Insulator Grabbing Device and Insulator Climbing Robot

Abstract

The present application discloses an insulator grasping device. The insulator grasping device includes a frame; a crank and connecting rod mechanism, including a crank for receiving external rotational power, a first crank and connecting rod, and a second crank and connecting rod; a first position of the first clamping connecting rod is hinged to the first crank and connecting rod through a first end connecting rod, a second position of the first clamping connecting rod is hinged to the frame, a third position of the first clamping connecting rod is hinged to a first position of the hook claw, a fourth position of the first clamping connecting rod is fixedly connected to a first clamping plate, and a second position of the hook claw is hinged to the frame through a hook claw connecting rod; a first position of the second clamping connecting rod is hinged to the second crank and connecting rod through a second end connecting rod, a second position of the second clamping connecting rod is hinged to the frame, and a third position of the second clamping connecting rod is fixedly connected to a second clamping plate. This solution realizes the fitting and grasping of the side wall of the insulator under a single-degree-of-freedom drive by using the connecting rod design, and has the characteristics of good safety, lightness, flexibility, and compact structure.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly to an insulator grasping device and an insulator climbing robot. Background Art

[0002] An insulator is a special insulating control component that plays an important role in overhead transmission lines. In the early years, insulators were mostly used for telegraph poles and gradually developed into multiple insulators connected in series at one end of a high-voltage connection tower to form an insulator string to increase the creepage distance. Insulators are usually made of glass or ceramic and come in a variety of types and shapes. Due to their special application scenarios, it is necessary to ensure that the surface is free of wear during transportation and assembly to ensure the insulation performance. Therefore, robots for handling large insulators and moving on insulator strings require a mechanical gripper that can ensure zero wear, safety, and is lightweight, flexible, and compact in structure.

[0003] Currently, research on insulator grasping manipulator claws at home and abroad mostly focuses on the research of the movement platform of insulator string climbing robots. For grasping insulators, it tends to use large manipulator claws to grasp the entire outer circumference of the insulator, making the structure of the manipulator claw body complex, heavy, and large. The claw that clamps the entire outer circumference of the insulator not only places higher requirements on the joint load capacity of the robot itself moving on the insulator string, but also adds a large load to the robotic arm for transporting insulators in the insulator production workshop. Therefore, for grasping insulators, it is necessary to develop a more flexible and lightweight manipulator claw. Summary of the Invention

[0004] In view of this, the present application provides an insulator grasping device and an insulator climbing robot, which can improve the flexibility of grasping.

[0005] In a first aspect, the present application provides an insulator grasping device, including:

[0006] A frame;

[0007] A crank-link mechanism, including a crank for receiving external rotational power, and a first crank-link and a second crank-link connected to the crank;

[0008] A first clamping mechanism, including a first clamping plate, a first clamping link, a hook claw, and a hook claw link. The first position of the first clamping link is hinged to the first crank-link through a first end link, the second position of the first clamping link is hinged to the frame, the third position of the first clamping link is hinged to the first position of the hook claw, the fourth position of the first clamping link is fixedly connected to the first clamping plate, and the second position of the hook claw is hinged to the frame through the hook claw link;

[0009] The second clamping mechanism includes a second clamping plate and second clamping connecting rods. The first position of the second clamping connecting rods is hinged to the second crank connecting rod through a second end connecting rod. The second position of the second clamping connecting rods is hinged to the machine frame. The third position of the second clamping connecting rods is fixedly connected to the second clamping plate.

[0010] Optionally, a first machine frame hinge seat is fixedly provided on the machine frame. The second position of the first clamping connecting rod is hinged to the first machine frame hinge seat. The second position of the hook claw is hinged to the first machine frame hinge seat through a hook claw connecting rod.

[0011] Optionally, a second machine frame hinge seat is fixedly provided on the machine frame. The second position of the second clamping connecting rod is hinged to the second machine frame hinge seat.

[0012] Optionally, a first rubber layer is provided on the first clamping plate.

[0013] Optionally, a second rubber layer is provided on the second clamping plate.

[0014] Optionally, a first hinge seat is fixedly connected to the first crank connecting rod. The first position of the first clamping connecting rod is hinged to the first hinge seat through a first end connecting rod.

[0015] Optionally, a second hinge seat is fixedly connected to the second crank connecting rod. The first position of the second clamping connecting rod is hinged to the second hinge seat through a second end connecting rod.

[0016] Optionally, the motor for providing the external rotational power is installed on the machine frame.

[0017] In a second aspect, the present application provides an insulator climbing robot, including the insulator grasping device as described above.

[0018] The above-disclosed insulator grasping device uses a connecting rod design to achieve a fitting grasp of the side wall of the insulator under single-degree-of-freedom drive, and at the same time uses a flexible contact surface to adapt to the machining error of the insulator. This device can reduce the impact on the insulator string itself when used on an insulator string climbing robot, and can reduce the load of the robotic arm when used on an insulator transportation robotic arm. It has the characteristics of zero wear on the insulator, good safety, being lightweight, flexible, having a compact structure, and low manufacturing cost. Description of the Drawings

[0019] The following will clearly show the technical solutions and other beneficial effects of the present application by a detailed description of the specific embodiments of the present application in conjunction with the drawings.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the insulator grasping device disclosed in the embodiment of the present application when the hand claws are in a closed state;

[0021] Figure 2This is the front view of the insulator gripping device in the hand claw closed state disclosed in the embodiments of the present application;

[0022] Figure 3 This is the isometric view of the insulator gripping device in the hand claw closed state disclosed in the embodiments of the present application;

[0023] Figure 4 This is the schematic diagram of the insulator gripping device in the hand claw open state disclosed in the embodiments of the present application;

[0024] Figure 5 This is the state schematic diagram of the insulator gripping device when gripping the insulator in the embodiments of the present application.

[0025] Among them, the component identifications in the figure are as follows:

[0026] 1 - First clamping mechanism; 2 - Second clamping mechanism; 3 - Crank - connecting rod mechanism; 4 - Frame; 5 - Insulator; 101 - First clamping plate; 102 - First rubber layer; 103 - First clamping connecting rod; 104 - Hook claw connecting rod; 105 - Hook claw; 201 - Second clamping plate; 202 - Second rubber layer; 301 - Crank; 302 - Crank - connecting rod; 303a - First hinge seat; 303b - Second hinge seat; 304a - First end connecting rod; 304b - Second end connecting rod; 401 - Motor; 402 - Front end fixing plate; 403 - Support plate; 404 - Rear end fixing plate; 405 - Motor encoder fixing plate; 406 - First frame hinge seat; 407 - Second frame hinge seat. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0028] In the description of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.

[0029] In the description of the present application, it should be noted that, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection, an electrical connection, or a connection that allows mutual communication; it may be a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0030] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplification and clarity, and it does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0031] The insulator climbing robot disclosed in the embodiments of the present application has an insulator grasping device and other components well-known to those skilled in the art, such as a climbing mechanism.

[0032] Reference Figures 1 - 5 , the above-mentioned insulator grasping device includes:

[0033] A frame 4;

[0034] A crank and connecting rod mechanism 33, including a crank 301 for receiving external rotational power, and a first crank connecting rod 302 and a second crank connecting rod 302 connected to the crank 301;

[0035] A first clamping mechanism 1, including a first clamping plate 101, a first clamping connecting rod 103, a hook 105, and a hook connecting rod 104. The first position of the first clamping connecting rod 103 is hinged to the first crank connecting rod 302 through a first end connecting rod 304a, the second position of the first clamping connecting rod 103 is hinged to the frame 4, the third position of the first clamping connecting rod 103 is hinged to the first position of the hook 105, the fourth position of the first clamping connecting rod 103 is fixedly connected to the first clamping plate 101, and the second position of the hook 105 is hinged to the frame 4 through the hook connecting rod 104;

[0036] The second clamping mechanism 2 includes a second clamping plate 201 and second clamping connecting rods. The first position of the second clamping connecting rods is hinged to the second crank connecting rod 302 through a second end connecting rod 304b. The second position of the second clamping connecting rods is hinged to the frame 4. The third position of the second clamping connecting rods is fixedly connected to the second clamping plate 201.

[0037] Specifically and exemplarily, the frame 4 is fixedly provided with a first frame hinge seat 406. The second position of the first clamping connecting rod 103 is hinged to the first frame hinge seat 406. The second position of the hook claw 105 is hinged to the first frame hinge seat 406 through a hook claw connecting rod 104.

[0038] Specifically and exemplarily, the frame 4 is fixedly provided with a second frame hinge seat 407. The second position of the second clamping connecting rods is hinged to the second frame hinge seat 407.

[0039] Specifically and exemplarily, a first rubber layer 102 is provided on the first clamping plate 101.

[0040] Thus, through the setting of the first rubber layer 102, the contact surfaces with the first clamping plate 101 are all in flexible contact. After clamping, there is almost no relative displacement between the first clamping mechanism 1 and the insulator 5, and the insulator 5 can be effectively prevented from being damaged.

[0041] Specifically and exemplarily, a second rubber layer 202 is provided on the second clamping plate 201.

[0042] Thus, through the setting of the second rubber layer 202, the contact surfaces with the second clamping plate 201 are all in flexible contact. After clamping, there is almost no relative displacement between the second clamping mechanism 2 and the insulator 5, and the insulator 5 can be effectively prevented from being damaged.

[0043] Specifically and exemplarily, the first crank connecting rod 302 is fixedly connected with a first hinge seat 303a. The first position of the first clamping connecting rod 103 is hinged to the first hinge seat 303a through a first end connecting rod 304a.

[0044] Specifically and exemplarily, the second crank connecting rod 302 is fixedly connected with a second hinge seat 303b. The first position of the second clamping connecting rods is hinged to the second hinge seat 303b through a second end connecting rod 304b.

[0045] The implementation methods of the above "hinged" are such as but not limited to forms such as bolt bearings.

[0046] Specifically and exemplarily, the motor 401 for providing the above external rotational power is installed on the frame 4.

[0047] It should be added that the motor 401 not only provides rotational power but also provides a role similar to that of a "frame" for the crank connecting rod mechanism 33.

[0048] In an exemplary form, the frame 4 includes a front-end fixing plate 402, a support plate 403, a rear-end fixing plate 404, and a motor encoder fixing plate 405. Among them, the front-end fixing plate 402 is used to support the first clamping mechanism 1, the first frame hinge seat 406, the second frame hinge seat 407, etc. The rear-end fixing plate is used to support the motor 401. There are multiple support plates 403, such as Figure 3 four, and two ends of the support plate 403 are respectively connected to the front-end fixing plate 402 and the rear-end fixing plate 404. The motor encoder fixing plate 405 can be parallel to the rear-end fixing plate 404.

[0049] Now, in a common application scenario, the operation process of grasping the insulator 5 of the present application will be described. It should be noted that this common implementation cannot be used as the basis for determining the necessary features for understanding the technical problems claimed in the present application. It is only a demonstration.

[0050] External rotational power (such as the motor 401) is input to the crank and connecting rod mechanism 33. The first crank and connecting rod 302 and the second crank and connecting rod 302 of the crank and connecting rod mechanism 33 will convert the rotational power into linear motion. This linear motion passes through the articulated first end link 304a and the first clamping link 103 in sequence, and finally is input to the first clamping plate 101 or the hook 105, driving the first clamping plate 101 or the hook 105 to flip. Similarly, this linear motion passes through the articulated second end link 304b and the second clamping link in sequence, and finally is input to the second clamping plate 201, driving the second clamping plate 201 or the hook 105 to flip.

[0051] Since the first crank and connecting rod 302 is articulated to the first end link 304a and the second crank and connecting rod 302 is articulated to the second end link 304b, the hinge points of the first end link 304a close to the frame 4 (such as the first hinge seat 303a) and the hinge point of the second end link 304b (such as the second hinge seat 303b) tend to have the distance between them increase or decrease under the input of the same rotational power. The increase or decrease of this distance will cause the clamping cavity formed by the first clamping plate 101 and the second clamping plate 201 to increase or decrease.

[0052] As Figure 2 shown, when the hinge point of the first end link 304a close to the frame 4 is at the farthest distance, the gripper is in a fully closed state. At this time, the angle of the motor 401 can be recorded as 0°. The first clamping plate 101 and the second clamping plate 201 form a clamp on the insulator 5, clamping the insulator 5 by extrusion deformation, and the hook 105 hooks the insulator 5 from the inside.

[0053] As Figure 4As shown, when the hinge point of the first end link 304a close to the frame 4 is at the closest distance, the angle of the motor 401 is 120° at this time, and the gripper is in the open state. At this time, it is assumed that the included angle between the first clamping plate 101 and the second clamping plate 201 is about 130°. At this time, the hook claw 105 rotates about 130° during the opening process, and finally the entire gripper is in a large open state. Therefore, there is almost no interference with other movements that cooperate with the gripper.

[0054] The insulator gripping device of the present application has the following advantages and positive effects:

[0055] Zero wear on the insulator: The contact surfaces of the present invention with the insulator are all flexible contacts. After clamping, there is almost no relative displacement between the mechanical gripper and the insulator, which can effectively avoid damage to the insulator.

[0056] It has the characteristics of being light, flexible and compact in structure: The link design of the present invention makes the mechanical gripper structure compact, and can achieve large-angle opening and closing, and enables the mechanical operation based on the mechanical gripper to be carried out flexibly without easy interference.

[0057] It has the characteristic of low manufacturing cost: The structure of the present invention is simple, and the parts are easy to process. Therefore, the processing and manufacturing cost is low, and the cost can be reduced.

[0058] It has the characteristic of good safety: In the closed state of grasping the insulator, the gripper link part of the present invention is in a self-locking state. Through the fitting and limiting of the insulator in all directions, after grasping, the insulator cannot generate relative movement or rotation in any direction relative to the mechanical gripper except for rotating around its own central axis, ensuring that the insulator will not break free from the gripper and fall out.

[0059] As described above, only the preferred specific embodiments of the present application are given, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. An insulator gripping device, characterized in that, Comprising: A frame; A crank connecting rod mechanism, including a crank for receiving external rotational power, and a first crank connecting rod and a second crank connecting rod connected to the crank; A first clamping mechanism, including a first clamping plate, a first clamping connecting rod, a claw and a claw connecting rod. The first position of the first clamping connecting rod is hinged to the first crank connecting rod through a first end connecting rod. The second position of the first clamping connecting rod is hinged to the frame. The third position of the first clamping connecting rod is hinged to the first position of the claw. The fourth position of the first clamping connecting rod is fixedly connected to the first clamping plate. The second position of the claw is hinged to the frame through the claw connecting rod; A second clamping mechanism, including a second clamping plate and a second clamping connecting rod. The first position of the second clamping connecting rod is hinged to the second crank connecting rod through a second end connecting rod. The second position of the second clamping connecting rod is hinged to the frame. The third position of the second clamping connecting rod is fixedly connected to the second clamping plate.

2. The insulator gripping device according to claim 1, wherein The frame is fixedly provided with a first frame hinge seat. The second position of the first clamping connecting rod is hinged to the first frame hinge seat. The second position of the claw is hinged to the first frame hinge seat through the claw connecting rod.

3. The insulator gripping device according to claim 1, characterized in that, The frame is fixedly provided with a second frame hinge seat. The second position of the second clamping connecting rod is hinged to the second frame hinge seat.

4. The insulator gripping device according to claim 1, characterized in that The first clamping plate is provided with a first rubber layer.

5. The insulator gripping device according to claim 1, characterized in that, The second clamping plate is provided with a second rubber layer.

6. The insulator gripping device according to claim 1, wherein The first crank connecting rod is fixedly connected with a first hinge seat. The first position of the first clamping connecting rod is hinged to the first hinge seat through a first end connecting rod.

7. The insulator gripping device according to claim 1, wherein, The second crank connecting rod is fixedly connected with a second hinge seat. The first position of the second clamping connecting rod is hinged to the second hinge seat through a second end connecting rod.

8. The insulator grasping device according to claim 1, characterized in that A motor for providing the external rotational power is installed on the frame.

9. An insulator climbing robot, characterized in that, Comprising the insulator grasping device according to any one of claims 1-8.

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