CN107901067A - A kind of manipulator that high-tension porcelain insulator is carried applied to power domain - Google Patents
A kind of manipulator that high-tension porcelain insulator is carried applied to power domain Download PDFInfo
- Publication number
- CN107901067A CN107901067A CN201711105878.1A CN201711105878A CN107901067A CN 107901067 A CN107901067 A CN 107901067A CN 201711105878 A CN201711105878 A CN 201711105878A CN 107901067 A CN107901067 A CN 107901067A
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- China
- Prior art keywords
- plate
- claw
- hand
- porcelain insulator
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910052573 porcelain Inorganic materials 0.000 title claims abstract description 81
- 239000012212 insulator Substances 0.000 title claims abstract description 75
- 238000009413 insulation Methods 0.000 claims description 3
- 239000012774 insulation material Substances 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Insulators (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator that high-tension porcelain insulator is carried applied to power domain, including：Manipulator mounting seat；First paw support plate and the second paw support plate, are arranged on the one side of manipulator mounting seat, and the first paw support plate is equipped with the first grip block, and the second paw support plate is equipped with the second grip block；First-hand claw-plate, is hingedly arranged on one end of the first paw support plate, and first-hand claw-plate is equipped with the 3rd grip block；Second-hand's claw-plate, is hingedly arranged on one end of the second paw support plate, and second-hand's claw-plate is equipped with the 4th grip block；Wherein, the two side ends of manipulator mounting seat have been movably arranged the first pushing plate and the second pushing plate respectively, to drive first-hand claw-plate to rotate by the first pushing plate, to drive second-hand's claw-plate to rotate by the second pushing plate.By the above-mentioned means, manipulator disclosed in this invention being capable of automatic transporting high-tension porcelain insulator so that work operations are efficient, and security incident is less likely to occur.
Description
Technical field
The present invention relates to technical field of power systems, is applied to power domain more particularly to one kind and carries high-tension porcelain insulator use
Manipulator.
Background technology
With economic and society development, requirement of the people to supply of electric power is continuously improved, and the laying of power circuit is increasingly
It is perfect.In electric power elevated line, high-tension porcelain insulator is directly related to as the important component for forming isolation switch, its operation conditions
Power grid it is safe for operation.
At present, during traditional work, high-tension porcelain insulator operation is either installed and still dismantles high-tension porcelain insulator operation, is all
High-tension porcelain insulator is carried using artificial, i.e., mainly by manually carrying high-tension porcelain insulator and putting in high-tension porcelain insulator operation process is installed
Above to porcelain vase seat, mainly by manually carrying high-tension porcelain insulator and from porcelain vase seat during high-tension porcelain insulator operation water is dismantled
Remove, so facilitate device to hole to install and dismantle, also ensure that personnel safety.However, high-tension porcelain insulator is excessively heavy, the bad carrying of personnel,
Work operations efficiency is so easily reduced, and security incident also easily occurs.
The content of the invention
The invention mainly solves the technical problem of providing a kind of machinery that high-tension porcelain insulator is carried applied to power domain
Hand, its work operations is efficient, and security incident is less likely to occur.
In order to solve the above technical problems, one aspect of the present invention is：One kind is provided and is applied to power domain
The manipulator of high-tension porcelain insulator is carried, including：Manipulator mounting seat；First paw support plate and the second paw support plate are right
Title is arranged on the one side of manipulator mounting seat, wherein the first paw support plate is equipped with first for holding high-tension porcelain insulator
Grip block, the second paw support plate are equipped with the second grip block for holding high-tension porcelain insulator；First-hand claw-plate, is hingedly arranged on
On one one end of paw support plate away from manipulator mounting seat, wherein one end of first-hand claw-plate, which is equipped with, is used for holding high pressure
3rd grip block of porcelain vase；Second-hand's claw-plate, is hingedly arranged on second one end of paw support plate away from manipulator mounting seat
On, wherein one end of second-hand's claw-plate is equipped with the 4th grip block for holding high-tension porcelain insulator；Wherein, the first paw supports
Plate, the second paw support plate, one end of one end of first-hand claw-plate and second-hand's claw-plate are formed with for housing high-tension porcelain insulator
Host cavity, and the two side ends of manipulator mounting seat have been movably arranged the first pushing plate and the second pushing plate respectively, wherein the
One pushing plate is connected with the other end of first-hand claw-plate, to drive first-hand claw-plate with respect to the first paw branch by the first pushing plate
Fagging rotates, and the second pushing plate is connected with the other end of second-hand's claw-plate, to drive second-hand's claw-plate phase by the second pushing plate
Second paw support plate is rotated.
Wherein, the first paw support plate includes the first loading plate and the court being arranged on the one side of manipulator mounting seat
The second loading plate being extended away from manipulator mounting seat direction, wherein the second loading plate the second paw support plate of direction
One side is equipped with the first grip block；What the second paw support plate included being arranged on the one side of manipulator mounting seat the 3rd holds
Support plate and the 4th loading plate being extended towards remote manipulator mounting seat direction, wherein the 4th loading plate is carried towards second
The one side of plate is equipped with the second grip block.
Wherein, the first loading plate and the 3rd loading plate are symmetrical arranged, and the second loading plate and the 4th loading plate are symmetrical arranged, its
In the first loading plate, the 3rd loading plate, the second loading plate, the 4th loading plate, one end of first-hand claw-plate and second-hand's claw-plate
One end is formed with the host cavity for housing high-tension porcelain insulator, and the first loading plate and the 3rd loading plate are away from manipulator mounting seat
One side be equipped with the 5th grip block.
Wherein, the one end of the second loading plate away from the first loading plate is equipped with least one first rotating part, at least one first rotation
First through hole is equipped with transfer part, the middle part of first-hand claw-plate, which is equipped with, to be used to house at least the one first of at least one first rotating part
Accepting hole, and at least one second rotating part corresponding with least one first rotating part is additionally provided with the middle part of first-hand claw-plate, extremely
Few one second rotating part is equipped with the second through hole corresponding with first through hole, is wherein equipped with first in first through hole and the second through hole
Rotational pin, so that first-hand claw-plate is rotatablely connected with respect to the one end of the second loading plate away from the first loading plate.
Wherein, the 4th one end of loading plate away from the 3rd loading plate is equipped with least one the 3rd rotating part, at least one the 3rd rotation
Third through-hole is equipped with transfer part, the middle part of second-hand's claw-plate, which is equipped with, to be used to house at least the one second of at least one the 3rd rotating part
Accepting hole, and at least one the 4th rotating part corresponding with least one the 3rd rotating part is additionally provided with the middle part of second-hand's claw-plate, extremely
Few one the 4th rotating part is equipped with fourth hole corresponding with third through-hole, is wherein equipped with second in third through-hole and fourth hole
Rotational pin, so that second-hand's claw-plate is rotatablely connected with respect to the one end of the 4th loading plate away from the 3rd loading plate.
Wherein, the other end of first-hand claw-plate is provided with an at least first connecting portion, and at least first connecting portion is equipped with first
Perforate, the first pushing plate are equipped with an at least second connecting portion corresponding with an at least first connecting portion, at least a second connecting portion
Equipped with the second perforate corresponding with the first perforate, wherein being equipped with the 3rd rotational pin in the first perforate and the second perforate；Second-hand
The other end of claw-plate is provided with least one the 3rd connecting portion, and at least one the 3rd connecting portion is equipped with the 3rd perforate, and the second pushing plate is set
There is at least one the 4th connecting portion corresponding with least one the 3rd connecting portion, at least one the 4th connecting portion is equipped with corresponding with the 3rd perforate
The 4th perforate, wherein being equipped with the 4th rotational pin in the 3rd perforate and the 4th perforate.
Wherein, the second perforate and the 4th perforate are set in ellipticity, the first grip block, the second grip block, the 3rd folder
Block, the 4th grip block and the 5th grip block is held to be made of insulation and thermal insulation material, and the first grip block, the second grip block, the 3rd folder
Hold the accommodating grooves that block, the 4th grip block and the 5th grip block are respectively provided with the collar edges for housing high-tension porcelain insulator.
Wherein, be equipped with the first motor in manipulator mounting seat, and the both ends in manipulator mounting seat be respectively equipped with and
The first screw and the second screw of first motor connection, are moved wherein the first pushing plate is equipped with first be connected with the first wire rod thread
Dynamic portion, the second pushing plate are equipped with the second move portion being connected with the second wire rod thread, to drive the first screw by the first motor
Rotated with the second screw, to drive the first pushing plate and the second pushing plate to be moved in the two side ends of manipulator mounting seat.
Wherein, the two side ends of manipulator mounting seat are respectively equipped with the first rail plate and the second rail plate, and first pushes away
Movable plate is equipped with the first sliding block for being used for being moved on the first rail plate, and the second pushing plate, which is equipped with, to be used in the second rail plate
The second mobile sliding block.
Wherein, the two side ends of manipulator mounting seat are respectively equipped with the first installing frame and the second installing frame, wherein the first peace
The first brake motor for being used for being connected with the first screw is equipped with framing up, is equipped with the second installing frame and is used to be connected with the second screw
The second brake motor.
The beneficial effects of the invention are as follows：The situation of the prior art is different from, it is disclosed in this invention to be applied to power domain
Carrying the manipulator of high-tension porcelain insulator includes：Manipulator mounting seat；First paw support plate and the second paw support plate, symmetrically
It is arranged on the one side of manipulator mounting seat, wherein the first paw support plate is equipped with the first folder for holding high-tension porcelain insulator
Block is held, the second paw support plate is equipped with the second grip block for holding high-tension porcelain insulator；First-hand claw-plate, is hingedly arranged on first
On the one end of paw support plate away from manipulator mounting seat, wherein one end of first-hand claw-plate, which is equipped with, is used for holding high pressure porcelain
3rd grip block of bottle；Second-hand's claw-plate, is hingedly arranged on second one end of paw support plate away from manipulator mounting seat,
Wherein one end of second-hand's claw-plate is equipped with the 4th grip block for holding high-tension porcelain insulator；Wherein, the first paw support plate,
One end of two paw support plates, one end of first-hand claw-plate and second-hand's claw-plate is formed with the collecting for housing high-tension porcelain insulator
Chamber, and the two side ends of manipulator mounting seat have been movably arranged the first pushing plate and the second pushing plate respectively, wherein first pushes away
Movable plate is connected with the other end of first-hand claw-plate, to drive first-hand claw-plate with respect to the first paw support plate by the first pushing plate
Rotate, the second pushing plate connect with the other end of second-hand's claw-plate, to drive second-hand's claw-plate with respect to the by the second pushing plate
Two paw support plates rotate.By the above-mentioned means, manipulator disclosed in this invention being capable of automatic transporting high-tension porcelain insulator so that makees
Industry work efficiency is high, and security incident is less likely to occur.
Brief description of the drawings
Fig. 1 is that the present invention is applied to the first structure schematic diagram that power domain carries the manipulator of high-tension porcelain insulator；
Fig. 2 is that the present invention is applied to the second structure diagram that power domain carries the manipulator of high-tension porcelain insulator；
Fig. 3 is that the present invention is applied to the 3rd structure diagram that power domain carries the manipulator of high-tension porcelain insulator；
Fig. 4 is that the present invention is applied to the 4th structure diagram that power domain carries the manipulator of high-tension porcelain insulator.
Embodiment
As shown in Figs 1-4, Fig. 1 is that the present invention is applied to the first structure that power domain carries the manipulator of high-tension porcelain insulator
Schematic diagram；Fig. 2 is that the present invention is applied to the second structure diagram that power domain carries the manipulator of high-tension porcelain insulator；Fig. 3 is
The present invention is applied to the 3rd structure diagram that power domain carries the manipulator of high-tension porcelain insulator；Fig. 4 is that the present invention is applied to
Power domain carries the 4th structure diagram of the manipulator of high-tension porcelain insulator.It should be applied to power domain and carry high-tension porcelain insulator use
Manipulator include tool hand mounting seat 10, the first paw support plate 11, the second paw support plate 12, first-hand claw-plate 13, the
Second-hand claw-plate 14, the first pushing plate 15 and the second pushing plate 16.
Be equipped with the first motor 17 in manipulator mounting seat 10, and the both ends in manipulator mounting seat 10 be respectively equipped with and
The first screw 171 and the second screw 172 of first motor 17 connection, to drive the first screw 171 and the by the first motor 17
Two screws 172 rotate.2 first are provided with it is to be understood that can be respectively equipped with certain embodiments, in manipulator mounting seat 10
17,2 the first motors 17 of motor are connected with the first screw 171 and the second screw 172 respectively.
In the present embodiment, the two side ends of manipulator mounting seat 10 are respectively equipped with the first installing frame 101 and the second installation
Frame 103, wherein the first brake motor 102 for being used for being connected with the first screw 171 is equipped with the first installing frame 101, the second installation
The second brake motor 104 for being used for being connected with the second screw 172 is equipped with frame 103, with by first brake motor 102 to first
Screw 171 carries out limitation speed, and limitation speed is carried out to the second screw 172 by the second brake motor 104.
It is to be understood that the first installing frame 101 and the second installing frame 103 are separately positioned on the outer wall of manipulator mounting seat 10.
First paw support plate 11 and the second paw support plate 12 are symmetricly set on the one side of manipulator mounting seat 10
On, wherein the first paw support plate 11 is equipped with the first grip block 114 for holding high-tension porcelain insulator 20, the second paw support plate 12
Equipped with the second grip block 124 for holding high-tension porcelain insulator 20.
In the present embodiment, the first paw support plate 11 includes the be arranged on the one side of manipulator mounting seat 10
One loading plate 111 and the second loading plate 112 being extended towards remote 10 direction of manipulator mounting seat, wherein the second loading plate
The one side of 112 the second paw support plates 12 of direction is equipped with the first grip block 114.
In the present embodiment, the second paw support plate 12 includes the be arranged on the one side of manipulator mounting seat 10
Three loading plates 121 and the 4th loading plate 122 being extended towards remote 10 direction of manipulator mounting seat, wherein the 4th loading plate
The one side of 122 the second loading plates 112 of direction is equipped with the second grip block 124.
Further, the first loading plate 111 and the 3rd one side of the loading plate 121 away from manipulator mounting seat 10 are equipped with
5th grip block 110.
In the present embodiment, the first loading plate 111 and the 3rd loading plate 121 are symmetrical arranged, the second loading plate 112 and the 4th
Loading plate 122 is symmetrical arranged.Preferably, the first loading plate 111, the second loading plate 112, the 3rd loading plate 121 and the 4th carrying
Plate 122 forms the host cavity for being used for housing high-tension porcelain insulator 20.
First-hand claw-plate 13 is hingedly arranged on first one end of paw support plate 11 away from manipulator mounting seat 10, its
In first-hand claw-plate 13 one end be equipped with for holding high-tension porcelain insulator 20 the 3rd grip block 131.
Second-hand's claw-plate 14 is hingedly arranged on second one end of paw support plate 12 away from manipulator mounting seat 10, its
One end of middle second-hand's claw-plate 14 is equipped with the 4th grip block 141 for holding high-tension porcelain insulator 20.
In the present embodiment, the first paw support plate 11, the second paw support plate 12, one end of first-hand claw-plate 13 and
One end of second-hand claw-plate 14 is formed with the host cavity for housing high-tension porcelain insulator 20.Preferably, the first loading plate the 111, the 3rd is held
Support plate 121, the second loading plate 112, the 4th loading plate 122, one end shape of one end of first-hand claw-plate 13 and second-hand's claw-plate 14
Into the host cavity for being useful for housing high-tension porcelain insulator 20.
Further, the first grip block 114, the second grip block 124, the 3rd grip block 131, the 4th grip block 141 and
Five grip blocks 110 are made of insulation and thermal insulation material, will not be produced electric shock, be reduced security incident.In addition, the first grip block
114th, the second grip block 124, the 3rd grip block 131, the 4th grip block 141 and the 5th grip block 110 are respectively provided with collecting
The accommodating grooves of the collar edges of high-tension porcelain insulator 20, when carrying high-tension porcelain insulator 20, high-tension porcelain insulator is clamped by accommodating grooves
20。
Specifically, the one end of the second loading plate 112 away from the first loading plate 111 is equipped with least one first rotating part 113, extremely
First through hole is equipped with few one first rotating part 113.The middle part of first-hand claw-plate 13, which is equipped with, to be used to house at least one first rotation
At least one first accepting hole 134 of transfer part 113, and be additionally provided with the middle part of first-hand claw-plate 13 and at least one first rotating part
113 corresponding at least one second rotating parts 132, at least one second rotating part 132 are equipped with the second through hole corresponding with first through hole.
The first rotational pin 133 wherein is equipped with first through hole and the second through hole, so that first-hand claw-plate 13 is with respect to the second loading plate
112 one end rotation connections away from the first loading plate 111.
It is to be understood that the quantity of at least one first rotating part 113 can have multiple, space set is in the second loading plate 112
One end away from the first loading plate 111, and the quantity of at least one first accepting hole 134 can have multiple, space set is the
On the middle part of proficiency claw-plate 13, certainly, the quantity of at least one second rotating part 132 can also have multiple, and space set is
On the middle part of proficiency claw-plate 13.Further, at least one first rotating part 113 and at least one second rotating part 132 is cylindrical
Set, 134 rectangular shape of at least one first accepting hole is set, and the outside diameter of at least one first rotating part 113 is received than at least one first
The length for holding hole 134 is small.Certainly, at least the quantity of the quantity of one first rotating part 113 and at least one first accepting hole 134 is one by one
Corresponding, at least quantity of one first rotating part 113 and the quantity of at least one second rotating part 132 corresponds.
Specifically, the 4th one end of loading plate 122 away from the 3rd loading plate 121 is equipped with least one the 3rd rotating part 123, extremely
Third through-hole is equipped with few one the 3rd rotating part 123.The middle part of second-hand's claw-plate 14, which is equipped with, to be used to house at least one the 3rd rotation
At least one second accepting hole 144 of transfer part 123, and be additionally provided with the middle part of second-hand's claw-plate 14 and at least one the 3rd rotating part
123 corresponding at least one the 4th rotating parts 142, at least one the 4th rotating part 142 are equipped with fourth hole corresponding with third through-hole.
The second rotational pin 143 is wherein equipped with third through-hole and fourth hole, so that second-hand's claw-plate 14 is with respect to the 4th loading plate
122 one end rotation connections away from the 3rd loading plate 121.
It is to be understood that the quantity of at least one the 3rd rotating part 123 can have multiple, space set is in the 4th loading plate 122
One end away from the 3rd loading plate 121, and the quantity of at least one second accepting hole 144 can have multiple, space set is the
On the middle part of second-hand claw-plate 14, certainly, the quantity of at least one the 4th rotating part 142 can also have multiple, and space set is
On the middle part of second-hand claw-plate 14.Further, at least one the 3rd rotating part 123 and at least one the 4th rotating part 142 is cylindrical
Set, 144 rectangular shape of at least one second accepting hole is set, and the outside diameter of at least 1 the 3rd rotating part 123 is received than at least one second
The length for holding hole 144 is small.Certainly, at least the quantity of the quantity of one the 3rd rotating part 123 and at least one second accepting hole 144 is one by one
Corresponding, at least quantity of one the 3rd rotating part 123 and the quantity of at least one the 4th rotating part 142 corresponds.
First pushing plate 15 and the second pushing plate 16 are removably set on the two side ends of manipulator mounting seat 10 respectively.
In the present embodiment, the first pushing plate 15 is connected with the other end of first-hand claw-plate 13, to drive first by the first pushing plate 15
Paw plate 13 is rotated relative to the first paw support plate 11, specifically can drive the another of first-hand claw-plate 13 by the first pushing plate 15
End movement, so as to drive one end of first-hand claw-plate 13 to turn with respect to the one end of the second loading plate 112 away from the first loading plate 111
It is dynamic.Further, the second pushing plate 16 is connected with the other end of second-hand's claw-plate 14, to drive second by the second pushing plate 16
Paw plate 14 is rotated relative to the second paw support plate 12, specifically can drive the another of second-hand's claw-plate 14 by the second pushing plate 16
End movement, so as to drive one end of second-hand's claw-plate 14 to turn with respect to the one end of the 4th loading plate 122 away from the second loading plate 121
It is dynamic.
Specifically, the other end of first-hand claw-plate 13 is provided with least a first connecting portion 135, at least first connecting portion
135 are equipped with the first perforate, and the first pushing plate 15 is equipped with and a 135 corresponding at least second connecting portion of an at least first connecting portion
151, and an at least second connecting portion 151 is equipped with the second perforate 152 corresponding with the first perforate, wherein the first perforate and second is opened
The 3rd rotational pin 153 is equipped with hole 152.
It is to be understood that the quantity of an at least first connecting portion 135 has multiple, space set is another first-hand claw-plate 13
End, the quantity of an at least second connecting portion 151 have multiple, and space set is in the first pushing plate 15.
Specifically, the other end of second-hand's claw-plate 14 is provided with least one the 3rd connecting portion 145, at least one the 3rd connecting portion
145 are equipped with the 3rd perforate, and the second pushing plate 16 is equipped with and 145 corresponding at least one the 4th connecting portion of at least one the 3rd connecting portion
161, at least one the 4th connecting portion 161 is equipped with the 4th perforate 162 corresponding with the 3rd perforate, wherein the 3rd perforate and the 4th perforate
The 4th rotational pin 163 is equipped with 162.
It is to be understood that the quantity of at least one the 3rd connecting portion 145 has multiple, space set is another second-hand's claw-plate 14
End, the quantity of at least one the 4th connecting portion 161 have multiple, and space set is in the second pushing plate 16.
In the present embodiment, the second perforate 152 is set in ellipticity, so that the other end of first-hand claw-plate 13 can be the
Moved in first perforate 152 of one pushing plate 15, and the second perforate 152 and the 4th perforate 162 are set in ellipticity, so that the
The other end of second-hand claw-plate 14 can move in the second perforate 162 of the second pushing plate 16.
Further, the first pushing plate 15 is equipped with the first move portion 154 being threadedly coupled with the first screw 171, and second pushes away
Movable plate 16 is equipped with the second move portion 164 being threadedly coupled with the second screw 172, to drive the first screw by the first motor 17
171 and second screw 172 rotate, to drive the first move portion 154 to be moved on the first screw 171, the second move portion 164 is the
Moved on two screws 172, so as to drive the first pushing plate 15 and the second pushing plate 16 in the two side ends of manipulator mounting seat 10
It is mobile.
In the present embodiment, the two side ends of manipulator mounting seat 10 are respectively equipped with the first rail plate 105 and second and slide
Dynamic guide rail 106, the first pushing plate 15 are equipped with the first sliding block 155 for being used for being moved on the first rail plate 105, the second pushing plate
16 are equipped with the second sliding block 165 for being used for being moved on the second rail plate 106.
It is to be understood that in the present embodiment, which further includes hydraulic cylinder, the wherein telescopic rod of hydraulic cylinder and machinery
Hand mounting seat 10 connects, to drive manipulator mounting seat 10 to move up and down by driving the telescopic rod of the hydraulic cylinder.
Concrete operating principle, when manipulator needs to clamp high-tension porcelain insulator 20, the first motor 17 control 171 He of the first screw
Second screw 172 rotates, and to drive the first move portion 154 and the second move portion 165 to be moved towards away from 17 direction of the first motor, makes
Obtaining the first move portion 154 drives the first pushing plate 15 to be moved towards away from 17 direction of the first motor, and the second move portion 164 drives second
Pushing plate 16 is moved towards away from 17 direction of the first motor.At this time, the first pushing plate 15 drives the other end one of first-hand claw-plate 13
Movement is played, since the middle part of first-hand claw-plate 13 is hingedly arranged on the one end of the second loading plate 112 away from the first loading plate 111
On, therefore one end of first-hand claw-plate 13 is close towards 12 direction of the second paw support plate, to clamp high-tension porcelain insulator 20；Similarly,
Second pushing plate 16 drives the other end of second-hand's claw-plate 14 to move together, since the middle part of second-hand's claw-plate 14 is hingedly arranged on
On 4th one end of loading plate 122 away from the 3rd loading plate 121, therefore one end of second-hand's claw-plate 14 is supported towards the first paw
11 direction of plate is close, to clamp high-tension porcelain insulator 20.
Conversely, when manipulator needs to unclamp high-tension porcelain insulator 20, the first motor 17 controls the first screw 171 and the second screw
172 opposite directions rotate, to drive the first move portion 154 and the second move portion 165 to be moved towards close to 17 direction of the first motor so that
First move portion 154 drives the first pushing plate 15 to be moved towards close to 17 direction of the first motor, and the second move portion 164 drives second to push away
Movable plate 16 is moved towards close to 17 direction of the first motor.At this time, the first pushing plate 15 drives the other end of first-hand claw-plate 13 together
It is mobile, since the middle part of first-hand claw-plate 13 is hingedly arranged on the one end of the second loading plate 112 away from the first loading plate 111,
Therefore one end of first-hand claw-plate 13 is moved towards away from 12 direction of the second paw support plate, to unclamp high-tension porcelain insulator 20；Similarly,
Two pushing plates 16 drive the other end of second-hand claw-plate 14 to move together, since the middle part of second-hand's claw-plate 14 is hingedly arranged on the
On four one end of loading plate 122 away from the 3rd loading plate 121, therefore one end of second-hand's claw-plate 14 is supported towards away from the first paw
11 direction of plate is moved, to unclamp high-tension porcelain insulator 20.
To sum up, the manipulator disclosed in this invention that high-tension porcelain insulator is carried applied to power domain includes：Manipulator is pacified
Fill base；First paw support plate and the second paw support plate, are symmetricly set on the one side of manipulator mounting seat, wherein
First paw support plate is equipped with the first grip block for holding high-tension porcelain insulator, and the second paw support plate, which is equipped with, is used for holding high pressure
Second grip block of porcelain vase；First-hand claw-plate, is hingedly arranged on first one end of paw support plate away from manipulator mounting seat
On, wherein one end of first-hand claw-plate is equipped with the 3rd grip block for holding high-tension porcelain insulator；Second-hand's claw-plate, it is hinged to set
On second one end of paw support plate away from manipulator mounting seat, wherein one end of second-hand's claw-plate, which is equipped with, is used for holding
4th grip block of high-tension porcelain insulator；Wherein, the first paw support plate, the second paw support plate, one end of first-hand claw-plate and
One end of second-hand claw-plate is formed with the host cavity for housing high-tension porcelain insulator, and the two side ends difference of manipulator mounting seat is removable
It is dynamic to be provided with the first pushing plate and the second pushing plate, wherein the first pushing plate is connected with the other end of first-hand claw-plate, to pass through
First pushing plate drives first-hand claw-plate to be rotated relative to the first paw support plate, the other end of the second pushing plate and second-hand's claw-plate
Connection, to drive second-hand's claw-plate to be rotated relative to the second paw support plate by the second pushing plate.It is by the above-mentioned means, of the invention
Disclosed manipulator being capable of automatic transporting high-tension porcelain insulator so that work operations are efficient, and security incident is less likely to occur.
The foregoing is merely the embodiment of the present invention, is not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made, is directly or indirectly used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
- A kind of 1. manipulator that high-tension porcelain insulator is carried applied to power domain, it is characterised in that including：Manipulator mounting seat；First paw support plate and the second paw support plate, are symmetricly set on the one side of the manipulator mounting seat, its Described in the first paw support plate be equipped with the first grip block for high-tension porcelain insulator described in holding, the second paw support plate sets It is useful for the second grip block of high-tension porcelain insulator described in holding；First-hand claw-plate, is hingedly arranged on the one end of the first paw support plate away from the manipulator mounting seat, its Described in first-hand claw-plate one end be equipped with for high-tension porcelain insulator described in holding the 3rd grip block；Second-hand's claw-plate, is hingedly arranged on the one end of the second paw support plate away from the manipulator mounting seat, its Described in second-hand's claw-plate one end be equipped with for high-tension porcelain insulator described in holding the 4th grip block；Wherein, the first paw support plate, the second paw support plate, one end and described second of the first-hand claw-plate One end of paw plate is formed with the host cavity for housing the high-tension porcelain insulator, and the two side ends of the manipulator mounting seat are divided The first pushing plate and the second pushing plate have not been movably arranged, wherein first pushing plate and the first-hand claw-plate is another End connection, it is described to drive the first-hand claw-plate to be rotated relative to the first paw support plate by first pushing plate Second pushing plate is connected with the other end of second-hand's claw-plate, to drive second-hand's claw-plate by second pushing plate Rotated relative to the second paw support plate.
- 2. the manipulator according to claim 1 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described First paw support plate includes the first loading plate being arranged on the one side of the manipulator mounting seat and towards away from described The second loading plate that manipulator mounting seat direction is extended, wherein second loading plate is supported towards second paw The one side of plate is equipped with first grip block；The second paw support plate includes being arranged on the manipulator mounting seat The 3rd loading plate on one side and towards the 4th loading plate being extended away from the manipulator mounting seat direction, wherein institute The one side for stating the 4th loading plate towards second loading plate is equipped with second grip block.
- 3. the manipulator according to claim 2 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described First loading plate and the 3rd loading plate are symmetrical arranged, and second loading plate and the 4th loading plate are symmetrical arranged, its Described in the first loading plate, the 3rd loading plate, second loading plate, the 4th loading plate, the first-hand claw-plate One end and second-hand's claw-plate one end formed with the host cavity for housing the high-tension porcelain insulator, and first carrying Plate and the one side of the 3rd loading plate away from the manipulator mounting seat are equipped with the 5th grip block.
- 4. the manipulator according to claim 3 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described The one end of second loading plate away from first loading plate is equipped with least one first rotating part, at least one first rotating part Equipped with first through hole, the middle part of the first-hand claw-plate, which is equipped with, is used for house at least one first rotating part at least 1 the One accepting hole, and be additionally provided with the middle part of the first-hand claw-plate and at least one first rotating part corresponding at least one second Rotating part, at least one second rotating part is equipped with the second through hole corresponding with the first through hole, wherein the first through hole The first rotational pin is equipped with second through hole, so that relatively described second loading plate of the first-hand claw-plate is away from institute State one end rotation connection of the first loading plate.
- 5. the manipulator according to claim 4 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described The one end of 4th loading plate away from the 3rd loading plate is equipped with least one the 3rd rotating part, at least one the 3rd rotating part Equipped with third through-hole, the middle part of second-hand's claw-plate, which is equipped with, is used for house at least 1 the 3rd rotating part at least 1 the Two accepting holes, and be additionally provided with the middle part of second-hand's claw-plate and at least one the 3rd rotating part corresponding at least one the 4th Rotating part, at least one the 4th rotating part is equipped with fourth hole corresponding with the third through-hole, wherein the third through-hole With the second rotational pin is equipped with the fourth hole so that relatively described 4th loading plate of second-hand's claw-plate is away from institute State one end rotation connection of the 3rd loading plate.
- 6. the manipulator according to claim 5 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described The other end of first-hand claw-plate is provided with an at least first connecting portion, and at least first connecting portion is equipped with the first perforate, described First pushing plate is equipped with an at least second connecting portion corresponding with an at least first connecting portion, at least one second connection Portion is equipped with the second perforate corresponding with first perforate, wherein being equipped with the 3rd in first perforate and second perforate Rotational pin；The other end of second-hand's claw-plate is provided with least one the 3rd connecting portion, and at least one the 3rd connecting portion is equipped with 3rd perforate, second pushing plate is equipped with least one the 4th connecting portion corresponding with least one the 3rd connecting portion, described At least one the 4th connecting portion is equipped with the 4th perforate corresponding with the 3rd perforate, wherein the 3rd perforate and the described 4th is opened The 4th rotational pin is equipped with hole.
- 7. the manipulator according to claim 6 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described Second perforate and the 4th perforate are set in ellipticity, first grip block, second grip block, the 3rd clamping Block, the 4th grip block and the 5th grip block are made of insulation and thermal insulation material, and first grip block, described second Grip block, the 3rd grip block, the 4th grip block and the 5th grip block, which are respectively provided with, houses the high pressure The accommodating grooves of the collar edges of porcelain vase.
- 8. the manipulator according to claim 1 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described The first motor is equipped with manipulator mounting seat, and the both ends in the manipulator mounting seat are respectively equipped with and the described first electricity The first screw and the second screw of machine connection, wherein first pushing plate is equipped with first be connected with first wire rod thread Move portion, second pushing plate are equipped with the second move portion being connected with second wire rod thread, to be driven by the first motor Dynamic first screw and the second screw rotate, to drive first pushing plate and second pushing plate in the manipulator The two side ends movement of mounting seat.
- 9. the manipulator according to claim 8 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that described The two side ends of manipulator mounting seat are respectively equipped with the first rail plate and the second rail plate, and first pushing plate, which is equipped with, to be used In the first sliding block moved on first rail plate, second pushing plate, which is equipped with, to be used in second rail plate Second sliding block of upper movement.
- 10. the manipulator according to claim 8 that high-tension porcelain insulator is carried applied to power domain, it is characterised in that institute The two side ends for stating manipulator mounting seat are respectively equipped with the first installing frame and the second installing frame, wherein being set in first installing frame The first brake motor being connected with first screw is useful for, is equipped with and is used for and second screw in second installing frame Second brake motor of connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105878.1A CN107901067B (en) | 2017-11-10 | 2017-11-10 | Be applied to manipulator that electric power field transport high voltage vase was used |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711105878.1A CN107901067B (en) | 2017-11-10 | 2017-11-10 | Be applied to manipulator that electric power field transport high voltage vase was used |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107901067A true CN107901067A (en) | 2018-04-13 |
| CN107901067B CN107901067B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711105878.1A Active CN107901067B (en) | 2017-11-10 | 2017-11-10 | Be applied to manipulator that electric power field transport high voltage vase was used |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109202703A (en) * | 2018-08-21 | 2019-01-15 | 东莞理工学院 | A kind of loading and unloading gripper |
| CN110653019A (en) * | 2019-09-24 | 2020-01-07 | 广州供电局有限公司 | Sample bottle, clamping structure and robot |
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| CN207448454U (en) * | 2017-11-10 | 2018-06-05 | 广东电网有限责任公司东莞供电局 | A kind of manipulator for automatic transporting high-tension porcelain insulator |
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| DE3312483A1 (en) * | 1983-04-07 | 1984-10-11 | Blohm + Voss Ag, 2000 Hamburg | Gripper for industrial robots |
| JPH0769450A (en) * | 1993-09-07 | 1995-03-14 | Okura Yusoki Co Ltd | Transfer load holding device |
| CN103612263A (en) * | 2013-11-08 | 2014-03-05 | 重庆风过旗扬科技发展有限公司 | Elastic manipulator with part protection structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109202703A (en) * | 2018-08-21 | 2019-01-15 | 东莞理工学院 | A kind of loading and unloading gripper |
| CN110653019A (en) * | 2019-09-24 | 2020-01-07 | 广州供电局有限公司 | Sample bottle, clamping structure and robot |
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| Publication number | Publication date |
|---|---|
| CN107901067B (en) | 2023-10-27 |
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