CN114083563B - Combined carrier cable seat grabbing manipulator - Google Patents
Combined carrier cable seat grabbing manipulator Download PDFInfo
- Publication number
- CN114083563B CN114083563B CN202111349110.5A CN202111349110A CN114083563B CN 114083563 B CN114083563 B CN 114083563B CN 202111349110 A CN202111349110 A CN 202111349110A CN 114083563 B CN114083563 B CN 114083563B
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- Prior art keywords
- clamping
- air cylinder
- carrier cable
- cable seat
- cylinder
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Classifications
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- 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
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application relates to a combined carrier cable seat grabbing manipulator which comprises a manipulator body, wherein the manipulator body comprises a first cylinder, a second cylinder rotationally connected with the first cylinder, and clamping grippers which are arranged at two ends of the second cylinder and can move close to and away from two end surfaces of the second cylinder relatively, clamping grippers are arranged at two sides of the second cylinder, arc-shaped grooves matched with clamping surfaces of lower connecting parts of the combined carrier cable seat are arranged on the clamping grippers, and the distance between the two clamping grippers is matched with the front-back thickness of the combined carrier cable seat. According to the application, the bottom of the combined carrier cable seat is grabbed by arranging the mechanical arm with a special structure, the cantilever pipe is rotated in the cantilever assembling process, and the lower end of the cantilever pipe is rotated for 180 degrees and then the cantilever pipe and the combined carrier cable seat are assembled, so that the combined carrier cable seat in the cantilever assembling process is continuously supplied with the material.
Description
Technical Field
The application relates to the field of production of simplified and unified cantilever of overhead contact systems, in particular to a combined carrier cable seat grabbing manipulator.
Background
Along with the rapid development of railway construction in China, new requirements are put forward on the process quality standards of related parts in the railway industry, and requirements on the construction and maintenance precision of driving lines are higher and higher. In the driving line of a railway, a contact net is an important component for ensuring the normal operation of the railway, is lapped on an electric railway power supply line and directly bears the primary task of conveying energy for an electric train. The cantilever is a contact net supporting device, and cantilever pre-allocation is an important content in electrified railway construction. The high-speed railway has extremely high precision requirement on the installation of the contact network, most parts of the high-speed railway contact network engineering can not be repeatedly disassembled and assembled, after accurate calculation, the cantilever supporting device must be precisely assembled in place at one time, is limited by conditions such as high altitude on site, and needs to adopt a mode of ground batch prefabrication in advance, so that the quality, the progress and the construction efficiency of subsequent construction are directly influenced by the quality of one-time construction in the whole contact suspension. The wrist arm comprises a wrist arm pipe, a support connector and a combined carrier cable seat, wherein the support connector is fixed on the wrist arm pipe. In the current automatic production process of the wrist arm, the continuous supply of the material is needed for the combined carrier cable seat to meet the automatic production requirement of the wrist arm, but no good automatic material supplementing device exists at present, and the material supplementing can only be carried out manually. Therefore, the efficiency of the material supplementing process is low, and the position of the combined carrier cable seat after manual material supplementing is difficult to accurately control. The reason is that, referring to fig. 1, the combined carrier cable seat includes an upper connection portion a1, a lower connection portion a2, a left hinge portion a3 and a right screw portion a4, and the upper connection portion a1 of the combined carrier cable seat lacks an effective grabbing position, so that a manipulator cannot effectively grab the combined carrier cable seat, and further, the feeding cannot be continuously supplied in the automated production process of the wrist arm.
In view of the above, the application provides a combined carrier cable seat grabbing manipulator, which is aimed at the combined carrier cable seat shown in fig. 1, and grabs the bottom of the combined carrier cable seat by arranging a manipulator with a special structure, and rotates a cantilever pipe in the cantilever assembly process, and assembles the cantilever pipe and the combined carrier cable seat after rotating the lower end of the cantilever pipe by 180 degrees, thereby solving the technical problem that the combined carrier cable seat in the prior art cannot continuously supply supplementary materials and further cannot meet the requirement of cantilever automatic production.
Disclosure of Invention
The application aims to provide a combined carrier cable seat grabbing manipulator which solves the defects in the prior art, and the technical problem to be solved by the application is realized by the following technical scheme.
The utility model provides a combination carrier cable seat snatchs manipulator, includes the manipulator body, its improvement lies in: the manipulator body includes first cylinder, rotates with first cylinder and connects the second cylinder, locates the second cylinder both ends and can be close to and keep away from the clamp of motion relative second cylinder both ends face and get the tongs, the both sides of second cylinder are equipped with the centre gripping tongs, it is equipped with the arc wall with the centre gripping face looks adaptation of the lower connecting portion of combination carrier cable seat to press from both sides to get the tongs on, two the distance between the centre gripping tongs and the front and back thickness assorted of combination carrier cable seat.
Preferably, a first connecting plate is arranged on the upper portion of the first cylinder and is used for being connected with an external driving device for driving the manipulator body to perform three-dimensional movement.
Preferably, a rotating member is arranged at the lower part of the first cylinder, the rotating member is connected with the second cylinder, the first cylinder drives the rotating member to rotate, and the rotating member drives the second cylinder to rotate 180 degrees.
Preferably, the lower part of the rotating member is provided with a second connecting plate, the upper part of the second cylinder is provided with a third connecting plate, and the rotating member and the second cylinder are fixedly connected through the second connecting plate and the third connecting plate.
Preferably, the clamping gripper comprises a first clamping plate connected with a push-pull rod of a second air cylinder, a second clamping plate fixedly connected with the first clamping plate, a third clamping plate fixedly connected with the second clamping plate, and arc grooves matched with clamping surfaces of the lower connecting parts of the combined carrier cable seat are formed in the opposite end surfaces of the two third clamping plates, the second air cylinder drives the push-pull rod to move in a telescopic mode, and the clamping gripper clamps and unloads the combined carrier cable seat through the third clamping plate under the drive of the push-pull rod.
Preferably, the four push-pull rods of the second cylinder are distributed in a rectangular shape, and the first clamping plates on two sides of the second cylinder are detachably and fixedly connected with the two push-pull rods on the diagonal line of the rectangle.
Preferably, the second clamping plate is L-shaped, the upper end of the vertical portion of the second clamping plate is detachably and fixedly connected with the first clamping plate, and the horizontal portion of the second clamping plate is detachably and fixedly connected with the third clamping plate.
Preferably, a clamping chamfer is arranged on the arc-shaped groove on the end face of the third clamping plate.
Preferably, the clamping gripper comprises a fourth connecting plate connected to the lower portion of the second cylinder and clamping plates arranged at two ends of the fourth connecting plate, and arc-shaped grooves matched with the outer diameter of the cantilever pipe are formed in the clamping plates.
Preferably, the two clamping plates are provided with guide plates on the opposite surfaces, the guide plates are provided with arc grooves matched with the outer diameter of the wrist arm pipe, and the arc grooves are provided with guide chamfers.
According to the application, the first cylinder is used for driving the second cylinder, the clamping gripper arranged on the second cylinder and the clamping gripper to rotate 180 degrees, and the second cylinder drives the clamping gripper to perform opening and closing movement, so that the clamping surface of the combined carrier cable seat is gripped through the arc-shaped groove on the clamping gripper, and further the gripping of the combined carrier cable seat is realized; the clamping grippers are used for preventing the combined carrier cable seat from being displaced in the thickness direction and simultaneously preventing the combined carrier cable seat from rotating, so that the combined carrier cable seat is limited in a grabbing space of the grabbing mechanical arm.
Compared with the prior art, the combined carrier cable seat continuously supplies the supplementary materials by arranging the mechanical arm with a special structure to grasp the bottom of the combined carrier cable seat, rotating the cantilever pipe in the cantilever assembly process, and assembling the cantilever pipe and the combined carrier cable seat after rotating the lower end of the cantilever pipe by 180 degrees.
Drawings
FIG. 1 is a schematic view of a combined carrier cable mount according to the present application;
FIG. 2 is a schematic view of an angle structure of the present application;
FIG. 3 is a schematic view of another angle structure of the present application;
FIG. 4 is a schematic view of another angle structure of the present application;
the reference numerals in the drawings are in turn: a1, an upper connecting part, a2, a lower connecting part, a21, a clamping surface, a3, a left hinge part, a4, a right screw joint part, 1, a first connecting plate, 2, a first cylinder, 21, a cylinder angle adjusting screw, 3, a rotating piece, 4, a second connecting plate, 5, a third connecting plate, 6, a second cylinder, 61, a push-pull rod, 62, an air inlet and outlet connecting piece, 7, a first clamping plate, 8, a fourth connecting plate, 9, a second clamping plate, 10, a clamping plate, 11, a guide plate, 111, a guide chamfer, 12, a third clamping plate, 121 and a clamping chamfer.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1:
referring to fig. 1 to 4, a combined carrier cable seat grabbing manipulator, which comprises a manipulator body, is improved in that: the manipulator body includes first cylinder 2, rotates with first cylinder 2 and connects second cylinder 6, locates second cylinder 6 both ends and can be close to and keep away from the clamp of motion relative second cylinder 6 both ends face and get the tongs, the both sides of second cylinder 6 are equipped with the centre gripping tongs, it is equipped with the arc groove with the clamping face a21 looks adaptation of combination carrier cable seat lower junction part a2 on the tongs to press from both sides to get the tongs, two distance and the front and back thickness assorted of combination carrier cable seat between the tongs.
In this embodiment, the front-rear thickness of the combined carrier cable seat refers to the distance between the front end surface and the rear end surface of the combined carrier cable seat, that is, the distance between the front end surface and the rear end surface of the combined carrier cable seat and the front-rear end surface of the part between the left hinge part a3 and the right screw part a4 and between the upper connecting part a1 and the lower connecting part a2, based on the direction shown in fig. 1, the direction perpendicular to the breadth is rear, the direction perpendicular to the breadth is front, and the distance between the front end surface and the rear end surface of the combined carrier cable seat is far away from the breadth.
In this embodiment, the two ends and two sides of the second cylinder 6 refer to the two ends in the left-right direction and the two sides in the front-rear direction with reference to the direction shown in fig. 2.
In this embodiment, the first cylinder 2 is configured to drive the second cylinder 6 and the gripping gripper disposed on the second cylinder 6 to rotate 180 °. It should be noted that, the first cylinder 2 is required to be provided and the second cylinder 6, the gripping gripper and the gripping gripper are driven to rotate by the first cylinder 2, because the direction of the combined carrier cable seat has specific requirements when the combined carrier cable seat is assembled with the cantilever pipe. For example, referring to fig. 1, when the left hinge portion a3 of the combined carrier cable seat needs to be located at the left side of the wrist tube in the axial direction, the grabbing manipulator grabs the combined carrier cable seat and then assembles the combined carrier cable seat and the wrist tube without rotation; if the left hinge part a3 of the combined carrier cable seat needs to be positioned on the right side of the cantilever pipe in the axial direction, after the grabbing manipulator grabs the combined carrier cable seat, the first cylinder 2 drives the second cylinder 6 to rotate 180 degrees so as to drive the grabbed combined carrier cable seat to rotate 180 degrees, and then the combined carrier cable seat and the cantilever pipe are assembled.
In this embodiment, the second cylinder 6 drives the gripping gripper to open and close, so that the arc-shaped groove on the gripping gripper grips the gripping surface a21 of the combined carrier cable seat, thereby achieving gripping of the combined carrier cable seat; the clamping grippers are used for preventing the combined carrier cable seat from being displaced in the thickness direction and simultaneously preventing the combined carrier cable seat from rotating, so that the combined carrier cable seat is limited in a grabbing space of the grabbing mechanical arm.
Further, a cylinder angle adjusting screw 21 is provided on the first cylinder 2. By providing the cylinder angle adjusting screw 21, the angle of the first cylinder 2 can be adjusted, thereby ensuring the accuracy of the rotation angle of the second cylinder 6.
Further, the second cylinder 6 is provided with an air inlet and outlet connecting piece 62; further, the air inlet and outlet connector 62 is an air inlet and outlet solenoid valve. In this embodiment, the air inlet and outlet solenoid valve is selected as the air inlet and outlet connecting piece 62, and the opening and closing of the gripping grippers can be controlled by controlling the air inlet and outlet direction of the air inlet and outlet solenoid valve so as to complete the gripping and the unloading of the combined carrier cable seat.
Further, a first connecting plate 1 is arranged on the upper portion of the first cylinder 2, and the first connecting plate 1 is used for being connected with an external driving device for driving the manipulator body to perform three-dimensional movement. In this embodiment, the purpose of the first connecting plate 1 is to facilitate connection, replacement and maintenance of the grabbing manipulator and the external driving device.
Further, a rotating member 3 is arranged at the lower part of the first cylinder 2, the rotating member 3 is connected with the second cylinder 6, the first cylinder 2 drives the rotating member 3 to rotate, and the rotating member 3 drives the second cylinder 6 to rotate 180 degrees.
Further, a second connecting plate 4 is arranged at the lower part of the rotating piece 3, a third connecting plate 5 is arranged at the upper part of the second air cylinder 6, and the rotating piece 3 and the second air cylinder 6 are fixedly connected through the second connecting plate 4 and the third connecting plate 5. In this embodiment, by providing the second connecting plate 4 and the third connecting plate 5, connection and disassembly of the second cylinder 6 and the first cylinder 2 can be facilitated, and replacement and maintenance of the second cylinder 6 and the clamping grippers thereon can be facilitated.
When the embodiment is specifically used, the first cylinder 2 is connected with the external driving device, and the power driving part of the external driving device drives the grabbing manipulator to perform three-dimensional motions of front and back, left and right, up and down on the truss of the external driving device, and finally moves to a proper position; when the grabbing mechanical arm moves in a three-dimensional mode, the second air cylinder 6 drives the clamping grippers to open, after the grabbing mechanical arm moves to a proper position, the clamping grippers move to the front end face and the rear end face of the combined carrier cable seat, and the second air cylinder 6 drives the clamping grippers to close, so that grabbing of the combined carrier cable seat is completed; then, the external driving device drives the grabbing mechanical arm to move to the position to be assembled, and at the moment, if the combined carrier cable seat is required to rotate 180 degrees, the first air cylinder 2 drives the second air cylinder 6 to rotate 180 degrees, so that the combined carrier cable seat is positioned at the correct assembling position. After the first combined carrier cable seat is assembled, the grabbing mechanical arm continues to grab the second combined carrier cable seat. The circulation is performed in this way, so that the continuous supply of the supplementary material of the combined carrier cable seat is realized.
Example 2:
on the basis of embodiment 1, referring to fig. 2 to 4, the gripping gripper includes a first gripping plate 7 connected with a push-pull rod 61 of a second cylinder 6, a second gripping plate 9 fixedly connected with the first gripping plate 7, a third gripping plate 12 fixedly connected with the second gripping plate 9, and an arc-shaped slot adapted to a gripping surface a21 of a lower connecting portion a2 of the combined carrier cable seat is arranged on opposite end surfaces of the two third gripping plates 12, the second cylinder 6 drives the push-pull rod 61 to stretch and retract, and the gripping gripper is driven by the push-pull rod 61 to grip and detach the combined carrier cable seat through the third gripping plate 12.
In this embodiment, the first clamping plate 7 is used for being connected with the push-pull rod 61 of the second air cylinder 6, the second clamping plate 9 is used for connecting the first clamping plate 7 with the third clamping plate 12, and the third clamping plate 12 is used for clamping the combined carrier cable seat. In the embodiment, the clamping grip is arranged into three parts, so that the clamping grip is arranged into three split parts for processing and production conveniently, and each part is easier to process; on the other hand, in order to facilitate installation and replacement maintenance, for example, after the third clamping plate 12 is worn out due to long-term use, only the third clamping plate 12 may be replaced.
Further, the four push-pull rods 61 of the second cylinder 6 are distributed in a rectangular shape, and the first clamping plates 7 on two sides of the second cylinder 6 are detachably and fixedly connected with the two push-pull rods 61 on the diagonal line of the rectangle.
In this embodiment, four push-pull rods 61 of the second cylinder 6 are arranged and distributed in a rectangular shape, and the first gripping plate 7 is connected with two push-pull rods 61 located on the diagonal line of the rectangle, because the two push-pull rods 61 can limit each other during telescopic movement, thereby preventing the gripped combined carrier cable seat from being shifted due to deflection of the gripping grippers.
Further, the end of the push-pull rod 61, which is close to the first clamping plate 7, is provided with an external thread, a through hole is formed in the first clamping plate 7 at the connection position with the push-pull rod 61, a groove for accommodating a nut is formed in the end face, far away from the second cylinder 6, of the first clamping plate 7 and is positioned at the position of the through hole, and the push-pull rod 61 penetrates through the through hole and is detachably and fixedly connected with the first clamping plate 7 through the nut.
Further, the first clamping plate 7 is provided with a through hole for two push-pull rods 61 located on the other diagonal line of the rectangle to pass through.
Further, the second clamping plate 9 is L-shaped, the upper end of the vertical portion of the second clamping plate 9 is detachably and fixedly connected with the first clamping plate 7, and the horizontal portion of the second clamping plate 9 is detachably and fixedly connected with the third clamping plate 12.
In this embodiment, the second clamping plate 9 is configured in an L shape, which is convenient for the connection and mutual replacement of the second clamping plate 9, the first clamping plate 7 and the third clamping plate 12, and the horizontal portion of the second clamping plate 9 can limit the grabbed combined carrier cable seat, so as to prevent the combined carrier cable seat from shifting in the left-right direction during the grabbing process.
Further, the vertical portion upper end of the second clamping plate 9 is provided with a clamping groove, the lower end face of the first clamping plate 7 is provided with a clamping groove, the clamping groove of the first clamping plate 7 is matched with the clamping groove of the second clamping plate 9, and the first clamping plate 7 and the second clamping plate 9 are spliced through the clamping groove and are detachably and fixedly connected through screws.
Further, a clamping chamfer 121 is disposed on an arc groove on the end face of the third clamping plate 12. The clamping chamfer 121 provided in this embodiment can limit and guide the lower connecting portion a2 of the combined carrier cable seat in the grabbing process, so that the clamping of the combined carrier cable seat by the clamping gripper is facilitated.
Example 3:
on the basis of embodiment 1 or 2, referring to fig. 2 to 4, the clamping grip comprises a fourth connecting plate 8 connected to the lower part of the second cylinder 6, and clamping plates 10 arranged at two ends of the fourth connecting plate 8, wherein the clamping plates 10 are provided with arc grooves matched with the outer diameter of the cantilever pipe.
In this embodiment, the fourth connecting plate 8 is used to connect the second cylinder 6 and the clamping plate 10, so as to facilitate installation, replacement and maintenance of the clamping plate 10; the clamping plate 10 is used for preventing the displacement of the combined carrier cable seat in the thickness direction and preventing the rotation of the combined carrier cable seat.
Further, guide plates 11 are arranged on the opposite surfaces of the two clamping plates 10, the guide plates 11 are provided with arc grooves matched with the outer diameter of the wrist arm pipe, and the arc grooves are provided with guide chamfers 111.
In this embodiment, by providing the guide plate 11 and the guide chamfer 111, the assembly of the cantilever pipe and the combined carrier cable seat can be facilitated, and meanwhile, the occurrence of knocks and scratches during the assembly process of the cantilever pipe and the combined carrier cable seat can be prevented, so that the end part and/or the surface of the cantilever pipe are prevented from being knocked and scratched. The problem that the end face and the surface of the cantilever are required to be prevented from being knocked and scratched is that the surface of the cantilever is required to be smooth in the standard of the cantilever products, and once the knocking and the scratched occur, the whole cantilever cannot be used and can only be scrapped.
It should be noted that the foregoing detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural unless the context clearly indicates otherwise. Furthermore, it will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components, and/or groups thereof.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or otherwise described herein.
Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways, such as rotated 90 degrees or at other orientations, and the spatially relative descriptors used herein interpreted accordingly.
In the above detailed description, reference is made to the accompanying drawings, which form a part hereof. In the drawings, like numerals typically identify like components unless context indicates otherwise. The illustrated embodiments described in the detailed description, drawings, and claims are not meant to be limiting. Other embodiments may be utilized, and other changes may be made, without departing from the spirit or scope of the subject matter presented herein.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (7)
1. The utility model provides a combination carrier cable seat snatchs manipulator, includes the manipulator body, its characterized in that: the manipulator body comprises a first air cylinder (2), a second air cylinder (6) rotationally connected with the first air cylinder (2), and clamping grippers which are arranged at two ends of the second air cylinder (6) and can move close to and away from two end faces of the second air cylinder (6), wherein clamping grippers are arranged at two sides of the second air cylinder (6), arc-shaped grooves matched with clamping faces (a 21) of a lower connecting part (a 2) of the combined carrier cable seat are arranged on the clamping grippers, and the distance between the two clamping grippers is matched with the front-back thickness of the combined carrier cable seat; the clamping gripper comprises a first clamping plate (7) connected with a push-pull rod (61) of a second air cylinder (6), a second clamping plate (9) fixedly connected with the first clamping plate (7), a third clamping plate (12) fixedly connected with the second clamping plate (9), arc grooves matched with clamping surfaces (a 21) of a lower connecting part (a 2) of the combined carrier cable seat are formed in the opposite end surfaces of the two third clamping plates (12), the second air cylinder (6) drives the push-pull rod (61) to stretch and retract, and the clamping gripper clamps and unloads the combined carrier cable seat through the third clamping plate (12) under the driving of the push-pull rod (61); the clamping gripper comprises a fourth connecting plate (8) connected to the lower part of the second air cylinder (6) and clamping plates (10) arranged at two ends of the fourth connecting plate (8), and arc-shaped grooves matched with the outer diameter of the cantilever pipe are formed in the clamping plates (10); the two clamping plates (10) are provided with guide plates (11) on the surfaces opposite to each other, the guide plates (11) are provided with arc grooves matched with the outer diameter of the wrist arm pipe, and the arc grooves are provided with guide chamfers (111).
2. The combined messenger wire seat grasping manipulator according to claim 1, wherein: the upper portion of the first air cylinder (2) is provided with a first connecting plate (1), and the first connecting plate (1) is used for being connected with an external driving device for driving the manipulator body to perform three-dimensional movement.
3. The combined messenger wire seat grasping manipulator according to claim 1, wherein: the lower part of the first air cylinder (2) is provided with a rotating piece (3), the rotating piece (3) is connected with the second air cylinder (6), the first air cylinder (2) drives the rotating piece (3) to rotate, and the rotating piece (3) drives the second air cylinder (6) to rotate by 180 degrees.
4. A combined messenger wire seat grasping manipulator according to claim 3, wherein: the lower part of the rotating piece (3) is provided with a second connecting plate (4), the upper part of the second air cylinder (6) is provided with a third connecting plate (5), and the rotating piece (3) and the second air cylinder (6) are fixedly connected through the second connecting plate (4) and the third connecting plate (5).
5. The combined messenger wire seat grasping manipulator according to claim 1, wherein: the four push-pull rods (61) of the second air cylinder (6) are distributed in a rectangular shape, and the first clamping plates (7) on two sides of the second air cylinder (6) are detachably and fixedly connected with the two push-pull rods (61) on the diagonal line of the rectangle.
6. The combined messenger wire seat grasping manipulator according to claim 1, wherein: the second clamping plate (9) is L-shaped, the upper end of the vertical part of the second clamping plate (9) is detachably and fixedly connected with the first clamping plate (7), and the horizontal part of the second clamping plate (9) is detachably and fixedly connected with the third clamping plate (12).
7. The combined messenger wire seat grasping manipulator according to claim 1, wherein: and a clamping chamfer (121) is arranged on the arc-shaped groove on the end face of the third clamping plate (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111349110.5A CN114083563B (en) | 2021-11-15 | 2021-11-15 | Combined carrier cable seat grabbing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111349110.5A CN114083563B (en) | 2021-11-15 | 2021-11-15 | Combined carrier cable seat grabbing manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN114083563A CN114083563A (en) | 2022-02-25 |
| CN114083563B true CN114083563B (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111349110.5A Active CN114083563B (en) | 2021-11-15 | 2021-11-15 | Combined carrier cable seat grabbing manipulator |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015725A (en) * | 2018-08-09 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of battery core is synchronous to grab detection feeding manipulator |
| CN208451650U (en) * | 2018-05-22 | 2019-02-01 | 中铁电气化局集团有限公司 | A kind of Messenger Wire base grip manipulator |
| CN111702752A (en) * | 2020-07-17 | 2020-09-25 | 长园启华智能科技(珠海)有限公司 | Four-degree-of-freedom clamping device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9095984B2 (en) * | 2010-05-20 | 2015-08-04 | Canon Kabushiki Kaisha | Force control robot |
| JP6725565B2 (en) * | 2018-03-02 | 2020-07-22 | ファナック株式会社 | Robot hand capable of gripping a work, a robot, a robot system, and a method of inserting a work into a hole |
-
2021
- 2021-11-15 CN CN202111349110.5A patent/CN114083563B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208451650U (en) * | 2018-05-22 | 2019-02-01 | 中铁电气化局集团有限公司 | A kind of Messenger Wire base grip manipulator |
| CN109015725A (en) * | 2018-08-09 | 2018-12-18 | 镇江成泰自动化技术有限公司 | A kind of battery core is synchronous to grab detection feeding manipulator |
| CN111702752A (en) * | 2020-07-17 | 2020-09-25 | 长园启华智能科技(珠海)有限公司 | Four-degree-of-freedom clamping device |
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| CN114083563A (en) | 2022-02-25 |
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