A kind of clamp jaw for unmanned aerial vehicle installation network line insulation sheath

Abstract

The present application relates to a kind of for unmanned aerial vehicle installation network line insulation sheath gripper, belong to the technical field of gripper of mechanical hand follow-up.The gripper includes claw arm, scissor fork lifting frame, moving shaft and connecting rod;Claw arm is in scissor fork lifting frame;The first and second articulation axis of scissor fork lifting frame pass installation block and triangular plate;Installation block fixed mounting plate and screw motor, mounting plate fixed support plate and guide rail;Support plate is equipped with through hole and fixed fixed plate, fixed plate is equipped with transverse waist-shaped hole and passes first connecting rod, second connecting rod, first connecting rod and second connecting rod same side end connect spring;Screw motor is equipped with moving block and screw nut, moving block fixed sliding block and bearing plate;Bearing plate is equipped with vertical waist-shaped hole;Moving shaft is equipped with three perforations and three bearing rods;Connecting rod articulates second bearing rod, first connecting rod and second connecting rod, and third bearing rod is fixed to the two ends of triangular plate.The present application can be installed insulation sheath at low power consumption when power supply, and keep clamping locking state when power off.

Description

Technical Field

[0001] This invention relates to a gripper for installing insulating sheaths on power distribution lines on drones, belonging to the technical field of grippers (B25J15 / 02) that move with the machine. Background Technology

[0002] With the increasing demand for intelligent operation and maintenance of power distribution lines, drones have been widely used for the installation of insulation sheaths at insulation defect points on power distribution lines.

[0003] Currently, most end effectors used in drone insulation sleeve installation operations employ electric grippers. Traditional electric grippers rely on continuous motor drive to complete the entire opening and closing motion. To ensure sufficient clamping force, they often require a high reduction ratio or short lead transmission structure, resulting in lag and slow movement. When the target object is subject to shaking or disturbance, the sluggish gripper movement directly increases the drone's hovering time and energy consumption. Furthermore, excessive clamping delay significantly increases the risk of sleeve slippage, misalignment, and even clamping failure. In addition, traditional electric grippers require continuous power to output torque to maintain clamping and positioning. Especially when the object being clamped is subject to vibration, external impact, or when a large clamping force is required, the gripper must continuously power to compensate for transmission backlash and resist reverse driving forces, leading to increased energy consumption and overheating of the drone.

[0004] The limited onboard power supply capacity of drones means that the continuous energy consumption of the grippers will significantly reduce the overall flight time. Furthermore, traditional electric grippers do not have the ability to maintain voltage during power outages. Once a power outage occurs, the grippers will immediately loosen and retract, causing the gripping state to fail rapidly. This can easily lead to the object being worked on falling and ultimately result in the failure of the operation. Summary of the Invention

[0005] The technical problem to be solved by this invention is: how to achieve low-power and rapid installation of the insulating sleeve when powered on, and how to maintain the clamping and locking state when the power is off.

[0006] The technical solution proposed by this invention to solve the above-mentioned technical problems is: a gripper for installing insulating sheaths on power distribution lines using a drone, comprising two gripper arms, a scissor lift frame, a moving shaft, and two U-shaped connecting rods; the two gripper arms are symmetrically mounted on two fixed shafts at the top of the scissor lift frame; a mounting block is inserted through the middle of the first hinge shaft at the bottom of the scissor lift frame, and triangular plates are fixed at both ends of the second hinge shaft above the first hinge shaft; a mounting plate perpendicular to the first hinge shaft and a lead screw motor are fixed on the top surface of the mounting block, and a horizontal square support plate and a vertical guide rail are fixed on one side of the mounting plate perpendicular to the first hinge shaft; A through hole is provided on the square support plate. Two pairs of fixing plates parallel to the mounting plate are fixed on the top surface of the square support plate. The top of each fixing plate extends beyond the top surface of the mounting plate and has a horizontal oblong hole. A first connecting rod passes through the horizontal oblong hole on one pair of fixing plates, and a second connecting rod passes through the horizontal oblong hole on the other pair of fixing plates. Both ends of the first and second connecting rods extend out of the horizontal oblong hole and are connected to each other by a spring on the same side. A moving block and a lead screw nut are provided on the lead screw of the lead screw motor. The moving block is fixed to the lead screw nut, and a sliding contact with the vertical guide rail is fixed on one side of the moving block. The slider is connected by a lead screw motor that drives its lead screw to rotate and move the moving block up and down on a vertical guide rail. During the movement, the moving block passes through the through hole. Two vertically symmetrical and upright support plates are fixed at intervals on opposite sides of the moving block. Each support plate has a vertical oblong hole. The moving shaft is upright between the support plates. From bottom to top, the moving shaft has a first through hole, a second through hole, and a third through hole at intervals. A first support rod passes through the first through hole, and both ends of the first support rod extend out of the first through hole and rest on the bottom wall of the vertical oblong hole. The moving block moves up and down on the vertical guide rail. The moving shaft is driven to rise and fall; a second bearing rod is inserted through the second through hole, and both ends of the second bearing rod extend out of the second through hole; the open ends of the two U-shaped connecting rods are both hinged to the second bearing rod and the two U-shaped connecting rods are symmetrical to each other along the second bearing rod; the closed ends of the two U-shaped rods are respectively hinged to the first connecting rod and the second connecting rod; the moving shaft is located inside the open ends of the two U-shaped connecting rods and the moving shaft drives the open ends of the two U-shaped connecting rods to rise and fall when it rises and falls; a third bearing rod is inserted through the third through hole, and both ends of the third bearing rod extend out of the third through hole and are respectively fixed to the triangular plate.

[0007] Furthermore, two fixed rods are spaced apart on the third bearing rod, and one end of each fixed rod is hinged to the second hinge shaft; a fourth through hole is provided between the top of the moving shaft and the third through hole, and a fourth bearing rod is provided in the fourth through hole, with both ends of the fourth bearing rod extending out of the fourth through hole and respectively hinged to the other end of the fixed rod.

[0008] Furthermore, two hinge rods are hinged to the triangular plate, one end of each hinge rod is hinged to the triangular plate, and the other end of each hinge rod is fixed to the two claw arms respectively; the hinge rods are respectively parallel to the scissor arms hinged between the fixed axis and the second hinge axis.

[0009] Furthermore, one of the two claw arms has a plurality of first grooves on its clamping surface, and a pin is placed inside the first groove. The head of the pin extends out of the first groove and is provided with a guide groove. A compression spring is provided between the tail of the pin and the bottom of the first groove. The other claw arm has a plurality of second grooves on its clamping surface, and an insulating nail is placed inside the second groove. The tail of the insulating nail extends out of the second groove.

[0010] The beneficial effects of this invention are as follows: By inserting a second bearing rod through the second perforation, the open ends of the two U-shaped connecting rods are hinged to the second bearing rod, and the two U-shaped connecting rods are symmetrical about each other along the second bearing rod. The closed ends of the two U-shaped rods are respectively hinged to the first connecting rod and the second connecting rod. The first connecting rod and the second connecting rod are connected by a spring on the same side. The moving shaft is located inside the open ends of the two U-shaped connecting rods, and when the moving shaft rises and falls, it drives the open ends of the two U-shaped connecting rods to rise and fall, thus forming a bistable mechanism with "open steady state" and "closed steady state". The gripper relies on the minimal potential energy of the bistable structure to maintain the open or closed state, without the need for a screw motor to continuously supply power to maintain the clamping position or clamping force, thereby significantly reducing the average energy consumption and temperature rise during operation, and also avoiding the problems of gripper loosening and stroke retraction that occur when traditional grippers are powered off. Moreover, the bistable mechanism transforms continuous low-speed drive into transient fast action, enabling rapid switching between "open steady state" and "closed steady state", which improves the gripper's response speed and reduces hovering waiting time. Attached Figure Description

[0011] The following description, in conjunction with the accompanying drawings, further illustrates a gripper for installing insulating sheaths on power distribution lines using a drone.

[0012] Figure 1 This is a schematic diagram of the overall structure of the gripper used by the embodiment for installing the insulating sheath of the power distribution line on a drone.

[0013] Figure 2 This is a schematic diagram of a scissor lift frame used in an embodiment for installing insulating sheaths on power distribution lines using grippers on drones.

[0014] Figure 3 yes Figure 2 Enlarged view of point A.

[0015] Figure 4 yes Figure 3 The first disassembly diagram.

[0016] Figure 5 yes Figure 3 The second disassembly diagram.

[0017] Figure 6 yes Figure 3 The third disassembly diagram.

[0018] Figure 7 yes Figure 2 Top view.

[0019] Figure 8 This is a schematic diagram of the clamping surface of the gripper used in the embodiment for installing the insulating sheath of the power distribution line on a drone.

[0020] Figure 9 This is a diagram illustrating the closing process of the gripper used in an embodiment for installing the insulating sheath of a power distribution line on a drone.

[0021] Figure 10 This is a diagram illustrating the opening process of the grippers used in the embodiment for installing the insulating sheath of a power distribution line on a drone.

[0022] In the diagram: 1. Claw arm; 2. Scissor lift frame; 3. Moving shaft; 4. U-shaped connecting rod; 5. Fixed shaft; 6. First hinge shaft; 7. Mounting block; 8. Second hinge shaft; 9. Triangular plate; 10. Mounting plate; 11. Screw motor; 12. Square support plate; 13. Vertical guide rail; 14. Through hole; 15. Fixed plate; 16. Horizontal oblong hole; 17. First connecting rod; 18. Second connecting rod; 19. Spring; 20. Moving block; 21. Slider; 22. Support plate; 23. Vertical oblong hole; 24. First through hole; 25. Second through hole; 26. Third through hole; 27. First support rod; 28. Second support rod; 29. ​​Third support rod; 30. Fixing rod; 31. Fourth through hole; 32. Fourth support rod; 33. Hinge rod; 34. Scissor arm; 35. First groove; 36. Pin; 37. Guide groove; 38. Compression spring; 39. Second groove; 40. Insulating nail; 41. Insulating sleeve. Detailed Implementation

[0023] Example

[0024] This embodiment describes a gripper for installing insulating sheaths on power distribution lines using a drone, such as... Figure 1 , 2 As shown, it includes two claw arms 1, a scissor lift frame 2, a moving shaft 3, and two U-shaped connecting rods 4; the fixed ends of the two claw arms 1 are symmetrically mounted on two fixed shafts 5 at the top of the scissor lift frame 2; a mounting block 7 passes through the middle of the first hinge shaft 6 at the bottom of the scissor lift frame 2, and triangular plates 9 are fixed at both ends of the second hinge shaft 8 above the first hinge shaft 6; as shown... Figure 3 , 4As shown in Figures 5 and 6, a mounting plate 10 perpendicular to the first hinge shaft 6 and a lead screw motor 11 are fixed on the top surface of the mounting block 7. A horizontal square support plate 12 and a vertical guide rail 13 are fixed on one side of the mounting plate 10 perpendicular to the first hinge shaft 6. A through hole 14 is provided on the square support plate 12. Two pairs of fixing plates 15 parallel to the mounting plate 10 are fixed on the top surface of the square support plate 12. The four fixing plates 15 are respectively fixed at the four corners of the top surface of the square support plate 12. The top of each fixing plate 15 extends beyond the top surface of the mounting plate 10 and is provided with a horizontal oblong hole 16. A first connecting rod 17 passes through a transverse oblong hole 16 on plate 15, and a second connecting rod 18 passes through a transverse oblong hole 16 on another pair of fixed plates 15. Both ends of the first connecting rod 17 and the second connecting rod 18 extend out of the transverse oblong hole 16 and are connected on the same side by a spring 19. A moving block 20 and a lead screw nut pass through the lead screw of the lead screw motor 11. The moving block 20 is fixed to the lead screw nut. A slider 21 that slides with the vertical guide rail 13 is fixed on one side of the moving block 20. The lead screw motor 11 drives its own lead screw to rotate and drives the moving block 21. The moving block 21 moves up and down on the vertical guide rail 13, passing through the through hole 14 during the movement. Two vertically symmetrical and upright support plates 22 are fixed to the opposite side of the moving block 21, which is fixed with the slider 21. Each support plate 22 has a vertical waist-shaped hole 23. The moving shaft 3 stands between the two support plates 22. From its bottom to its top, the moving shaft 3 has a first through hole 24, a second through hole 25, and a third through hole 26 spaced apart. A first support rod 27 passes through the first through hole, and both ends of the first support rod 27 extend out of the first through hole 24 and rest on the two vertical waist-shaped holes respectively. On the bottom wall of the shaped hole 23, the moving block 20 drives the moving shaft 3 to rise and fall when it moves up and down on the vertical guide rail; a second bearing rod 28 is inserted into the second through hole 25, and both ends of the second bearing rod 28 extend out of the second through hole 26; the open ends of the two U-shaped connecting rods 4 are both hinged to the second bearing rod 28 and the two U-shaped connecting rods are symmetrical about each other along the second bearing rod 28, and the closed ends of the two U-shaped connecting rods 4 are respectively hinged to the first connecting rod 17 and the second connecting rod 18. The moving shaft 3 is located inside the open ends of the two U-shaped connecting rods 4 and drives the open ends of the two U-shaped connecting rods 4 to rise and fall when the moving shaft 3 moves up and down; Figure 7 As shown, a third bearing rod 29 is inserted through the third through hole 26, and both ends of the third bearing rod 29 extend out of the third through hole 26 and are respectively fixed to the triangular plate 9.

[0025] like Figure 7 As shown, two fixed rods 30 are also spaced through the third bearing rod 29, and one end of each fixed rod 30 is hinged to the second hinge shaft 8; a fourth through hole 31 is also provided between the top of the moving shaft 3 and the third through hole 26, and a fourth bearing rod 32 is provided inside the fourth through hole 31. The two ends of the fourth bearing rod 32 extend out of the fourth through hole 31 and are respectively hinged to the other end of the fixed rod 30.

[0026] like Figure 1 As shown, two hinge rods 33 are also hinged to the triangle plate 9. One end of each hinge rod 33 is hinged to the triangle plate 9, and the other end of each hinge rod 33 is fixed to one of the two claw arms 1. The hinge rods 33 are parallel to the scissor arms 34 that are hinged between the fixed axis 5 and the second hinge axis 8.

[0027] like Figure 8 As shown, one of the two claw arms 1 has multiple first grooves 35 on its clamping surface. A pin 36 is placed inside each first groove 35, with the pin head extending out of the first groove 35 and having a guide groove 37. A compression spring 38 is provided between the pin tail and the bottom of the first groove 35. The other claw arm 1 has multiple second grooves 39 on its clamping surface. An insulating nail 40 is placed inside each second groove 39, with the nail tail extending out of the second groove 39. Before installing the insulating sleeve, the through holes at both ends of the insulating sleeve 41 are passed through the top cap of the pin 36 and the nail tail of the insulating nail 40, respectively, so that both ends of the insulating sleeve 41 are fixed to the clamping surfaces of the two claw arms 1.

[0028] When installing the insulating sleeve, the lead screw motor 11 drives its lead screw to rotate forward, causing the moving shaft 3 to rise on the vertical guide rail 13. This causes the open ends of the two U-shaped connecting rods 4 to rise and the closed ends to move away from each other, stretching the spring 19. Figure 9 As shown, when the two U-shaped connecting rods 4 reach a horizontal state, the spring 19 is stretched to its maximum length. As the lead screw continues to rotate forward, the spring 19 instantly rebounds and contracts, causing the open ends of the two U-shaped connecting rods 4 to instantly tilt upwards, and the moving shaft 3 to instantly push upwards, thereby causing the two claw arms 1 to quickly close. When the two claw arms 1 close quickly, the insulating nail 40 enters the guide groove 37 and presses the pin 36. After the pin 36 is fully inserted into the first groove 35, the insulating sleeve 41 is fixedly installed on the power distribution line by the insulating nail 40.

[0029] After the insulating sheath is fixedly installed on the power distribution line, the lead screw motor 11 drives its lead screw to reverse, causing the moving shaft 3 to descend on the vertical guide rail 13. This causes the open ends of the two U-shaped connecting rods 4 to descend and the closed ends to move away from each other, and the spring 19 is stretched again. Figure 10 As shown, when the two U-shaped connecting rods 4 reach the horizontal position again, the spring 19 is stretched to its longest position again. As the lead screw continues to reverse, the spring 19 rebounds and contracts instantly, causing the open ends of the two U-shaped connecting rods 4 to move down instantly. The moving shaft 3 pushes down instantly, thereby causing the two claw arms 1 to open rapidly.

[0030] The gripper in this embodiment uses a bistable drive structure consisting of a moving shaft, a U-shaped link, and a spring. This enables the gripper to have comprehensive performance characteristics, including switching power consumption, self-locking retention when power is off, and rapid opening and closing across steady states. It overcomes the problems of traditional grippers that require continuous power supply, are prone to failure and retraction when power is off, and have limited opening and closing speed. It is particularly suitable for drone terminal, power-limited, and high-safety-requirement operation scenarios.

[0031] The above are merely preferred embodiments of the present invention, but the present invention is not limited thereto. All equivalent substitutions or modifications made to the concepts and technical solutions of the present invention should be covered within the protection scope of the present invention.

Claims

1. A gripper for installing insulating sheaths on power distribution lines using a drone, comprising two gripper arms, a scissor lift frame, a moving shaft, and two U-shaped connecting rods; characterized in that... The two claw arms are symmetrically mounted on two fixed shafts at the top of the scissor lift frame; a mounting block is inserted through the middle of the first hinge shaft at the bottom of the scissor lift frame, and triangular plates are fixed to both ends of the second hinge shaft above the first hinge shaft; a mounting plate perpendicular to the first hinge shaft and a lead screw motor are fixed to the top surface of the mounting block, and a horizontal square support plate and a vertical guide rail are fixed to one side of the mounting plate perpendicular to the first hinge shaft; a through hole is opened on the square support plate, and two pairs of fixed plates parallel to the mounting plate are fixed to the top surface of the square support plate, with the tops of the fixed plates extending beyond... The mounting plate has a horizontal oblong hole on its top surface; a first connecting rod passes through the horizontal oblong hole on one pair of fixing plates, and a second connecting rod passes through the horizontal oblong hole on the other pair of fixing plates. Both ends of the first and second connecting rods extend out of the horizontal oblong hole and are connected by a spring on the same side. A moving block and a screw nut pass through the screw of the lead screw motor. The moving block is fixed to the screw nut. A slider that slides with the vertical guide rail is fixed on one side of the moving block. The lead screw motor drives its own screw to rotate and drives the moving block to move along the vertical guide rail. The moving block moves upwards and downwards, passing through the through hole during the movement. Two vertically symmetrical and upright support plates are fixed at intervals on opposite sides of the moving block, each with a vertical oblong hole. The moving shaft stands vertically between the support plates, and from its bottom to its top, it has a first through hole, a second through hole, and a third through hole spaced apart. A first support rod passes through the first through hole, with both ends extending out of the first through hole and resting on the bottom wall of the vertical oblong hole. The moving block moves upwards and downwards on the vertical guide rail, causing the moving shaft to move upwards and downwards. The second through hole... A second bearing rod is inserted through the second through hole, with both ends of the second bearing rod extending out of the second through hole; the open ends of the two U-shaped connecting rods are both hinged to the second bearing rod, and the two U-shaped connecting rods are symmetrical to each other along the second bearing rod; the closed ends of the two U-shaped rods are respectively hinged to the first connecting rod and the second connecting rod; the moving shaft is located inside the open ends of the two U-shaped connecting rods, and when the moving shaft rises and falls, it drives the open ends of the two U-shaped connecting rods to rise and fall; a third bearing rod is inserted through the third through hole, with both ends of the third bearing rod extending out of the third through hole and respectively fixed to the triangular plate.

2. The gripper according to claim 1, characterized in that: Two fixed rods are spaced apart on the third bearing rod, and one end of each fixed rod is hinged to the second hinge shaft; a fourth through hole is provided between the top of the movable shaft and the third through hole, and a fourth bearing rod is provided in the fourth through hole. The two ends of the fourth bearing rod extend out of the fourth through hole and are respectively hinged to the other end of the fixed rod.

3. The gripper according to claim 1, characterized in that: Two hinge rods are hinged to the triangular plate. One end of each hinge rod is hinged to the triangular plate, and the other end of each hinge rod is fixed to the two claw arms. The hinge rods are parallel to the scissor arms that are hinged between the fixed axis and the second hinge axis.

4. The gripper according to claim 1, characterized in that: One of the two claw arms has a plurality of first grooves on its clamping surface. A pin is placed inside the first groove. The head of the pin extends out of the first groove and has a guide groove. A compression spring is provided between the tail of the pin and the bottom of the first groove. The other claw arm has a plurality of second grooves on its clamping surface. An insulating nail is placed inside the second groove. The tail of the insulating nail extends out of the second groove.

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