Clamping mechanism

Abstract

The utility model relates to the technical field of robots, and provides a clamping mechanism which comprises a bottom plate, a vertical plate, a clamping jaw, a movable block, a connecting rod and a vertical rod which are installed on a robot body, the robot body is provided with an annular belt capable of circularly rotating, the vertical rod penetrates through the bottom plate and the annular belt, and a transverse rod is arranged at the lower end of the vertical rod. The clamping mechanism is characterized in that a transverse rod is arranged on the base plate, guide wheels are arranged at the two ends of the transverse rod, the guide wheels are rotationally connected with the transverse rod, a spring is arranged on the vertical rod in a sleeving mode and located between the movable block and the base plate, and guide grooves matched with the guide wheels are formed in the inner side of the robot body. The clamping jaws can be accurately controlled to be opened and closed, the opening and closing stability of the clamping jaws can be improved, the stability of the clamping jaws can be improved through the arranged springs, the situation that the clamping jaws shake is avoided, meanwhile, the closing stability of the clamping jaws can be improved through the arranged protrusions and grooves, and a steel cable can be effectively limited between the two clamping jaws.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a clamping mechanism. Background Art

[0002] When a wiring robot is laying circuits, electrical cables, optical cables, and communication lines at high altitudes, the robot can move on the steel cable between two utility poles and drive the cables to move through the cyclic movement and opening and closing of multiple clamping mechanisms evenly arranged on its outer surface. When the existing clamping mechanism is in use, the opening and closing stability of the clamping claws in the clamping mechanism is poor, and clamping failure is prone to occur, affecting the normal use of the robot. Utility Model Content

[0003] The purpose of the present invention is to provide a clamping mechanism, aiming to solve the problems mentioned in the above background technology.

[0004] Material toggling mechanism, its both ends are connected with the up-down knob.The knobby handle is hinged on the top of two supporting plates, and each supporting plate has a latching portion, and a latching portion is fixed to the supporting plate to latch on the supporting plate. The knobby handle is hinged on two supporting plates, and each supporting plate has a latching portion.

[0005] Preferably, an arc-shaped protrusion is provided on the upper end of one of the clamping jaws, and a groove for accommodating the protrusion is provided on the other clamping jaw.

[0006] The beneficial effects of the utility model are:

[0007] When the clamping mechanism is in use, since the guide wheel is always located inside the guide groove, the opening and closing of the clamping jaws can be accurately controlled to improve the stability of the opening and closing. The spring provided can improve the stability of the clamping jaws to avoid shaking of the clamping jaws. At the same time, the protrusions and grooves provided can improve the closing stability of the clamping jaws, and the steel cable can be effectively confined between the two clamping jaws, with good use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural schematic diagram of a specific embodiment of the utility model.

[0009] Figure 2It is a structural diagram of a V-shaped plate.

[0010] Figure 3 It is a structural diagram of the guide groove.

[0011] Figure 4 yes Figure 3 A partial enlarged view of point A in the middle.

[0012] Figure 5 This is a schematic diagram of the robot body when in use.

[0013] In the figure: 1. Steel cable; 2. Optical cable; 3. Horizontal plate; 4. V-shaped plate; 5. Main shaft; 6. Spur gear; 7. Mounting shell; 8. Servo motor; 9. Main bevel gear; 10. Slave bevel gear; 11. Annular belt; 12. Cover shell; 13. Battery pack; 14. Bottom plate; 15. Vertical plate; 16. Clamping jaw; 17. Movable block; 18. Connecting rod; 19. Vertical rod; 20. Horizontal bar; 21. Guide wheel; 22. Spring; 23. Guide groove; 24. Support plate; 25. Horizontal axis; 26. End plate; 27. Fixed plate. DETAILED DESCRIPTION

[0014] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0015] like Figure 1-5 As shown, a clamping mechanism includes a base plate 14 mounted on the robot body, and vertical plates 15 are respectively provided on both sides of the upper surface of the base plate 14. The two vertical plates 15 are respectively rotatably connected with arc-shaped clamping claws 16, and also include a movable block 17 and a connecting rod 18 for connecting the movable block 17 and the clamping claw 16. The two ends of the connecting rod 18 are rotatably connected with the movable block 17 and the clamping claw 16 respectively. The lower end of the movable block 17 is provided with a vertical rod 19, and the robot body has a cyclically rotatable annular belt 11. The vertical rod 19 passes through the base plate 14 and the annular belt 11, and the lower end of the vertical rod 19 is provided with a cross bar 20. Guide wheels 21 are provided at both ends of the cross bar 20, and the guide wheel 21 is rotatably connected to the cross bar 20. A spring 22 is sleeved on the vertical rod 19, and the spring 22 is located between the movable block 17 and the base plate 14. A guide groove 23 cooperating with the guide wheel 21 is provided on the inner side of the robot body, and the guide wheel 21 is located inside the guide groove 23.

[0016] The robot body includes two horizontal plates 3, and V-shaped plates 4 are respectively provided on both sides of the two horizontal plates 3. The two ends of the V-shaped plates 4 are respectively fixedly connected to the two ends of the horizontal plates 3. It also includes a main shaft 5 respectively arranged between the two ends of the two horizontal plates 3 and between the two V-shaped plates 4, and a spur gear 6 is respectively provided at both ends of the main shaft 5. A mounting shell 7 is provided between the two adjacent V-shaped plates 4, and a servo motor 8 is provided inside the mounting shell 7. The output end of the servo motor 8 is provided with a main bevel gear 9, and a slave bevel gear 10 meshing with the main bevel gear 9 is provided on the main shaft 5. It also includes an annular belt 11 meshing with the spur gear 6. When it is necessary to control the annular belt 11 to rotate on the support frame, the servo motor 8 is first controlled to start, and the servo motor 8 drives the main bevel gear 9 to rotate, and through the meshing of the main bevel gear 9 and the slave bevel gear 10, the main shaft 5 is driven to rotate, and then the spur gear 6 is driven to rotate, and the annular belt 11 is driven to rotate on the support frame through meshing with the annular belt 11.

[0017] The robot body also includes a cover 12 arranged on the outside of the V-shaped plate 4. A battery pack 13 is arranged on the outside of the cover 12. The cover 12 is used to close the openings on both sides of the annular belt 11 to prevent foreign objects from entering the annular belt 11 and affecting the use of the annular belt 11. The battery pack 13 is used to power the servo motor 8. There are two battery packs 13, which are respectively arranged on both sides of the annular belt 11, which is beneficial for the robot to maintain balance and can improve the robot's endurance.

[0018] The bottom plate 14 is set on the annular belt 11, and the guide groove 23 is set on the inner side of the cross plate 3 and the V-shaped plate 4. When the annular belt 11 rotates under the action of the servo motor 8, the guide wheels 21 at both ends of the cross bar 20 are always located in the guide groove 23, and the cross bar 20 and the guide wheel 21 are rotatably connected, thereby reducing the moving resistance of the guide wheel 21 in the guide groove 23 and improving the smoothness of the rotation of the annular belt 11.

[0019] When the guide wheel 21 is in the guide groove 23 on one side of the transverse plate 3, the two clamps 16 on the same base plate 14 are in a closed state, and when the guide wheel 21 is in the guide groove 23 on one side of the V-shaped plate 4, the two clamps 16 are in an open state, so that when the guide wheel 21 moves from the guide groove 23 on one side of the V-shaped plate 4 to the guide groove 23 on one side of the transverse plate 3, the two clamps 16 are changed from an open state to a closed state, and in this process, the steel cable 1 can enter between the two clamps 16, and when the guide wheel 21 moves from the guide groove 23 on one side of the transverse plate 3 to the guide groove 23 on one side of the V-shaped plate 4, the two clamps 16 are changed from a closed state to an open state, so that the steel cable 1 located between the two clamps 16 can be moved out from between the two clamps 16, so that the robot body can move along the steel cable 1.

[0020] Since the guide wheel 21 can move in the guide groove 23 , the spring 22 can ensure that the guide wheel 21 is always in contact with the outer edge of the guide groove 23 , thereby improving the stability of the clamping jaw 16 .

[0021] Furthermore, an arc-shaped protrusion is provided on the upper end of one of the jaws 16, and a groove for accommodating the protrusion is provided on the other jaw 16. By providing the protrusion and the groove, the contact area of ​​the two jaws 16 is increased, and the matching stability of the two jaws 16 can be improved, so that the steel cable 1 can be effectively confined within the space enclosed by the two jaws 16.

[0022] The robot body also includes support plates 24 arranged at both ends of the upper surface of one of the cover shells 12 and at one end of the upper surface of the other cover shell 12. A horizontal axis 25 is provided at the upper end of the support plate 24. The horizontal axes 25 on the two adjacent support plates 24 are provided with end plates 26. A fixing plate 27 is provided on the other support plate 24. The two horizontal axes 25 on the two support plates 24 on the same side of the same cover shell 12 are at the same horizontal height. The horizontal height of the horizontal axis 25 on the other cover shell 12 is lower than that of the other two horizontal axes 25. The horizontal axis 25 with a lower horizontal height is used to allow the optical cable 2 to bypass. After the optical cable 2 bypasses the horizontal axis 25, one end of the optical cable 2 is fixed on the fixing plate 27, and the other two horizontal axes 25 are hung on the steel cable 1.

[0023] When pulling the optical cable 2, first pass one end of the optical cable 2 around the horizontal axis 25 with the lowest horizontal height, then fix the front end of the optical cable 2 on the fixing plate 27, then place the steel cable 1 under the two horizontal axes 25 with the same horizontal height, so that the robot can be suspended on the two horizontal axes 25, and then start the servo motor 8. At the beginning, the steel cable 1 is located on the side of the clamping claw 16 that has completed the clamping. As the endless belt 11 continues to rotate, the newly closed clamping claw 16 can continuously clamp the steel cable 1, so that the robot body The clamping jaws 16 can continuously clamp and release the steel cable 1. When the clamping jaws 16 are closed, the steel cable 1 is located between the two clamping jaws 16. At the same time, when the steel cable 1 contacts the inner top of the clamping jaws 16, the level of the steel cable 1 at the contact position is lower than the level of the contact position of the steel cable 1 and the horizontal axis 25. This ensures that there is sufficient friction between the clamping jaws 16 and the steel cable 1, so that the endless belt 11 can continuously rotate. By controlling the closing and opening of the two clamping jaws 16, the robot can move on the steel cable 1, thereby pulling the optical cable 2 to move.

[0024] In the description of this utility model, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

Claims

1. A clamping mechanism, characterized in that: Material toggling mechanism, its both ends are connected with the up-down knob, and the knobby handle is hinged on the top of two supporting plates, and each supporting plate has a lockhole, and the locking plate is hinged on two supporting plates, and the locking plate is hinged on two supporting plates.

2. The clamping mechanism according to claim 1, wherein: An arc-shaped protrusion is provided on the upper end of one of the clamping jaws, and a groove for accommodating the protrusion is provided on the other clamping jaw.

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