Clamping device of automatic six-degree-of-freedom transferring robot for water conservancy and hydropower pipelines

Abstract

The invention relates to a clamping device of an automatic six-degree-of-freedom transferring robot for water conservancy and hydropower pipelines. The clamping device comprises a fixing plate and clamping mechanisms, wherein the clamping mechanisms are positioned under the fixing plate and are linearly distributed along the transverse central axis of the fixing plate at equal intervals; and each clamping mechanism comprises a guide sliding rail, first sliders, an upper gripper jaw, a lower gripper jaw, extension springs, connecting screw bolts, second sliders, a hydraulic cylinder, a moving lug, a moving swivel pin, a pneumatic push rod, a fixed lug and a fixed swivel pin. The clamping device can realize the operations of gripping and stacking water conservancy and hydropower pipelines, is high in automation degree, stable and flexible in running and high in operation efficiency, and solves the problems of high manual transferring operation cost, low efficiency, high risk and the like. At the same time, as the clamping device is adjustable in horizontal distance as well as vertical distance, water conservancy and hydropower pipelines with different diameters can be conveniently gripped, gripping and clamping are convenient and rapid, clamping is stable and firm in the transferring process, slip is not prone to occur, and the safety is great.

Description

technical field [0001] The invention relates to the field of water conservancy and hydropower engineering machinery, in particular to a clamping device for an automatic six-degree-of-freedom water conservancy and hydropower pipeline handling robot. Background technique [0002] Hydropower belongs to the term of water conservancy science and technology, which means water and electricity, hydropower generation, etc. Hydropower is clean energy, renewable, pollution-free, low operating cost, convenient for power peak regulation, and conducive to improving resource utilization and comprehensive economic and social benefits . Under the situation that the earth's traditional energy resources are becoming increasingly tense, countries around the world generally give priority to the development of hydropower and vigorously utilize water energy resources; China ranks first in the world in terms of both the proven reserves of water energy resources and the potential development of wate...

AI Technical Summary

Problems solved by technology

[0003] The most involved and common project in water conservancy and hydropower projects is pipeline laying, and the pipelines used in water conservancy and hydropower projects are all heavy-duty and large-diameter pipelines. It is difficult for vehicles to enter, and now the pipelines used in water conservancy and hydropower are mostly manually lifted or rolled, which not only takes up a lot of labor, but also has high transportation costs, and the efficiency of transportation and stacking is low. At the same time, the process is likely to cause certain dangers security incident

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