is matched with the photoelectric switches to limit the front stroke and the rear stroke of the screw sleeve 422.
The slider is arranged above the rear end of the screw sleeve 422 below, as shown in fig. 1, the bottom of the bottom plate 411 is sequentially provided with a front mounting seat 414 and a rear mounting seat 415, the front mounting seat 414 is of a plate-shaped structure vertical to the front and rear direction, a hollow part is arranged on the front mounting seat 414, the front mounting seat 414 is in a horizontal shape like a Chinese character 'ri', the front mounting seat 414 is perpendicular to the rear mounting seat 415, the rear mounting seat 415 is of a T-shaped vertical plate-shaped structure, the bottom of the front mounting seat 414 is provided with a guide rail along the front and rear direction, and the slider above the rear end of the screw sleeve 422 below is slidably mounted on the guide rail.
As shown in fig. 3-5, a screw 423 is rotatably mounted on the top of the fixing seat 41 and on the lower portion of the rear mounting seat 415, the screw 423 is respectively in threaded connection with two screw sleeves 422, a synchronous pulley is disposed at the rear end of the screw 423, a synchronous belt 424 is wound on the two synchronous pulleys, a synchronous motor 425 is disposed on the rear side of the lower portion of the rear mounting seat 415, and the synchronous motor 425 drives the screw 423 and the synchronous pulley at the bottom to rotate.
Furthermore, a worm gear may be disposed at the rear end of the screw 423, a worm is disposed on an output shaft of the synchronous motor 425, and the worm is matched with the worm gear, so that the screw 423 and the synchronous pulley at the bottom are driven to rotate by the synchronous motor 425.
Further, as shown in fig. 1 and 2, two connecting plates 416 are respectively disposed on two sides of the rear of the top of the fixing base 41, and a horizontal reinforcing plate 417 is disposed between the two connecting plates 416.
As shown in fig. 1 and 2, a connecting plate 416 is provided on each of the upper rear sides of the rear mounting seat 415, and a horizontal reinforcing plate 417 is provided between the connecting plates 416. In practical application, the clamping jaw structure in the embodiment can be integrally installed at a preset position through the four connecting plates 416 so as to meet the requirements of practical application.
Further, as shown in fig. 1 and 2, a sliding block 32 is disposed on the rear side of the fixing seat 41, and the sliding block 32 is configured to be installed in a sliding manner in cooperation with a guide rail, so as to install the whole clamping jaw structure in this embodiment on a preset guide rail, and achieve sliding.
Specifically, as shown in fig. 1 and 2, four sliding blocks 32 are provided and are respectively installed at the rear of the four connecting plates 416, wherein two sliding blocks 32 above are located right above two sliding blocks 32 below, and the sliding grooves of the sliding blocks 32 are along the vertical direction.
Further, as shown in fig. 2, the upper portion of the rear side of the rear mounting seat 415 is provided with a U-shaped sliding sleeve 34, the sliding sleeve 34 is located between the two lower connecting plates 416, an opening of the sliding sleeve 34 faces forward, the synchronous belt 424 vertically penetrates through the opening of the sliding sleeve 34, and a nut with an axis along the vertical direction is installed at the rear end of the sliding sleeve 34 and used for being matched with a peripheral screw rod to drive the sliding sleeve 34 to drive the whole clamping jaw structure to move through the screw rod according to actual requirements.
The working principle is as follows:
as shown in fig. 13, the utility model provides a clamping jaw structure is when practical application, mainly used installs on climbing robot to mainly used climbing angle steel owner material a.
Avoiding the foot nail a1:
with reference to fig. 7 and 13, when the two claw rods 431 are close to or far away from each other, the two claw rods 431 can be clamped or opened, and the claw rods 431 are both in two segments, that is, when the two claw rods 431 are opened, because the inner side included angle between the rear rod body 431b and the front rod body 431c can be opened to be larger than 180 °, in this way, the opening angle of the claw structure is larger than the opening angle of the common claw in the prior art, so that long obstacles such as the foot nails a1 can be avoided when the main angle steel material a moves upwards, and the avoiding range is wider compared with the prior art.
Avoiding the connecting plate a2:
with reference to fig. 7 and 13, in practical applications, the V-shaped block 421 of the pressing portion 42 presses on the main angle steel material a, and when the pressing portion 42 slides in a direction away from the main angle steel material a, the pressing portion can avoid interference with the connecting plate a2 of the main angle steel material a when climbing along the main angle steel material a, so as to avoid the connecting plate a2 of the main angle steel material a.
In practical applications, the push-pull plate 435 is used to provide a power source for clamping and opening, when clamping is performed, the push-pull plate 435 moves to pull the rear rod body 431b, and further, the hinged position of the rear rod body 431b and the front rod body 431c can be pulled into the swing guide sleeves 432, and simultaneously, the two swing guide sleeves 432 swing to enable the two claw rods 431 to be close to each other for clamping, when the hinged position of the rear rod body 431b and the front rod body 431c is pulled into the swing guide sleeves 432, the rear rod body 431b and the front rod body 431c are limited by the inside of the swing guide sleeves 432, and an internal included angle between the rear rod body 431b and the front rod body 431c becomes smaller, such as 180 degrees, and the limited rear rod body 431b and front rod body 431c do not swing, so that stable clamping can be achieved, when the push-pull plate 435 stays at different positions, the positions of the two claw rods 431 in the swing guide sleeves 432 and the included angle between the two swing guide sleeves 432 are different, and therefore, the clamping angle between the two claw rods 431 can be adjusted flexibly through the movement staying position of the push-pull plate 435; when the rear rod body 431b is pushed to the outside of the swing guide sleeve 432, the push-pull plate 435 pushes the hinged position of the rear rod body 431b and the hinged position of the front rod body 431c to the outside of the swing guide sleeve 432, so that the two claw rods 431 are opened, when the hinged position of the rear rod body 431b and the hinged position of the front rod body 431c are pushed to the outside of the swing guide sleeve 432, the rear rod body and the swing guide sleeve can swing, at the moment, the inner side included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, a larger opening angle is further realized, long foot nails and other obstacles can be avoided, and compared with the prior art, the avoidance range is wider.
The guide groove 435a and the orientation groove 434a are arranged to respectively guide the vertical push-pull shaft 431a to move according to a preset track when the push-pull plate 435 moves, so that in the reciprocating process of the push-pull plate 435, the two rear rod bodies 431b can be pulled simultaneously and swing along with the swing guide sleeve 432, the hinged positions of the rear rod bodies 431b and the front rod body 431c are pulled into the swing guide sleeve 432, and the two claw rods 431 are clamped; it is also possible to realize: the two rear rod bodies 431b can be pushed simultaneously and swing reversely along with the swing guide sleeve 432, the hinged positions of the rear rod bodies 431b and the front rod body 431c are pushed to the outside of the swing guide sleeve 432, the inner side included angle between the rear rod bodies 431b and the front rod body 431c is larger than 180 degrees, and the two claw rods 431 are opened; the guide grooves 435a and the orientation grooves 434a ensure the reliability of the clamping and opening operations.
In practical application, when the push-pull motor 438b rotates, the worm in the worm-and-gear mechanism can be driven to rotate, so as to drive the worm wheel to rotate, the worm wheel drives the push-pull screw rod 438a to rotate, so as to drive the push-pull plate 435 to reciprocate through the push-pull screw rod 438a, the worm-and-gear mechanism and the screw rod nut mechanism can realize a larger transmission ratio, so as to provide a larger push-pull driving force for the push-pull plate 435, so as to realize stable clamping and opening actions, and the worm-and-gear mechanism and the screw rod nut mechanism have a reverse locking characteristic, namely, power can be transmitted to the push-pull plate 435 only by the push-pull motor 438b, but cannot be transmitted reversely, so that the clamping and opening stability can be effectively ensured, and the defects of untight clamping or unsmooth opening and the like are avoided.
In practical application, when the hinged position of the rear rod 431b and the front rod 431c is pushed to the outside of the swing guide sleeve 432, the notch 431f on the front rod 431c is exposed from the end of the swing guide sleeve 432, when the notch 431f moves to the position of the limiting elastic sheet 436, the limiting elastic sheet 436 is clamped in the notch 431f, and under the action of a toggle force applied to the front rod 431c when the limiting elastic sheet 436 is clamped in the notch 431f, the front rod 431c swings outwards relative to the rear rod 431b around the hinged position thereof, and can swing to a state that the inner included angle between the rear rod 431b and the front rod 431c is larger than 180 degrees, so that the expansion of the avoidance range is realized. When the hinged position of the rear rod 431b and the front rod 431c retracts into the swing guide sleeve 432, the limiting elastic piece 436 slides out of the notch 431f to realize clamping.
In practical applications, the bent end 436c is clamped in the notch 431f to adjust the opening angle between the rear rod 431b and the front rod 431c, and has a simple structure and reliable operation. The axial tension spring 437c can apply a pulling force to the end where the engaging lug 436b is located, so that the bending end 436c has a tendency of pressing the outer side of the front rod body 431c, and the notch 431f can slide out accurately, and when the notch 431f slides into the swing guide sleeve 432, the bending end 436c can slide out of the notch 431f flexibly, and the overall structure and principle are simple, and the action is reliable. The radial tension spring 437b can enable the limiting elastic sheet 436 to be tightly attached to the swing guide sleeve 432, so that the limiting elastic sheet 436 can be accurately slid into place when the notch 431f slides out, and the limiting elastic sheet 436 can flexibly slide out of the notch 431f when the notch 431f slides into the swing guide sleeve 432, and the swing guide sleeve has a simple overall structure and principle and is reliable in action.
In practical application, when the hinged position of the rear rod body 431b and the front rod body 431c is pushed to the outside of the swing guide sleeve 432, under the action of a pulling force applied to the front rod body 431c by the reset tension spring 437a, the front rod body 431c swings outwards relative to the rear rod body 431b around the hinged position of the front rod body, and can swing to a state that an inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, so that the expansion of an avoidance range is realized, and the structure and the principle of the swing guide sleeve are simpler, and the action is sensitive and reliable. When the hinged position of the rear rod 431b and the front rod 431c is retracted into the swing guide 432, the return tension spring 437a is extended to achieve clamping.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A jaw structure, characterized by: including fixing base (41), swing on fixing base (41) and set up a pair of claw pole (431), claw pole (431) are including articulated back body of rod (431 b), preceding body of rod (431 c) together, and when two claw poles (431) opened, the inboard contained angle between the back body of rod (431 b) and preceding body of rod (431 c) was greater than 180.
2. A jaw construction according to claim 1 wherein: a pair of swing guide sleeves (432) is hinged on the fixed seat (41), and the rear rod body (431 b) is slidably installed in the swing guide sleeves (432); the fixed seat (41) is provided with a push-pull plate (435) in a sliding mode, the push-pull plate (435) can pull a rear rod body (431 b) to pull the hinged position of the rear rod body (431 b) and a front rod body (431 c) into a swing guide sleeve (432) to clamp the two claw rods (431), and the push-pull plate (435) can push the rear rod body (431 b) to push the hinged position of the rear rod body (431 b) and the front rod body (431 c) to the outside of the swing guide sleeve (432) to open the two claw rods (431).
3. A jaw construction according to claim 2 wherein: a pair of guide grooves (435 a) is formed in the push-pull plate (435), a mounting plate (434) is arranged on the fixed seat (41), and a pair of directional grooves (434 a) is formed in the mounting plate (434); the end part of the rear rod body (431 b) is provided with a vertical push-pull shaft (431 a), and two ends of the vertical push-pull shaft (431 a) are respectively installed in the guide groove (435 a) and the orientation groove (434 a) in a sliding mode.
4. A jaw construction according to claim 2 wherein: the fixed seat (41) is provided with a push-pull driving mechanism, and the push-pull driving mechanism can drive the push-pull plate (435) to move in a reciprocating mode.
5. A jaw construction according to claim 4, wherein: the push-pull driving mechanism comprises a push-pull screw rod (438 a) rotatably mounted on a fixed seat (41), the push-pull screw rod (438 a) is rotatably mounted in a push-pull plate (435) through threads, and the push-pull driving mechanism further comprises a push-pull motor (438 b) arranged on the fixed seat (41), and the push-pull motor (438 b) is connected with the push-pull screw rod (438 a) through a worm and gear mechanism.
6. A jaw construction according to claim 2 wherein: the swing guide sleeve (432) is provided with a limiting elastic sheet (436), the front rod body (431 c) is provided with a notch (431 f) matched with the limiting elastic sheet (436), and when the hinged position of the rear rod body (431 b) and the front rod body (431 c) is pushed to the outside of the swing guide sleeve (432), the limiting elastic sheet (436) can be clamped into the notch (431 f) to enable the inner side included angle between the rear rod body (431 b) and the front rod body (431 c) to be larger than 180 degrees.
7. A jaw construction according to claim 6, wherein: the limiting elastic sheet (436) is located on the outer side of the swing guide sleeve (432), a bending end (436 c) bent inwards is arranged at the first end of the limiting elastic sheet (436), the bending end (436 c) is pressed on the outer side of the front rod body (431 c), and the notch (431 f) is located on the outer side of one end, hinged to the rear rod body (431 b), of the front rod body (431 c).
8. A jaw construction according to claim 7 wherein: the outer side of the swing guide sleeve (432) is provided with a fixing column, a long hole is formed in the limiting elastic sheet (436), the length direction of the long hole is parallel to the guiding direction of the swing guide sleeve (432), the fixing column is located in the long hole, a connecting lug (436 b) bent outwards is arranged at the second end of the limiting elastic sheet (436), and an axial tension spring (437 c) is connected between the connecting lug (436 b) and the fixing column.
9. A jaw structure according to any of claims 6-8, wherein: a radial tension spring (437 b) is arranged between the limiting elastic sheet (436) and the swing guide sleeve (432), and the radial tension spring (437 b) can enable the limiting elastic sheet (436) to be pressed on the swing guide sleeve (432).
10. A jaw construction according to claim 1 wherein: a return tension spring (437 a) is arranged between the rear rod body (431 b) and the front rod body (431 c), and the return tension spring (437 a) enables the front rod body (431 c) to swing outwards around the end part of the rear rod body (431 b).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021106859127 | 2021-06-21 | ||
| CN202110685912.7A CN113649796A (en) | 2021-06-21 | 2021-06-21 | Maintenance robot with online bolt tightening function |
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| CN217727803U true CN217727803U (en) | 2022-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110685912.7A Pending CN113649796A (en) | 2021-06-21 | 2021-06-21 | Maintenance robot with online bolt tightening function |
| CN202210690067.7A Active CN115026556B (en) | 2021-06-21 | 2022-06-17 | Multifunctional climbing operation platform and operation method |
| CN202221548403.6U Active CN217727803U (en) | 2021-06-21 | 2022-06-17 | Clamping jaw structure |
| CN202210690073.2A Active CN115041952B (en) | 2021-06-21 | 2022-06-17 | Climbing operation platform with bolt tightening function and operation method |
| CN202210688654.2A Active CN115229483B (en) | 2021-06-21 | 2022-06-17 | Clamping device |
| CN202210690063.9A Active CN115026555B (en) | 2021-06-21 | 2022-06-17 | Climbing operation platform with sleeve automatic replacement function and operation method |
| CN202210688652.3A Active CN115229482B (en) | 2021-06-21 | 2022-06-17 | Climbing operation platform and climbing method |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110685912.7A Pending CN113649796A (en) | 2021-06-21 | 2021-06-21 | Maintenance robot with online bolt tightening function |
| CN202210690067.7A Active CN115026556B (en) | 2021-06-21 | 2022-06-17 | Multifunctional climbing operation platform and operation method |
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| CN202210690073.2A Active CN115041952B (en) | 2021-06-21 | 2022-06-17 | Climbing operation platform with bolt tightening function and operation method |
| CN202210688654.2A Active CN115229483B (en) | 2021-06-21 | 2022-06-17 | Clamping device |
| CN202210690063.9A Active CN115026555B (en) | 2021-06-21 | 2022-06-17 | Climbing operation platform with sleeve automatic replacement function and operation method |
| CN202210688652.3A Active CN115229482B (en) | 2021-06-21 | 2022-06-17 | Climbing operation platform and climbing method |
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| CN117465973B (en) * | 2023-12-27 | 2024-03-15 | 常州长盛机械有限公司 | Conveying equipment for cutting and forming metal cross beam for excavator |
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| KR102217644B1 (en) * | 2020-08-11 | 2021-02-19 | 주식회사 엠앤디 | Filter replacement apparatus |
| CN212918392U (en) * | 2020-08-26 | 2021-04-09 | 监利恒隆电力设备股份有限公司 | Stable clamping device for angle steel drilling process |
| CN213164027U (en) * | 2020-08-26 | 2021-05-11 | 广州市特威工程机械有限公司 | Rack assembly machine |
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| CN112441157B (en) * | 2020-10-13 | 2022-11-04 | 国网安徽省电力有限公司 | Walking control method of climbing robot based on angle steel tower |
| CN112278107A (en) * | 2020-10-13 | 2021-01-29 | 国网安徽省电力有限公司 | Clamping jaw for climbing robot |
| CN112339878A (en) * | 2020-10-13 | 2021-02-09 | 国网安徽省电力有限公司 | Clamping assembly with angle and height adjusting functions |
| CN112356940B (en) * | 2020-10-13 | 2023-01-06 | 国网安徽省电力有限公司 | Climbing robot for angle steel tower |
| CN112278108A (en) * | 2020-10-13 | 2021-01-29 | 国网安徽省电力有限公司 | Climbing robot |
| CN213469341U (en) * | 2020-10-28 | 2021-06-18 | 青岛星宸铁塔有限公司 | Conveyer with auxiliary positioning mechanism |
| CN112873217A (en) * | 2020-12-03 | 2021-06-01 | 国网新疆电力有限公司电力科学研究院 | Angle steel tower bolt fastening robot |
| CN112405056A (en) * | 2021-01-18 | 2021-02-26 | 潍坊维润金属科技有限公司 | Steel pipe punches and uses centre gripping positioner |
| CN112894337A (en) * | 2021-01-28 | 2021-06-04 | 深圳市驰速自动化设备有限公司 | Automatic screwing and assembling mechanism for screw blocking position |
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2021
- 2021-06-21 CN CN202110685912.7A patent/CN113649796A/en active Pending
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2022
- 2022-06-17 CN CN202210690067.7A patent/CN115026556B/en active Active
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- 2022-06-17 CN CN202210690073.2A patent/CN115041952B/en active Active
- 2022-06-17 CN CN202210688654.2A patent/CN115229483B/en active Active
- 2022-06-17 CN CN202210690063.9A patent/CN115026555B/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115026556B (en) | 2024-05-10 |
| CN115026556A (en) | 2022-09-09 |
| CN115041952B (en) | 2024-05-10 |
| CN115229482B (en) | 2024-06-11 |
| CN115041952A (en) | 2022-09-13 |
| CN115026555B (en) | 2024-05-10 |
| CN115229483B (en) | 2024-05-10 |
| CN113649796A (en) | 2021-11-16 |
| CN115229482A (en) | 2022-10-25 |
| CN115026555A (en) | 2022-09-09 |
| CN115229483A (en) | 2022-10-25 |
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