CN220864036U - Mechanical arm closing device - Google Patents
Mechanical arm closing device Download PDFInfo
- Publication number
- CN220864036U CN220864036U CN202322729922.3U CN202322729922U CN220864036U CN 220864036 U CN220864036 U CN 220864036U CN 202322729922 U CN202322729922 U CN 202322729922U CN 220864036 U CN220864036 U CN 220864036U
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- handle
- driving module
- switching
- server
- 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.)
- Active
Links
- 230000009471 action Effects 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000001514 detection method Methods 0.000 claims description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention relates to the field of electric switches, in particular to a mechanical arm closing device. The method is characterized in that: the mechanical arm switching-on device common rail is arranged on one side of the air switch or the electric leakage protection switch, the action end of the mechanical arm abuts against the handle of the air switch or the electric leakage protection switch so as to perform switching-on operation, the mechanical arm switching-on device further comprises a server, a driving module and a signal instruction module, and the driving module drives the server to execute the mechanical arm action after the signal instruction module obtains the switching-on instruction of the control end. The beneficial effects of the invention are as follows: under the background that current air switch or electric leakage protection switch used widely, under the prerequisite of guaranteeing the safety, realize the unmanned on duty of various scenes through remote control, the device has mainly solved commonality problem, simulate reliability problem, the fail-safe problem of people's hand pushing handle.
Description
Technical Field
The invention relates to the field of electric switches, in particular to a mechanical arm closing device.
Background
The air switch, the electric leakage protection switch and other electric switches are widely applied to various aspects of industrial, agricultural and social life, and have the functions that once the electric circuit overflows or the electric leakage air switch or the electric leakage protection switch immediately opens and breaks the circuit under the action of elastic force, so that abnormal current of the circuit is avoided, and after the circuit fault is eliminated, a handle is manually pushed to conduct closing operation. In a large number of practices, people find that the circuit is not short-circuited or leaked, and only accidental surge current or capacitive coupling can cause actions of an air switch and a leakage protection switch, especially an electrostatic environment caused by thunderstorm weather and dry weather, at the moment, a handle is required to be manually pushed again to perform switching-on operation, various execution mechanisms such as air switch, leakage protection and the like are required to perform switching-on and switching-off operations along with unmanned development, and a mechanical arm capable of being remotely controlled is required to perform safe switching-on operation and has universality matched with different types of switches.
Disclosure of Invention
The invention aims to provide a mechanical arm switching-on device which is generally used for an existing air switch and an electric leakage protection switch, and comprises a mechanical arm, a server, a driving module and a signal instruction module, wherein the driving module drives the server to execute mechanical arm actions after the signal instruction module acquires switching-on instructions of a control end, the driving module further comprises a current detection function, when the switching-on actions are about to be finished, the driving module drives the server to return to a starting point due to current rising caused by the fact that the motor load is increased, in addition, the driving module further comprises a fault detection function, if the motor current such as dead clamping is increased, the driving module can control the mechanical arm to return to an original position, and if the driving module cannot continuously perform switching-on operations for 3 times, the driving module gives up executing switching-on instructions and gives an alarm.
The technical scheme of the invention is as follows:
A mechanical arm closing device is characterized in that: the common rail of the mechanical arm switching-on device is arranged on one side of an air switch or a leakage protection switch, the action end of the mechanical arm is close to the handle of the air switch or the leakage protection switch so as to perform switching-on operation, the mechanical arm switching-on device further comprises a server, a driving module and a signal instruction module, the driving module drives the server to execute mechanical arm action after acquiring switching-on instructions of the control end, the driving module further comprises a current detection function, when the switching-on action is about to be finished, due to the fact that the load of a motor is increased, the current is increased, the driving module drives the server to return to a starting point, the driving module further comprises a fault detection function, and if a clamping fault is met, the current of the motor of the server is increased, and the driving module can control the mechanical arm to retract to the original position.
The mechanical arm closing device is characterized in that: the action end of the mechanical arm also comprises a roller, and the roller rolls on the handle in the vertical movement of the handle during closing, so that the transverse friction of the handle by the action end is avoided.
The mechanical arm closing device is characterized in that: the action end of the mechanical arm also comprises an involute engagement surface, and the involute engagement surface is contacted with the handle in the vertical movement of the handle during closing, so that the transverse friction of the action end to the handle is avoided.
The mechanical arm closing device is characterized in that: the servo is a steering engine.
The mechanical arm closing device is characterized in that: the motor of the server is a direct current motor, or an alternating current motor, or a stepping motor.
The vertical movement is the movement in the Y direction, the transverse friction is the friction in the X direction, and the friction in the X direction can cause loosening or damage of the handle.
The beneficial effects of the invention are as follows: under the background that current air switch or electric leakage protection switch used widely, under the prerequisite of guaranteeing the safety, realize the unmanned on duty of various scenes through remote control, the device has mainly solved commonality problem, simulate reliability problem, the fail-safe problem of people's hand pushing handle.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention.
Fig. 2 is a schematic diagram of an embodiment of the present invention in which the motion end employs a roller.
FIG. 3 shows an embodiment of the present invention in which the actuating end employs involute engagement surfaces.
Fig. 4 is a side view of fig. 3.
Wherein 101 is a mechanical arm closing device, 102 is a driving rotating shaft, 103 is a mechanical arm, 104 is an air switch or a leakage protection switch, 105 is an action end of the mechanical arm, and 106 is a handle of the air switch or the leakage protection switch.
The roller 201 is a roller, and the roller 202 is a roller.
301 Is the operating end of the involute engagement surface, and 302 is the involute engagement surface.
Description of the embodiments
The invention will be further described with reference to the drawings and examples.
Referring to fig. 1, a schematic structural diagram of the present invention is shown, a mechanical arm switching-on device 101 and an air switch or a leakage protection switch 104 are closely mounted on a track of a distribution box (in an X-axis direction), a mechanical arm 103 is driven by a driving shaft 102 to rotate, an action end 105 of the mechanical arm 103 is closely attached to a handle 106 of the air switch or the leakage protection switch 104, the action end 105 drives the handle 106 to perform switching-on operation (move along a Y-axis direction) through the rotation of the mechanical arm 103, and when the mechanical arm performs switching-on operation, the mechanical arm which moves in a rotating manner is utilized to push various actuators in a vertical direction to move, and the length of the mechanical arm is selected to meet various application occasions of air-break and leakage protection.
The mechanical arm closing device further comprises a server, a driving module and a signal instruction module, wherein the driving rotating shaft 102 is a power output shaft of the server, the driving module drives the server to execute steering engine action after acquiring closing instructions of a control end, the driving module further comprises a current detection function, when the closing action is about to be finished, due to the fact that the load of a motor is increased, the current is increased, the driving module drives the server to return to a starting point, the driving module further comprises a fault detection function, if the current of the motor of the server is increased when a clamping fault is encountered, the driving module can control the mechanical arm to retract to an original position, and if the driving module is incapable of continuously closing operations for 3 times, the driving module gives up executing closing instructions and gives an alarm.
The servo adjusts the stroke through PWM, ensures the stroke accuracy, adjusts the starting position by using a spline link mode, ensures the space positioning accuracy, and ensures the safety of a fault state mechanism by using the over-current detection when meeting resistance.
The servo adjusts the rotation angle through PWM, generally every time the servo rotates 90 degrees, the starting position is adjusted, the push-open handle can be accurately closed, the servo returns to the original position after rotating to the position for 1 second, if the motor current such as dead clamping is increased, the driving module can control the mechanical arm to return to the original position.
Fig. 2 is a schematic diagram of an embodiment of the present invention, in which a roller is used as an actuating end, and a key problem to be solved by the present invention is how to simulate a manual closing operation, in the embodiment shown in fig. 1, the mechanical arm 103 is driven by the driving shaft 102 to rotate, and in the movement, on one hand, the actuating end 105 applies a thrust force in the Y direction to the handle 106 to perform the closing operation, and on the other hand, the actuating end 105 and the handle 106 generate friction in the X direction to generate a torque in the transverse X direction, so that the handle is easy to loosen and damage after long-term working. In order to perfectly simulate manual operation, in the embodiment that the roller is adopted at the action end, the roller 201 is the roller, and the roller 202 is the roller, so that the mechanical arm 103 rotates under the drive of the driving shaft 102, on one hand, the roller 202 applies the pressure in the Y direction (vertical movement direction) to the handle 106 to perform closing operation in the rolling process, and on the other hand, the roller 202 rolls on the handle 106 along the X direction, thereby avoiding the transverse friction (i.e. the friction force in the X direction) of the handle by the action end and solving the operation problem of simulating manual closing.
Fig. 3 is an embodiment of the present invention in which the action end adopts an involute engagement surface, fig. 4 is a side view of fig. 3, in order to further simulate manual closing operation, the action end of the mechanical arm is provided with an involute engagement surface, and the involute engagement surface contacts the handle in the vertical movement (movement in the Y direction) of the handle during closing, so that the transverse friction of the action end to the handle is avoided, 301 is the action end of the involute engagement surface, 302 is the involute engagement surface, and the surface of the contact portion with the handle 106 is made into an involute, the radius of the graduation circle is the length of the mechanical arm, that is, the rotation center of the mechanical arm, thus ensuring pure rolling contact in the horizontal direction (X axis direction), avoiding the transverse friction (that is, the friction force in the X direction) of the action end to the handle, and perfectly solving the operation problem of simulating manual closing.
The involute engagement surface may be referred to as an involute engagement surface with respect to the contact object.
The motor forming the servo comprises a direct current motor, an alternating current motor, a stepping motor and the like, a steering engine is selected as a power output part, the steering engine is a motor capable of accurately controlling the rotation angle, the steering engine internally comprises core parts such as a motor, a speed reducer, an encoder, a control circuit and the like, and the rotation angle of an output shaft is controlled through the cooperative action of the internal control circuit, a position feedback device and a motor driving device, so that accurate angle control is realized.
The steering engine is also called an RC servo driver, the servo control system of the steering engine is generally composed of a small motor, a sensor, an embedded automatic control system and a transmission, the position of an output shaft of the motor is continuously sampled and accurately measured by an internal structure sensor, the position of the output shaft of the motor is compared with a target position set by a microprocessor (such as STM32, arduino), and the control system can adjust the specific position of the output shaft of the motor according to corresponding errors to enable the specific position of the output shaft of the motor to be matched with the target position.
The above application modes and rules do not limit the method and the basic characteristics of the application of the present invention, but do not limit the protection scope of the present invention, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A mechanical arm closing device is characterized in that: the common rail of the mechanical arm switching-on device is arranged on one side of an air switch or a leakage protection switch, the action end of the mechanical arm is close to the handle of the air switch or the leakage protection switch so as to perform switching-on operation, the mechanical arm switching-on device further comprises a server, a driving module and a signal instruction module, the driving module drives the server to execute mechanical arm action after acquiring switching-on instructions of the control end, the driving module further comprises a current detection function, when the switching-on action is about to be finished, due to the fact that the load of a motor is increased, the current is increased, the driving module drives the server to return to a starting point, the driving module further comprises a fault detection function, and if a clamping fault is met, the current of the motor of the server is increased, and the driving module can control the mechanical arm to retract to the original position.
2. The mechanical arm closing device of claim 1, wherein: the action end of the mechanical arm also comprises a roller, and the roller rolls on the handle in the vertical movement of the handle during closing, so that the transverse friction of the handle by the action end is avoided.
3. The mechanical arm closing device of claim 1, wherein: the action end of the mechanical arm also comprises an involute engagement surface, and the involute engagement surface is contacted with the handle in the vertical movement of the handle during closing, so that the transverse friction of the action end to the handle is avoided.
4. A mechanical arm closing device according to claim 1, 2 or 3, characterized in that: the servo is a steering engine.
5. A mechanical arm closing device according to claim 1, 2 or 3, characterized in that: the motor of the server is a direct current motor, or an alternating current motor, or a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322729922.3U CN220864036U (en) | 2023-10-11 | 2023-10-11 | Mechanical arm closing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322729922.3U CN220864036U (en) | 2023-10-11 | 2023-10-11 | Mechanical arm closing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220864036U true CN220864036U (en) | 2024-04-30 |
Family
ID=90818000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322729922.3U Active CN220864036U (en) | 2023-10-11 | 2023-10-11 | Mechanical arm closing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220864036U (en) |
-
2023
- 2023-10-11 CN CN202322729922.3U patent/CN220864036U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2012500625A (en) | Portable power tool equipped with equipment that can be used to determine the relative position of two elements of a tool in which at least one element is movable | |
| CN220864036U (en) | Mechanical arm closing device | |
| CN104864061A (en) | Lead screw transmission system driven by electro-hydraulic hybrid and control method thereof | |
| CN117103303A (en) | Mechanical arm closing device | |
| CN201306219Y (en) | Engine throttle control device | |
| CN200941536Y (en) | Three-station operator for gaseous insulated metallic packed switching gear | |
| CN100557660C (en) | The steering wheel electric returning device of automobile driving simulator | |
| CN210073651U (en) | Mechanical switch remote control device | |
| CN107070078B (en) | Door lock clutch driving system | |
| CN103197700A (en) | Servo control system with limit function | |
| JP6479187B2 (en) | A linear drive device including a non-contact position sensor having a circuit structure for detecting the position of a pointer attached to the movable part, an exhaust gas recirculation control valve including the linear drive device, and the exhaust gas recirculation Engine with circulation control valve | |
| CN115993853A (en) | Three-position electric actuator control system and electric actuator | |
| CN101404219A (en) | Three-station electric operation mechanism | |
| CN109882634B (en) | Digital intelligent angular travel electric actuator | |
| CN110666821B (en) | Single-degree-of-freedom force feedback handle | |
| CN106298304B (en) | A kind of hydraulic pressure spring operating mechanism and its travel switch component | |
| WO2016045624A2 (en) | Circuit breaker drawer base position-indicating apparatus | |
| CN212676203U (en) | Electric operating mechanism of circuit breaker | |
| CN114688242B (en) | Reversing control mechanism | |
| CN214588555U (en) | Intelligent rotary limit switch | |
| CN217153197U (en) | Electric valve and transmission device and position sensor thereof | |
| CN109708894B (en) | Accelerator clutch actuator control system | |
| CN215749152U (en) | Six-degree-of-freedom parallel robot detection branch | |
| CN204102806U (en) | Motor-driven cam orientation one-phase relay | |
| CN209909292U (en) | Valve position feedback device adopting non-contact angle sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |