CN115194747A - Movable arm paw and grabbing method - Google Patents
Movable arm paw and grabbing method Download PDFInfo
- Publication number
- CN115194747A CN115194747A CN202210871533.1A CN202210871533A CN115194747A CN 115194747 A CN115194747 A CN 115194747A CN 202210871533 A CN202210871533 A CN 202210871533A CN 115194747 A CN115194747 A CN 115194747A
- Authority
- CN
- China
- Prior art keywords
- paw
- rotating shaft
- shaft
- arm
- arm support
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 10
- 210000000078 claw Anatomy 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a movable arm paw and a grabbing method, wherein the movable arm paw comprises a flexible shaft, a rotating shaft I, a rotating shaft II, an arm support and a paw; the flexible shaft penetrates through the arm support, one end of the flexible shaft is connected with the paw, the other end of the flexible shaft is connected with the motor connecting shaft, and the arm support is connected with the paw through the flexible shaft; the rotating shaft I and the rotating shaft II are respectively in rotating connection with the arm support, a motor connecting shaft needs to be connected in the working process, the motor is started to transmit rotating torque, the position of the paw can be adjusted at will, the ring main unit switch is grabbed to execute operation after the position of the paw is adjusted, potential safety hazards caused by manual operation are effectively avoided, and meanwhile grabbing working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of power distribution network switching station arm grabbing devices, in particular to a movable arm paw and a grabbing method.
Background
Various distribution network cabinet intervals, also called switching stations, are arranged in the power supply station, and operation and maintenance personnel need to manually operate the interval switches every day. Because some ring main units are older than the type of the ring main unit without electric operating mechanism, the operation and maintenance personnel can not execute the electric operation, and the ring main unit with the electric operating mechanism has defects and can not realize the electric operation. In the prior art, the operation of the ring main unit is a work with higher risk, the working efficiency is lower in the manual operation process, and once arcing occurs in the ring main unit, the ring main unit can be burnt through or even explode, and the personal safety of operation and maintenance personnel is involved.
Disclosure of Invention
The invention aims to provide a movable arm paw which is used for reducing potential safety hazards caused by manual operation.
In a first aspect the invention provides a mobile arm gripper comprising:
the flexible shaft, the rotating shaft I, the rotating shaft II, the arm support and the paw;
the flexible shaft penetrates through the arm support, one end of the flexible shaft is connected with the paw, the other end of the flexible shaft is connected with a motor connecting shaft, and the arm support is connected with the paw through the flexible shaft;
the rotating shaft I and the rotating shaft II are respectively connected with the arm support in a rotating mode.
Optionally, the arm support includes support body, preceding crossbearer and back crossbearer, pivot I sets up preceding crossbearer and support body junction, pivot II sets up back crossbearer and support body junction.
Optionally, the rotating surfaces of the frame body, the front cross frame and the rear cross frame are parallel.
Optionally, pivot I includes bolt I and screw I, screw I sets up preceding crossbearer is connected the one end of support body, bolt I with I threaded connection of screw, I one end of bolt is passed screw I with the one end butt of support body.
Optionally, pivot II includes bolt II and screw II, screw II sets up the back crossbearer is connected the one end of support body, bolt II with II threaded connection of screw, II one end of bolt pass screw II with the other end butt of support body.
Optionally, the inner contact surface of the paw and the object is provided with a rubber pad.
The invention provides a grabbing method of a movable arm paw, which comprises the following steps:
step one, a flexible shaft penetrates through the arm support, and one end of the flexible shaft is connected with a paw, so that the arm support is connected with the paw through the flexible shaft;
connecting the arm support with a rotating shaft I and a rotating shaft II, wherein the rotating shaft I and the rotating shaft II are used for controlling the arm support to rotate and stretch;
and step three, connecting the other end of the flexible shaft with a motor connecting shaft, so that the motor controls the paw to execute grabbing operation.
According to the technical scheme, the embodiment of the application has the following advantages: the arm support is provided with a flexible shaft, a rotating shaft I, a rotating shaft II, an arm support and a paw, wherein the flexible shaft penetrates through the arm support; pivot I and pivot II rotate with the arm support respectively and are connected, and after the device connection motor in this application, the motor control arm support transmission rotating torque adjusted the hand claw position, and the hand claw can set up suitable opening angle of snatching according to the switching of different models simultaneously, accomplishes opening angle and carries out the operation of snatching after setting up again, uses the electronic looped netowrk cabinet that snatchs to replace manual operation, has effectively improved fortune dimension work efficiency.
Drawings
FIG. 1 is a schematic view of the external structure of a movable arm and paw of the present invention;
fig. 2 is a schematic view of the internal structure of the movable arm and claw of the present invention.
Detailed Description
The embodiment of the application provides a movable arm paw, which is used for reducing the potential safety hazard caused by manual operation and improving the efficiency of grabbing work.
The technical solutions in the present application will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Please refer to fig. 1 to 2, a first aspect of the present application provides a movable arm gripper, which includes a flexible shaft 1, a rotating shaft i 2, a rotating shaft ii 3, an arm support 4 and a gripper 5, wherein the flexible shaft 1 is inserted into the arm support 4, one end of the flexible shaft 1 is connected to the gripper 5, the arm support 4 is connected to the gripper 5 through the flexible shaft 1, the rotating shaft i 2 and the rotating shaft ii 3 are respectively rotatably connected to the arm support 4, a movable arm is formed by the flexible shaft 1, the rotating shaft and the arm support 4 to adjust the position of the gripper 5, the flexible shaft 1 is connected to a motor connecting shaft, a motor is started to transmit a rotation torque, the position of the gripper can be adjusted at will, the gripper catches a ring main unit switch to perform an operation after the position adjustment, and an automatic operation replaces a manual operation to effectively avoid potential safety hazards caused by the manual operation.
Optionally, arm support 4 includes support body, preceding crossbearer and back crossbearer, and the pivot plane of support body, preceding crossbearer and back crossbearer is parallel, and pivot I2 sets up crossbearer and support body junction in the front, and pivot II 3 sets up in back crossbearer and support body junction, and two pivots and arm support form two degrees of freedom and make movable arm can stretch out and draw back and rotate.
It is optional, pivot I2 includes bolt I and screw I, the one end of crossbearer connection support body in the front is seted up to screw I, bolt I and I threaded connection of screw, the one end butt that screw I and support body were passed to I one end of bolt makes bolt I fixed with the support body, pivot II 3 includes bolt II and screw II, the one end of screw II connection support body is seted up at the crossbearer in the back, bolt II and II threaded connection of screw, II one end of bolt is passed screw II and is made bolt II fixed with the support body with the other end butt of support body, when the position of fixed pivot and arm support, the rotation bolt just can be adjusted, it is fixed with the nut at another in addition, make the support difficult for droing in the use.
Optionally, the contact surface of the paw 5 and the switch of the ring main unit is provided with a rubber pad, so that the rubber pad plays a role in skid resistance when the paw is used for grabbing.
The principle of the grabbing method of the movable arm paw in the embodiment is as follows: when the movable arm paw is used, the flexible shaft 1 penetrates through the interior of the arm support 4 and is connected with the arm support, one end of the flexible shaft 1 penetrating through the support is connected with the paw, the other end of the flexible shaft 1 is connected with the motor coupler, the rotating shaft I2 and the rotating shaft II 3 are fixed on the arm support 4 respectively, a motor is started after installation is completed, the opening angle of the paw is adjusted according to the model size and the size of the ring main unit switch, the paw is controlled to grab the ring main unit switch after the angle is adjusted, automatic operation is executed, and the movable arm paw can rotate at any angle and stretch in the horizontal vertical direction in the execution operation process.
It is intended that the foregoing description of the disclosed embodiments enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A mobile arm gripper, comprising:
the flexible shaft, the rotating shaft I, the rotating shaft II, the arm support and the paw are arranged on the rotating shaft I;
the flexible shaft penetrates through the arm support, one end of the flexible shaft is connected with the paw, the other end of the flexible shaft is connected with a motor connecting shaft, and the arm support is connected with the paw through the flexible shaft;
the rotating shaft I and the rotating shaft II are respectively connected with the arm support in a rotating mode.
2. The movable arm gripper of claim 1, wherein the arm support comprises a support body, a front cross frame and a rear cross frame, the rotating shaft I is arranged at the joint of the front cross frame and the support body, and the rotating shaft II is arranged at the joint of the rear cross frame and the support body.
3. The mobile arm gripper of claim 2, wherein the frame, the front cross-frame, and the rear cross-frame have parallel planes of rotation.
4. The movable arm paw as claimed in claim 1, wherein the rotating shaft I comprises a bolt I and a screw hole I, the screw hole I is formed in one end, connected with the frame body, of the front cross frame, the bolt I is in threaded connection with the screw hole I, and one end of the bolt I penetrates through the screw hole I and abuts against one end of the frame body.
5. The movable arm paw as claimed in claim 1, wherein the second rotating shaft comprises a second bolt and a second screw hole, the second screw hole is formed in one end, connected with the frame body, of the rear cross frame, the second bolt is in threaded connection with the second screw hole, and one end of the second bolt penetrates through the second screw hole to abut against the other end of the frame body.
6. A mobile arm gripper according to claim 1, wherein the inner contact surface of the gripper with the object is provided with a rubber pad.
7. A grabbing method of a movable arm paw is characterized by comprising the following steps:
step one, a flexible shaft penetrates through the arm support, and one end of the flexible shaft is connected with a paw, so that the arm support is connected with the paw through the flexible shaft;
step two, connecting the arm support with a rotating shaft I and a rotating shaft II, wherein the rotating shaft I and the rotating shaft II are used for controlling the arm support to rotate and stretch;
and step three, connecting the other end of the flexible shaft with a motor connecting shaft, so that the motor controls the paw to execute grabbing operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871533.1A CN115194747A (en) | 2022-07-22 | 2022-07-22 | Movable arm paw and grabbing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210871533.1A CN115194747A (en) | 2022-07-22 | 2022-07-22 | Movable arm paw and grabbing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115194747A true CN115194747A (en) | 2022-10-18 |
Family
ID=83583466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210871533.1A Pending CN115194747A (en) | 2022-07-22 | 2022-07-22 | Movable arm paw and grabbing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115194747A (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4424045A (en) * | 1982-05-24 | 1984-01-03 | Pennwalt Corporation | Rigid high speed flexible shaft casing assembly for tight radii installations |
| CN202622804U (en) * | 2012-05-15 | 2012-12-26 | 华南理工大学 | Rope driven mechanical arm for helping the disabled or the old |
| CN102990590A (en) * | 2011-09-16 | 2013-03-27 | 苏州宝时得电动工具有限公司 | Electrician's screwdriver |
| DE102013001998A1 (en) * | 2013-02-06 | 2014-08-07 | Volkswagen Aktiengesellschaft | Arrangement for mechanical actuation of adjustable coupling device of motor vehicle, has handle that is operatively connected to adjusting mechanism of coupling device via tensile element for locking and unlocking coupling device |
| CN204760827U (en) * | 2015-06-12 | 2015-11-11 | 国网山东新泰市供电公司 | Insulating tongs of high pressure insurance |
| DE102014016823A1 (en) * | 2014-11-14 | 2016-05-19 | Medineering Gmbh | Holding arm for medical purposes with two mechatronic interfaces |
| CN205863035U (en) * | 2016-08-05 | 2017-01-04 | 泰山学院 | Box-type substation distant control no load switch mechanism |
| WO2018064709A1 (en) * | 2016-10-05 | 2018-04-12 | Robert Darby | Drive unit for robotic manipulators |
| CN109291068A (en) * | 2018-11-27 | 2019-02-01 | 国网山东省电力公司夏津县供电公司 | A kind of high-tension switch cabinet Intelligent robotic manipulator |
| CN112894865A (en) * | 2021-03-29 | 2021-06-04 | 陕西科技大学 | Direction-changeable pneumatic soft clamping hand and using method thereof |
| CN215911324U (en) * | 2021-10-13 | 2022-02-25 | 广东夜太阳科技集团有限公司 | Waterproof contact switch |
| CN114271938A (en) * | 2021-12-29 | 2022-04-05 | 深圳市罗伯医疗科技有限公司 | Flexible mechanical arm |
| CN114750097A (en) * | 2022-05-18 | 2022-07-15 | 国网安徽省电力有限公司阜阳供电公司 | Multifunctional universal flexible shaft for switch cabinet |
-
2022
- 2022-07-22 CN CN202210871533.1A patent/CN115194747A/en active Pending
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4424045A (en) * | 1982-05-24 | 1984-01-03 | Pennwalt Corporation | Rigid high speed flexible shaft casing assembly for tight radii installations |
| CN102990590A (en) * | 2011-09-16 | 2013-03-27 | 苏州宝时得电动工具有限公司 | Electrician's screwdriver |
| CN202622804U (en) * | 2012-05-15 | 2012-12-26 | 华南理工大学 | Rope driven mechanical arm for helping the disabled or the old |
| DE102013001998A1 (en) * | 2013-02-06 | 2014-08-07 | Volkswagen Aktiengesellschaft | Arrangement for mechanical actuation of adjustable coupling device of motor vehicle, has handle that is operatively connected to adjusting mechanism of coupling device via tensile element for locking and unlocking coupling device |
| DE102014016823A1 (en) * | 2014-11-14 | 2016-05-19 | Medineering Gmbh | Holding arm for medical purposes with two mechatronic interfaces |
| CN204760827U (en) * | 2015-06-12 | 2015-11-11 | 国网山东新泰市供电公司 | Insulating tongs of high pressure insurance |
| CN205863035U (en) * | 2016-08-05 | 2017-01-04 | 泰山学院 | Box-type substation distant control no load switch mechanism |
| WO2018064709A1 (en) * | 2016-10-05 | 2018-04-12 | Robert Darby | Drive unit for robotic manipulators |
| CN109291068A (en) * | 2018-11-27 | 2019-02-01 | 国网山东省电力公司夏津县供电公司 | A kind of high-tension switch cabinet Intelligent robotic manipulator |
| CN112894865A (en) * | 2021-03-29 | 2021-06-04 | 陕西科技大学 | Direction-changeable pneumatic soft clamping hand and using method thereof |
| CN215911324U (en) * | 2021-10-13 | 2022-02-25 | 广东夜太阳科技集团有限公司 | Waterproof contact switch |
| CN114271938A (en) * | 2021-12-29 | 2022-04-05 | 深圳市罗伯医疗科技有限公司 | Flexible mechanical arm |
| CN114750097A (en) * | 2022-05-18 | 2022-07-15 | 国网安徽省电力有限公司阜阳供电公司 | Multifunctional universal flexible shaft for switch cabinet |
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