CN115625728B - Manipulator for power distribution network operation - Google Patents
Manipulator for power distribution network operation Download PDFInfo
- Publication number
- CN115625728B CN115625728B CN202211561504.1A CN202211561504A CN115625728B CN 115625728 B CN115625728 B CN 115625728B CN 202211561504 A CN202211561504 A CN 202211561504A CN 115625728 B CN115625728 B CN 115625728B
- Authority
- CN
- China
- Prior art keywords
- cavity
- arm
- plate
- assembly
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000000712 assembly Effects 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 39
- 239000003921 oil Substances 0.000 claims description 35
- 239000010720 hydraulic oil Substances 0.000 claims description 20
- 239000007788 liquid Substances 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 abstract description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects 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
- 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
- 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)
- Manipulator (AREA)
Abstract
The application discloses manipulator is used in electric power distribution network operation includes: the device comprises a rod group assembly, a driven assembly, a clamping arm assembly, two groups of arm head assemblies and a driving assembly; the pole set assembly includes a main pole; the outer wall of the main post is provided with an engaging surface which inclines towards the front; the driven assembly includes: a pushing plate and a limiting plate; the pushing plate can slide back and forth and is positioned at the rear end of the meshing surface; the two ends of the pushing plate are provided with a clamping groove and a rotating shaft; the limiting plate is rotatably arranged on the rotating shaft, and the front end of the limiting plate is provided with a limiting head; the arm lock subassembly includes: two clamp arms; the drive assembly includes: a first motor; the first motor can drive the two clamping arms to move in an opening and closing mode to clamp or release an object; when the centre gripping was carried out to the arm lock, the catch bar of forward motion can promote the limiting plate and make spacing head and meshing face meshing forward, and the restriction catch bar moves backward to two arm locks keep the state of pressing from both sides tight object and can't loosen, effectively solve the problem that the article that current mechanical fixture operation in-process was got and is got dropped easily.
Description
Technical Field
The application relates to the technical field of manipulators, in particular to a manipulator for power distribution network operation.
Background
The power distribution network can be divided into a high-voltage distribution network, a medium-voltage distribution network and a low-voltage distribution network, and mainly plays a role in connecting a regional high-voltage power grid.
When carrying out the electric power distribution network operation, need the technical staff to climb and carry out manual work on the electric tower to snatch the material piece through mechanical fixture at the operation in-process. Conventional mechanical grippers, such as manipulators, are prone to dropping of articles, particularly ring-shaped articles, when gripping the articles.
Disclosure of Invention
In view of this, the present application provides a manipulator for power distribution network operation, which is used to solve the problem that an object clamped by an existing mechanical clamp is easy to drop during an operation process.
In order to achieve the above technical objective, the present application provides a manipulator for power distribution network operation, including: the device comprises a rod group assembly, a driven assembly, a clamping arm assembly, two groups of arm head assemblies and a driving assembly;
the pole set assembly comprises: a main mast;
the outer wall of the main pole column is provided with a meshing surface facing forwards;
the driven assembly includes: a pushing plate and a limiting plate;
the pushing plate can be arranged on the main rod column in a front-back sliding mode and is positioned at the rear end of the meshing surface;
the two ends of the pushing plate are provided with clamping grooves and rotating shafts;
the limiting plate is rotatably arranged on the rotating shaft, and a limiting head is arranged at the front end of the limiting plate;
the arm lock subassembly includes: the arm head and the two clamping arms;
the arm head is fixed at the front end of the main rod column;
the two clamping arms can be rotatably arranged at the front end of the arm head;
the arm head assembly includes: the first connecting rod, the second connecting rod and the driven rod;
the first end of the first connecting rod is rotatably connected with the arm head;
the first end of the second connecting rod is rotatably connected with the clamping arm;
the first end of the driven rod is slidably arranged in the clamping groove;
the second end of the first connecting rod, the second end of the second connecting rod and the second end of the driven rod are rotatably connected;
the two groups of arm head assemblies are respectively and correspondingly connected with the two clamping arms;
the drive assembly includes: a first motor and a second motor;
the first motor is arranged on the main rod column, is in transmission connection with the pushing plate and is used for pushing the pushing plate to slide back and forth so as to drive the two driven rods to move to enable the two clamping arms to move in an opening and closing manner;
the second motor is arranged on the main rod column, is in transmission connection with the limiting plate, and is used for driving the limiting plate to rotate so that the limiting head is abutted to or separated from the meshing surface.
Further, the valve core assembly is further included;
the arm lock subassembly still includes: a plurality of clamping bars;
a connecting cavity is formed in the clamping arm, and a plurality of independent cavities communicated with the connecting cavity are distributed on the inner side of the clamping arm in the front-back direction;
the plurality of material clamping rods are slidably arranged in the independent cavities in a one-to-one correspondence manner;
a hydraulic oil cavity communicated with the connecting cavity is formed in the main rod column;
the valve core assembly comprises: a valve box;
the valve box can be arranged in the hydraulic oil cavity in a front-back sliding mode and is fixedly connected with the push plate;
the periphery of the valve box is in sealing butt joint with the cavity wall of the hydraulic oil cavity.
Further, the valve core assembly further comprises: a flap;
an oil cavity is formed in the valve box;
the movable plate can be arranged in the oil cavity in a front-back sliding mode and is connected with the valve box through a spring;
and the front end of the valve box is provided with a through hole communicated with the oil cavity.
Further, a valve flow assembly is also included;
a liquid flow port for communicating the hydraulic oil cavity with the connecting cavity is formed in the arm head;
the valve flow assembly comprises: the air bag, the air cavity and the valve plate;
the air bag is arranged on one side of the liquid flow port close to the connecting cavity;
the air cavity is arranged in the arm head at a position corresponding to the liquid flow port, and one end of the air cavity is communicated with the air bag;
one end of the valve plate can extend into the other end of the air cavity in a sliding manner, and the periphery of the valve plate is in sealing butt joint with the cavity wall of the air cavity;
the other end of the valve plate extends out of the air cavity, and the valve plate is connected with the arm head through a spring;
the air bag is used for adjusting the air pressure in the air cavity when being pushed by oil liquid, so that the valve plate slides to adjust the opening size of the liquid flow port.
Further, the arm lock subassembly still includes: an oil pipe joint;
one end of the oil pipe joint is communicated with the connecting cavity, and the other end of the oil pipe joint is communicated with the hydraulic oil cavity through an oil pipe.
Furthermore, a return spring is connected between the pushing plate and the limiting plate;
the return spring is used for providing elastic force for the limiting plate to push the limiting head to be close to the meshing surface.
Further, the driving assembly further comprises: a first drive lever;
one end of the first transmission rod is rotatably connected with the pushing plate, and the other end of the first transmission rod is in transmission connection with the first motor;
the first motor is used for driving the first transmission rod to rotate.
Further, the drive assembly further comprises: a second transmission rod;
one end of the second transmission rod is in compression joint with the rear end of the limiting plate, and the other end of the second transmission rod is in transmission connection with the second motor;
the second motor is used for driving the second transmission rod to rotate so as to drive the limiting plate to rotate.
Further, a main spring is connected between the pushing plate and the front end of the main rod column.
Furthermore, the front end of the clamping arm is provided with a U-shaped chuck.
According to the above technical scheme, the application provides a manipulator for power distribution network operation, includes: the device comprises a rod group assembly, a driven assembly, a clamping arm assembly, two groups of arm head assemblies and a driving assembly; the pole set assembly comprises: a main mast; the outer wall of the main post is provided with a meshing surface facing forwards; the driven assembly includes: a pushing plate and a limiting plate; the pushing plate can be arranged on the main rod column in a front-back sliding mode and is positioned at the rear end of the meshing surface; the two ends of the pushing plate are provided with clamping grooves and rotating shafts; the limiting plate is rotatably arranged on the rotating shaft, and a limiting head is arranged at the front end of the limiting plate; the arm lock subassembly includes: the arm head and the two clamping arms; the arm head is fixed at the front end of the main rod column; the two clamping arms can be rotatably arranged at the front end of the arm head; the arm head assembly includes: the first connecting rod, the second connecting rod and the driven rod; the first end of the first connecting rod is rotatably connected with the arm head; the first end of the second connecting rod is rotatably connected with the clamping arm; the first end of the driven rod is slidably arranged in the clamping groove; the second end of the first connecting rod, the second end of the second connecting rod and the second end of the driven rod are rotatably connected; the two groups of arm head assemblies are respectively and correspondingly connected with the two clamping arms and the two clamping grooves; the drive assembly includes: a first motor and a second motor; the first motor is arranged on the main rod column, is in transmission connection with the pushing plate and is used for pushing the pushing plate to slide back and forth to drive the two driven rods to move so as to enable the two clamping arms to move in an opening and closing manner; the second motor is arranged on the main rod column, is in transmission connection with the limiting plate and is used for driving the limiting plate to rotate so that the limiting head is abutted against or separated from the meshing surface.
The first motor can drive the two clamping arms to move in an opening and closing manner through the driven assembly and the arm head assembly so as to clamp or loosen an object; when the arm lock carries out the centre gripping, the slurcam of antedisplacement can promote the limiting plate and make spacing head and meshing face meshing forward, and the restriction slurcam moves backward to two arm locks keep pressing from both sides the state of pressing from both sides tight object and can't loosen, effectively solve the problem that the article of getting were got easily to current mechanical fixture operation in-process clamp.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic view of an overall structure of a manipulator for power distribution network operation according to an embodiment of the present application.
Fig. 2 is another schematic view of an overall structure of a manipulator for power distribution network operation according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a valve core assembly in a manipulator for power distribution network operation according to an embodiment of the present application.
Fig. 4 is a schematic view of a clamping arm in a manipulator for power distribution network operation provided in an embodiment of the present application.
Fig. 5 is an enlarged view of a portion a in fig. 3 according to an embodiment of the present application.
Fig. 6 is a perspective view of a clamping arm in a manipulator for power distribution network operation according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any inventive step based on the embodiments in the embodiments of the present application, belong to the scope of protection claimed in the present application.
In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1 to fig. 6, an embodiment of a manipulator for power distribution network operation includes: the device comprises a rod group component 1, a driven component 4, a clamping arm component 3, two groups of arm head components 2 and a driving component 7.
Wherein, the pole group assembly 1 includes: a main column 101; the outer wall of the main stem 101 is provided with a forwardly facing engagement surface 103. In the present embodiment, both ends of the main column 101 in the axial direction are set to the front-rear direction. The forward facing engagement surface 103 means that the teeth on the engagement surface 103 are facing forward.
The driven assembly 4 includes: a push plate 401 and a limit plate 405; the pushing plate 401 is arranged on the main rod column 101 in a sliding mode in the front and back mode and is located at the rear end of the meshing surface 103; the two ends of the pushing plate 401 are provided with a clamping groove 402 and a rotating shaft 404; the limiting plate 405 is rotatably disposed on the rotating shaft 404, and a limiting head 406 is disposed at a front end of the limiting plate 405. In the process that the pushing plate 401 slides forwards along the main pole 101, the rotating shaft 404 drives the limiting plate 405 to slide forwards synchronously, and the limiting head 406 moves forwards along the meshing surface 103 and is in limiting fit with the meshing surface 103, so that before the limiting plate 405 does not rotate to drive the limiting head 406 to be separated from the meshing surface 103, the limiting plate 405 and the pushing plate 401 can only move forwards and cannot move backwards.
The arm head assembly 2 includes: a first link 202, a second link 203, and a driven link 204; a first end of the first link 202 is rotatably connected with the arm head 201; a first end of the second connecting rod 203 is rotatably connected with the clamping arm 301; a first end of the driven rod 204 is slidably disposed within the slot 402; the second end of the first connecting rod 202, the second end of the second connecting rod 203 and the second end of the driven rod 204 are rotatably connected. The two groups of arm head assemblies 2 are respectively and correspondingly connected with the two clamping arms 301 and the two clamping grooves 402.
In this embodiment, when the pushing plate 401 slides back and forth, the driven rod 204 is driven to move back and forth by the slot 402; when the driven rod 204 moves back and forth, the second connecting rod 203 is driven to move back and forth, so as to push the clamping arm 301 to rotate. And through the cooperation of two sets of arm lock subassemblies 3, can realize driving two arm lock 301 and carry out the motion that opens and shuts that is close to each other or keeps away from.
The drive assembly 7 includes: a first electric machine 701 and a second electric machine 702; the first motor 701 is arranged on the main rod column 101, is in transmission connection with the pushing plate 401, and is used for pushing the pushing plate 401 to slide back and forth to drive the two driven rods 204 to move so as to enable the two clamping arms 301 to move in an opening and closing manner; the second motor 702 is disposed on the main rod column 101, and is in transmission connection with the limiting plate 405, for driving the limiting plate 405 to rotate so that the limiting head 406 abuts against or disengages from the engaging surface 103.
Specifically, when the holding is performed, the stopper head 406 at the front end of the stopper plate 405 abuts against the engagement surface 103, so that the stopper head 406 can slide over the engagement surface 103 inclined forward and move forward while the pusher plate 401 pushes the stopper plate 405 and the driven rod 204 forward, and the two clamp arms 301 approach each other to perform the holding operation. After the pushing plate 401 stops, the limiting head 406 is in limiting fit with the engaging surface 103, so that the limiting plate 405 cannot move towards the rear end, and the two clamping arms 301 keep a clamping state. When the two clamping arms 301 need to be loosened, the second motor 702 is started to drive the limiting plate 405 to rotate around the rotating shaft 404, the limiting head 406 is driven to be away from the meshing surface 103 to remove the limiting matching relationship between the two clamping arms 301, and then the pushing plate 401 can slide backwards to drive the two clamping arms 301 to be opened.
In other embodiments, a valve core assembly 5 is also included; arm lock subassembly 3 still includes: a plurality of clamping bars 306; a connecting cavity 303 is arranged inside the clamping arm 301, and a plurality of independent cavities 305 communicated with the connecting cavity 303 are distributed on the inner side of the clamping arm 301 along the front and the back; the plurality of material clamping rods 306 are slidably arranged in the independent cavities 305 in a one-to-one correspondence manner; a hydraulic oil chamber 102 communicated with the connecting chamber 303 is arranged in the main rod column 101; the spool assembly 5 includes: a valve box 501; the valve box 501 is arranged in the hydraulic oil cavity 102 in a front-back sliding manner and is fixedly connected with the push plate 401; the outer periphery of the valve housing 501 sealingly abuts against the wall of the hydraulic oil chamber 102.
Specifically, the clamping bar 306 is in sealing abutment with the wall of the independent chamber 305; the hydraulic oil chamber 102 is filled with oil. When the push plate 401 slides forwards, the valve box 501 is driven to slide forwards, so that the volume in the hydraulic oil chamber 102 is changed, oil flows into the connecting chamber 303, then flows into the independent chamber 305, the clamping rod 306 is pushed to slide outwards, and therefore the object can be further clamped by the clamping rod 306 and can be adapted to the irregularly formed object.
In a further improved embodiment, the spool assembly 5 further comprises: a flap 502; an oil cavity is arranged in the valve box 501; the flap 502 is arranged in the oil cavity in a sliding manner and is connected with the valve box 501 through a spring; the front end of the valve box 501 is provided with a through hole 503 communicating with the oil chamber.
Specifically, the flap 502 seals against the wall of the oil chamber. During the forward movement of the valve box 501, if the valve box 501 moves too fast, the oil pressure in the hydraulic oil chamber 102 may increase momentarily, so that the material clamping rod 306 is pushed out quickly, which may cause damage to the clamped object and damage to the robot. By arranging the flap 502 connected with the valve box 501 through the spring, when the oil pressure in the hydraulic oil chamber 102 is increased, part of oil can flow into the oil chamber to push the flap 502 to slide, and the cushioning effect on the increase and decrease of the oil pressure is achieved.
Further, a valve flow assembly 6 is also included; a liquid flow port 601 for communicating the hydraulic oil cavity 102 with the connecting cavity 303 is formed in the arm head 201; the valve flow assembly 6 includes: an air bag 602, an air cavity 603 and a valve plate 604; the air bag 602 is arranged on one side of the liquid flow port 601 close to the connecting cavity 303; the air cavity 603 is arranged in the arm head 201 at a position corresponding to the liquid flow port 601, and one end of the air cavity is communicated with the air bag 602; one end of the valve plate 604 can extend into the other end of the air cavity 603 in a sliding manner, and the periphery of the valve plate is in sealing contact with the cavity wall of the air cavity 603; the other end of the valve plate 604 extends out of the air cavity 603, and the valve plate 604 is connected with the arm head 201 through a spring; the air bag 602 is used to adjust the air pressure in the air chamber 603 when pushed by oil, so that the valve plate 604 slides to adjust the opening size of the fluid port 601.
Specifically, the interior of the balloon 602 is filled with a gas, and the balloon 602 can be inflated and deflated. When the oil pressure in the hydraulic oil chamber 102 and the connecting chamber 303 is increased to extrude the air bag 602, the air bag 602 contracts to drive the valve plate 604 to extend out, and the opening of the fluid port 601 is reduced, so that the flow of oil is blocked, the speed reduction or the stopping of the flow of the oil is realized, and the oil leakage caused by overhigh oil pressure is avoided.
It should be noted that the valve flow assembly 6 may include two sets, and is respectively disposed on two sides of the fluid flow port 601.
Further, the clamping arm component 3 further comprises: a tubing joint 304; one end of the oil pipe joint 304 is communicated with the connecting cavity 303, and the other end is communicated with the hydraulic oil cavity 102 through the oil pipe 205.
Further, a return spring 407 is connected between the pushing plate 401 and the limiting plate 405; the return spring 407 is used to provide the stopper plate 405 with an elastic force that pushes the stopper head 406 close to the engaging surface 103.
Further, the driving assembly 7 further includes: a first transfer lever 704; one end of a first transmission rod 704 is rotatably connected with the pushing plate 401, and the other end of the first transmission rod is in transmission connection with a first motor 701; the first motor 701 is used for driving the first transmission rod 704 to rotate.
Wherein the first motor 701 may be fixedly connected to the main column 101. The first motor 701 drives the first transmission rod 704 to rotate so as to push the pushing plate 401 to slide back and forth.
Further, the driving assembly 7 further includes: a second transmission rod 703; one end of the second transmission rod 703 is in pressure joint with the rear end of the limiting plate 405, and the other end of the second transmission rod is in transmission connection with the second motor 702; the second motor 702 is used for driving the second transmission rod 703 to rotate and driving the limiting plate 405 to rotate.
Specifically, the second transmission rod 703 may be disposed at an outer end of the position-limiting plate 405, and an end of the second transmission rod is abutted against a rear end of the position-limiting plate 405, so that the second transmission rod 703 drives the position-limiting plate 405 to rotate around the rotation shaft 404 when rotating.
Further, a main spring 104 is connected between the push plate 401 and the front end of the main stem 101. The main spring 104 may provide a pushing force when the push plate 401 needs to be moved backward.
Further, the front end of the clamping arm 301 is provided with a U-shaped clamping head 302, so that an object can be better clamped.
Although the present invention has been described in detail with reference to examples, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention.
Claims (9)
1. The utility model provides a manipulator is used in electric power distribution network operation which characterized in that includes: the device comprises a rod group assembly, a driven assembly, a clamping arm assembly, two groups of arm head assemblies, a driving assembly and a valve flow assembly;
the pole set assembly comprises: a main pole;
the outer wall of the main post is provided with a meshing surface facing forwards;
the driven assembly includes: a pushing plate and a limiting plate;
the pushing plate can be arranged on the main rod column in a front-back sliding mode and is positioned at the rear end of the meshing surface;
the two ends of the pushing plate are provided with a clamping groove and a rotating shaft;
the limiting plate is rotatably arranged on the rotating shaft, and a limiting head is arranged at the front end of the limiting plate;
the arm lock subassembly includes: the arm head and the two clamping arms;
the arm head is fixed at the front end of the main rod column;
the two clamping arms can be rotatably arranged at the front end of the arm head;
the arm head assembly includes: the first connecting rod, the second connecting rod and the driven rod;
the first end of the first connecting rod is rotatably connected with the arm head;
the first end of the second connecting rod is rotatably connected with the clamping arm;
the first end of the driven rod is slidably arranged in the clamping groove;
the second end of the first connecting rod, the second end of the second connecting rod and the second end of the driven rod are rotatably connected;
the two groups of arm head assemblies are respectively and correspondingly connected with the two clamping arms;
the drive assembly includes: a first motor and a second motor;
the first motor is arranged on the main rod column, is in transmission connection with the pushing plate and is used for pushing the pushing plate to slide back and forth so as to drive the two driven rods to move to enable the two clamping arms to move in an opening and closing mode;
the second motor is arranged on the main rod column, is in transmission connection with the limiting plate and is used for driving the limiting plate to rotate so that the limiting head is abutted against or separated from the meshing surface;
a connecting cavity is arranged inside the clamping arm;
a hydraulic oil cavity communicated with the connecting cavity is formed in the main rod column;
a liquid flow port for communicating the hydraulic oil cavity with the connecting cavity is formed in the arm head;
the valve flow assembly comprises: the air bag, the air cavity and the valve plate;
the air bag is arranged on one side of the liquid flow port close to the connecting cavity;
the air cavity is arranged in the arm head at a position corresponding to the liquid flow port, and one end of the air cavity is communicated with the air bag;
one end of the valve plate can extend into the other end of the air cavity in a sliding manner, and the periphery of the valve plate is in sealing butt joint with the cavity wall of the air cavity;
the other end of the valve plate extends out of the air cavity, and the valve plate is connected with the arm head through a spring;
the air bag is used for adjusting the air pressure in the air cavity when being pushed by oil liquid, so that the valve plate slides to adjust the opening size of the liquid flow port.
2. The manipulator for power distribution network operation according to claim 1, further comprising a spool assembly;
the arm lock subassembly still includes: a plurality of clamping bars;
a plurality of independent cavities communicated with the connecting cavity are distributed on the inner side of the clamping arm in the front-back direction;
the plurality of material clamping rods are slidably arranged in the independent cavities in a one-to-one correspondence manner;
the spool assembly includes: a valve box;
the valve box can be arranged in the hydraulic oil cavity in a front-back sliding mode and is fixedly connected with the push plate;
the periphery of the valve box is in sealing butt joint with the cavity wall of the hydraulic oil cavity.
3. The manipulator for power distribution network operation according to claim 2, wherein the spool assembly further comprises: a flap;
an oil cavity is formed in the valve box;
the movable plate can be arranged in the oil cavity in a front-back sliding mode and is connected with the valve box through a spring;
and the front end of the valve box is provided with a through hole communicated with the oil cavity.
4. The manipulator for power distribution network operation according to claim 2 or 3, wherein the clamping arm assembly further comprises: an oil pipe joint;
one end of the oil pipe joint is communicated with the connecting cavity, and the other end of the oil pipe joint is communicated with the hydraulic oil cavity through an oil pipe.
5. The manipulator for power distribution network operation according to claim 1, wherein a return spring is connected between the pushing plate and the limiting plate;
the return spring is used for providing elastic force for the limiting plate to push the limiting head to be close to the meshing surface.
6. The manipulator for power distribution network operation of claim 1, wherein the driving assembly further comprises: a first drive lever;
one end of the first transmission rod is rotatably connected with the pushing plate, and the other end of the first transmission rod is in transmission connection with the first motor;
the first motor is used for driving the first transmission rod to rotate.
7. The manipulator for power distribution network operation according to claim 1, wherein the driving assembly further comprises: a second transmission rod;
one end of the second transmission rod is in compression joint with the rear end of the limiting plate, and the other end of the second transmission rod is in transmission connection with the second motor;
the second motor is used for driving the second transmission rod to rotate so as to drive the limiting plate to rotate.
8. The manipulator for power distribution network operation as claimed in claim 1, wherein a main spring is connected between the pushing plate and the front end of the main pole.
9. The manipulator for the power distribution network operation as claimed in claim 1, wherein a U-shaped chuck is provided at the front end of the clamping arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211561504.1A CN115625728B (en) | 2022-12-07 | 2022-12-07 | Manipulator for power distribution network operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211561504.1A CN115625728B (en) | 2022-12-07 | 2022-12-07 | Manipulator for power distribution network operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115625728A CN115625728A (en) | 2023-01-20 |
| CN115625728B true CN115625728B (en) | 2023-03-31 |
Family
ID=84909830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211561504.1A Active CN115625728B (en) | 2022-12-07 | 2022-12-07 | Manipulator for power distribution network operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115625728B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201295925Y (en) * | 2008-12-02 | 2009-08-26 | 吉林大学 | Remotely operated force-feedback hydraulic servo operating manipulator |
| CN104972477B (en) * | 2015-07-21 | 2017-02-01 | 北京工业大学 | Multifunctional engineering accessory for six-bar mechanism |
| CN110601079B (en) * | 2019-10-15 | 2024-04-26 | 国网湖南省电力有限公司 | Work robot system with distribution network electrified disconnection and drainage line connection and work method |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN111906768B (en) * | 2020-07-16 | 2022-01-04 | 广东电网有限责任公司东莞供电局 | A manipulator for overhauling electrical equipment |
| CN215881609U (en) * | 2021-08-09 | 2022-02-22 | 深圳市人民医院(深圳市呼吸疾病研究所) | A clamping device for medical equipment |
| CN216858204U (en) * | 2022-03-10 | 2022-07-01 | 青岛邦和压铸有限公司 | Material grabbing device for machining casting parts |
| CN115179315A (en) * | 2022-09-13 | 2022-10-14 | 南通长石科技有限公司 | Manipulator for unmanned material grabbing machine |
-
2022
- 2022-12-07 CN CN202211561504.1A patent/CN115625728B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115625728A (en) | 2023-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210878682U (en) | Motor core keyway processing frock | |
| CN115625728B (en) | Manipulator for power distribution network operation | |
| CN216442110U (en) | Tool changing manipulator of numerical control machine tool | |
| CN115798959A (en) | Leading outage device of electric power overhaul | |
| CN116834047B (en) | Industrial robot for grabbing high-temperature parts | |
| CN116372025B (en) | Punching machine with mould convenient to replace for metal piece processing | |
| CN114024173B (en) | Locking electric power supply plug device that moves | |
| CN116714846A (en) | Packaging and bagging manipulator device | |
| CN117260132A (en) | Intelligent manufacturing mechanical equipment welding tool | |
| CN117565096A (en) | Intelligent mechanical arm based on optical lens processing | |
| CN210651527U (en) | End effector for taking out rubber part | |
| CN111421846B (en) | Door seal rubber sleeve auxiliary positioning mold insertion mechanism | |
| CN210282291U (en) | Automatic change mechanical arm device | |
| CN215008315U (en) | Double-end cap sealing machine with automatic adjustment function | |
| CN212400910U (en) | Control device for central control door lock actuator | |
| CN217456725U (en) | Labeller is used in lubricating oil allotment laboratory | |
| CN203556807U (en) | Internal die assembly machine for casting parts | |
| CN219170937U (en) | Robot claw pincers | |
| CN220946328U (en) | Automatic variable-pitch blanking mechanism of beverage bottle outer cover compression molding production line | |
| CN217293070U (en) | Low-temperature wax silica sol investment forming die | |
| CN216243240U (en) | Rotating base of industrial robot | |
| CN220902286U (en) | Arc welding robot with multiple mounting modes | |
| CN220464454U (en) | Mold closing guide device of vulcanizing machine | |
| CN220514203U (en) | High-low temperature impact test box | |
| CN214002243U (en) | Bottom sealing machine for hot melt adhesive of plastic composite woven bag |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |