WO2020098267A1 - Mechanical claw for switching operation of switch cabinet panel - Google Patents

Abstract

Disclosed in the present invention is a mechanical claw for switching operation of a switch cabinet panel, belonging to the technical field of robot operations. The present invention comprises an actuating clamp toe system, a clamp toe control system and a support system. The support system comprises a drive screw and a support frame. The actuating clamp toe system comprises clamp toes, a rotary drive ring and a drive link, the rotary drive ring being provided in the middle of the support frame to perform rotary motion, the rotary drive ring being connected to the drive link, the other side of the drive link being connected to the clamp toes, and the clamp toes being sheathed on the support frame to perform opening and closing movement. The clamp toe control system comprises a control lever and an ejection finger, the control lever being provided with a drive key, the center of the rotary drive ring being provided with a drive key groove, and the control lever passing through the drive screw and the rotary drive ring. The present invention drives the ejection finger and the clamp toes to move, so as to complete the operation of switches of various sizes on the switch cabinet panel, so that the structure is simple and the operation is easy. In addition, the configuration regarding insulation ensures the insulation of the system and the safety of the operation of a switch cabinet.

Description

Manipulator claw for panel switch operation of switch cabinet Technical field

The invention belongs to the technical field of robot operation, and in particular relates to a manipulator claw for switch operation of a switch cabinet panel.

Background technique

With the development of the robot industry, in order to be suitable for various working conditions, there are many types of mechanical claw structures on the market. Because of their different application scopes, they have a certain specificity and cannot involve the operation of various knobs and switches of the switch cabinet. . Moreover, the size of the mechanical claws on the market cannot meet the small-scale switch operation on the panel of the switch cabinet. The operation of the knob switch on the panel of the switchgear has certain rules to follow. The use of under-driven manipulators on the market will have freedom of redundancy, increase the complexity of the mechanism, and cause unnecessary waste of resources due to manufacturing and maintenance costs.

Chinese patent application 201110327142.5 discloses an under-driven mechanical claw for fruit and vegetable picking. At present, domestic fruit picking operations are basically carried out manually. The invention includes a frame, a driving transmission mechanism and a finger mechanism, specifically including an upper base, a finger fixing member, a supporting column, a lower base, a stepping motor, a screw, a nut, a lifting platform, a guide column, a far finger, a middle finger, and a near finger. The first link, the second link, the third link, the fourth link, the driving rod, the first torsion spring and the second torsion spring; while using a stepping motor to drive multiple fingers simultaneously, the under-driven fingers are used Mechanism, and use the torsion spring as the limiting mechanism to make it have the function of envelope grabbing; the surface of the hand is equipped with a contact force sensor, which can control the grasping force through the feedback of the detection of the contact force. The technology is easy to control, improves the ability to adapt to the shape of the object, and enhances the gripping stability. However, there are certain rules for the operation of the knob switch on the panel of the switchgear. The under-driven manipulator will have a degree of freedom redundancy, increase the complexity of the mechanism and cause unnecessary waste of resources due to manufacturing and maintenance costs.

Summary of the invention

The purpose of the present invention is to provide a new type of manipulator claw for switch operation of a switch cabinet panel in response to the problem of the complicated structure of the manipulator claw in the prior art.

Specifically, the present invention is implemented using the following technical solutions: including implementing a toe pinch system, a toe pinch control system, and a support system;

The support system includes a drive screw and a support frame locked at the front end of the drive screw;

The executive pinching system includes two pinching toes, a slewing drive ring and a driving link, the slewing drive ring is provided in the middle of the support frame, and the slewing drive ring is rotated in the empty grooves provided at the upper and lower ends of the support frame Movement, the upper and lower ends of the slewing drive ring are connected to the driving link, and the other side of the driving link is connected to the clamping toe, and the clamping toe is sleeved on the extension arm of the support frame for opening and closing movement;

The gripping toe control system includes a control rod and an ejecting finger provided at the front end of the control rod. A drive key is provided on the control rod. A drive key slot is provided in the center of the rotary drive ring. The control rod passes through the drive screw and the rotary drive ring.

Further: when the driving control lever causes the driving key to push out of the driving key slot, the gripping toe control system performs telescopic and slewing motion relative to the rotary driving ring; when the driving control lever causes the driving key to stay in the driving key slot, the gripping toe The control system transmits the power to the rotary drive ring and finally drives the two pinch toe movements.

Further, the front end of the support frame is provided with a detachable top cover.

Further, the support frame is an insulating support frame.

Furthermore, an insulating gasket is provided on the clip toe.

Further, the control rod is an insulated control rod.

Furthermore, a friction surface is provided inside the front end of the ejecting finger.

The beneficial effects of the present invention are as follows: the present invention uses different driving key positions to drive the ejection finger and pinch toe movements respectively to complete the operation of switches of various sizes in the switch cabinet panel. The structure is simple and the operation is convenient. At the same time, the insulation setting ensures the insulation of the system and the safety of the switchgear operation.

BRIEF DESCRIPTION

Fig. 1 is an axial side sectional view of the gripper mechanism of the present invention.

2 is a side view of the shaft of the gripper mechanism of the present invention.

3 is a cross-sectional view of the gripper mechanism of the present invention.

4 is an exploded view of the gripper mechanism of the present invention.

5 is a schematic view of the operation of the hand gripper mechanism of the present invention on the switch panel.

FIG. 6 is a schematic diagram of the finger mechanism of the present invention operating the paddle pressing plate.

7 is a schematic diagram of the operation button of the claw mechanism of the present invention.

8 is a schematic view of the operation of the gripper mechanism of the present invention to insert and remove the pressure plate.

9 is a schematic diagram of the operation knob of the claw mechanism of the present invention.

Numbers in the picture: 1-clip toe, 2-insulating rubber pad, 3-finger ejection, 4-drive key, 5-connecting pin, 6-turn drive ring, 7-drive link, 8-insulation support , 9-drive screw, 10-insulated control rod, 11-top cover, 12-actuated toe clamping system, 13-toe clamping control system, 14-support system, 15-drag press plate, 16-button, 17-plug Pressure plate, 18-knob.

detailed description

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary, and are intended to explain the present invention, but should not be construed as limiting the present invention. In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "Radial", "circumferential" and other indications are based on the orientation or positional relationship shown in the drawings, only to facilitate the description of the present invention and simplify the description, not to indicate or imply the device Or the element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms “first” and “second” are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined with "first" and "second" may include at least one of the features either explicitly or implicitly. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically limited.

Example 1:

An embodiment of the present invention is a manipulator claw for switch operation of a switch cabinet panel, which can be applied to a manipulator claw operated by a switch knob on a panel of a high-voltage switch cabinet. As shown in FIGS. 1, 2 and 3, the robot gripper includes a support system 14, an execution pinching system 12 and a pinching control system 13.

As shown in FIG. 4, the support system 14 includes an insulating support frame 8, a driving screw 9 and a top cover 11. The support system 14 serves as a support frame for the entire manipulator claw mechanism. The insulating support frame 8 is locked to the front end of the driving screw 9, and the cross-sectional diameter at the front end of the driving screw 9 is shorter than the cross-sectional diameter of the body of the driving screw 9, which facilitates the locking and locking of the insulating support frame 9. The robot system operates to drive the screw 9 to rotate. When the torque is too large, the drive screw 9 and the insulating support frame 8 will slide relatively to achieve overload protection. The top cover 1 is fastened to the insulating bracket 8 by fasteners (fasteners such as screws can be used), and the detachable top cover 1 is convenient for later maintenance and inspection of equipment. The robot system drives the entire manipulator claw mechanism through the driving screw 9 to provide forward and backward expansion and rotation driving force. At the same time, the insulating bracket 8 provided at the front end of the driving screw 9 provides a sufficient insulating distance for the manipulator claw mechanism to ensure the effect of high-voltage insulation.

The executive pinch system 12 includes two pinch toes 1, two insulating rubber pads 2, a rotary drive ring 6, two drive links 7 and four connecting pins 5. The rotary drive ring 6 is press-fitted in the middle cylindrical hollow shaft of the insulating support frame 8 through the top cover 11, the key groove is provided in the center of the rotary drive ring 6, the through holes on the upper and lower sides of the rotary drive ring 6 are respectively provided with insulation support The middle cylindrical hollow shaft of the frame 8 is provided with arc-shaped empty slots above and below, and the through holes respectively extend from the arc-shaped empty slots. The slewing drive ring 6 makes a certain angle of slewing motion relative to the insulating support frame 8 and the top cover 11 in the arc-shaped empty slot. At the same time, the through holes on the upper and lower sides of the rotary drive ring 6 are connected to each other through two connecting pin shafts 5 and two driving links 7, and the other side of the two driving links 7 is connected to the other two through two connecting pin shafts 5 One clip toe 1 is connected. The two toe clips 1 are respectively sleeved on the extension arms at both ends of the insulating support frame 8 and can slide on the extension arms.

When the rotary drive ring 6 rotates clockwise, the upper and lower drive links 7 are linked to the two sides respectively, and then the power is transmitted to drive the two clamping toes 1 to perform an open motion relative to the insulating support frame 8; when the rotary drive ring 6 is counterclockwise Rotating, the driving links 7 on the upper and lower sides are linked to the two sides respectively, and then the power is transmitted to drive the two clamping toes 1 to perform a closing movement relative to the insulating support frame 8. The power is driven by the rotary drive ring 6 to perform a stretching movement relative to the insulating support frame 8. Both ends of the two clamping toes 1 are provided with insulating rubber pads 2, which is convenient for clamping the switch knob, and at the same time, the insulation effect of the contact end is ensured, and the safety factor is higher.

The pinch control system 13 includes an ejecting finger 3, a driving key 4 and an insulating control rod 10. The rear end of the ejecting finger 3 is provided with an inner hole, and the insulating control rod 10 extends into the inner hole of the ejecting finger 3 and the two are fixedly connected by a fixing member. The driving key 4 is fixedly installed in the driving key slot on the insulating control rod 10. The insulation control rod 10 passes through the drive screw 9 and the rotary drive ring 6. Both the insulating control rod 10 and the driving screw 9 are relatively independent. The external drive assembly drives the insulating control rod 10 to move back and forth and rotate, and the robot system drives the screw 9 to move back and forth and rotate.

When the external drive assembly drives the insulated control rod 10 and the drive key 4 is pushed out of the key slot of the rotary drive ring 6, the pinch control system 13 can perform telescopic and rotary movements relative to the rotary drive ring 6 without disturbing the clip toe 1. The ejection finger 3 mainly relies on the frictional force inside the front end of the ejection finger 3 to achieve the torsional movement of the small target. The inside of the front end of the ejection finger 3 is provided with a friction surface, such as the inner polygonal friction surface of the torx wrench head. When the insulating control rod 10 stops the drive key 4 in the key groove of the rotary drive ring 6, the pinch control system 13 can transmit power to the drive ring 6 and finally drive the expansion and contraction movement of the two pinch toes 1.

The entire mechanical claw mechanism realizes the clamping action of the large target operation piece through the expansion and contraction movement of the clamping toe 1, and the approaching of the target operation piece through the telescopic rotation movement of the driving screw 9, and realizes the large target after the clamping of the clamping toe 1 is completed. The twisting operation of the operating member; the entire manipulator claw mechanism realizes the pressing and twisting movement of the small target operating member through the telescopic swing movement of the ejecting finger 3.

As shown in Fig. 5, the mechanical claw mechanism is suitable for the mechanical claw of various types of switches and knobs on the panel of the high-voltage switch cabinet. The specific operations of the mechanical gripper mechanism for various switches and knobs are as follows:

As shown in FIG. 6, the claw mechanism operates the paddle pressure plate 15, the external drive assembly drives the insulated control lever 10, and the drive key 4 pushes out of the key groove of the rotary drive ring 6, the pinch control system 13 can operate without disturbing the pinch 1 Relative to the rotary drive ring 6 for telescopic and rotary movements, the ejecting finger 3 extends and unscrews the lower nut of the dial pressure plate. Then the external drive assembly drives the insulating control rod 10, the insulating control rod 10 stops the driving key 4 in the key groove of the rotary driving ring 6, the pinch control system 13 can transmit power to the driving ring 6 and finally drive the two pinch toes 1. The driving screw 9 drives the hand claw to rotate through the toe 1 to open or close the paddle pressing plate 15.

The button 16 is operated by the claw mechanism as shown in FIG. 7. When the external drive assembly drives the insulated control rod 10 and the drive key 4 is pushed out of the keyway of the rotary drive ring 6, the toe control system 13 can perform telescopic movement relative to the rotary drive ring 6 without disturbing the clip toe 1 and eject the finger 3 Extend the push button 16.

As shown in FIG. 8, the gripper mechanism operates to insert and remove the pressure plate 17. The external drive assembly drives the insulated control rod 10, which keeps the drive key 4 in the keyway of the rotary drive ring 6, and the pinch control system 13 can transmit power to the drive ring 6 and ultimately drive the two pinch toes 1. Grasp the pressure plate and drive the screw 9 to drive the claws to move back and forth to pull the pressure plate 17 in and out.

As shown in FIG. 9, the claw mechanism operates the knob 18, and the external drive assembly drives the insulated control lever 10. The insulated control lever 10 stops the drive key 4 in the key slot of the rotary drive ring 6, and the toe control system 13 can transmit power Give the drive ring 6 and finally drive the two clamping toes 1 to grasp the knob, and the drive screw 9 drives the gripper to turn the knob 18 to turn. In order to ensure that the rotary drive ring 6 always grasps the knob 18 through the two clamping toes 1 and does not loosen due to the rotation of the drive screw 9 so that the rotary drive ring 6 rotates in the arc-shaped empty slot, when the drive screw 9 drives the rotary knob 18 to rotate, The external drive assembly cooperates to drive the insulating control rod 10 to rotate accordingly.

Although the present invention has been disclosed as the above preferred embodiments, the embodiments are not intended to limit the present invention. Any equivalent changes or modifications made without departing from the spirit and scope of the present invention also belong to the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the content defined in the claims of this application.

Claims (7)

1. A manipulator claw for switch operation of a switch cabinet panel is characterized in that it includes an implementation of a toe clamping system, a toe clamping control system and a support system;

   The support system includes a drive screw and a support frame locked at the front end of the drive screw;

   The executive pinching system includes two pinching toes, a slewing drive ring and a driving link, the slewing drive ring is provided in the middle of the support frame, and the slewing drive ring is rotated in the empty grooves provided at the upper and lower ends of the support frame Movement, the upper and lower ends of the slewing drive ring are connected to the driving link, and the other side of the driving link is connected to the clamping toe, and the clamping toe is sleeved on the extension arm of the support frame for opening and closing movement;

   The gripping toe control system includes a control rod and an ejecting finger provided at the front end of the control rod. A drive key is provided on the control rod. A drive key slot is provided in the center of the rotary drive ring. The control rod passes through the drive screw and the rotary drive ring.
2. The manipulator claw for switch operation of a switch cabinet panel according to claim 1, characterized in that:

   When the drive control lever causes the drive key to push out into the drive key slot, the pinch toe control system performs telescopic and rotary movement relative to the rotary drive ring;

   When the drive control lever causes the drive key to stay in the drive key slot, the pinch control system transmits power to the rotary drive ring and ultimately drives the expansion and contraction movement of the two pinch toes.
3. The manipulator claw for switch operation of a switch cabinet panel according to claim 1, wherein a detachable top cover is provided at the front end of the support frame.
4. The manipulator claw for switch operation of a switch cabinet panel according to claim 1, wherein the support frame is an insulating support frame.
5. The manipulator claw for switch operation of a switch cabinet panel according to claim 1, wherein an insulating gasket is provided on the clip toe.
6. The manipulator claw for switch operation of a switch cabinet panel according to claim 1, wherein the control lever is an insulated control lever.
7. The manipulator claw for switch operation of a switch cabinet panel according to claim 1, wherein a friction surface is provided inside the front end of the ejecting finger.

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