CN105856251A - Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines - Google Patents
Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines Download PDFInfo
- Publication number
- CN105856251A CN105856251A CN201610351905.2A CN201610351905A CN105856251A CN 105856251 A CN105856251 A CN 105856251A CN 201610351905 A CN201610351905 A CN 201610351905A CN 105856251 A CN105856251 A CN 105856251A
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- Prior art keywords
- gripper jaw
- clamping device
- parallel mechanism
- fixed
- freedom parallel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a clamping manipulator of an industrial robot for stacking water conservancy engineering pipelines. The clamping manipulator comprises a three-degree-of-freedom parallel mechanism and a clamping device, wherein the three-degree-of-freedom parallel mechanism is positioned right above the clamping device, and the lower end of the three-degree-of-freedom parallel mechanism is connected with the clamping device. The clamping manipulator can realize one series of operations on water conservancy and hydropower pipelines, such as gripping, transferring and stacking, is high in automation degree and high in operation efficiency and solves the problems of high manual transferring operation cost, low efficiency, high risk and the like. Compared with a serial mechanism, the three-degree-of-freedom parallel mechanism has the advantages of high rigidity, flexible motion, stable structure, high bearing capability and high micromotion precision. The three-degree-of-freedom parallel mechanism adopts a 3-RPS parallel mechanism form, the whole clamping device can be driven through the three-degree-of-freedom parallel mechanism to make one-translation and two-rotation motion in a space in three-degree-of-freedom directions, and the three-degree-of-freedom parallel mechanism is mainly used for partial microsize regulation when the clamping manipulator carries out the operation of transferring and stacking the water conservancy and hydropower pipelines.
Description
Technical field
The present invention relates to Hydraulic and Hydro-Power Engineering mechanical field, a kind of hydraulic engineering pipe fitting piling industrial robot clamping manipulator.
Background technology
Water power belongs to water economic system noun, is meant that water and electricity, hydroelectric generation etc.；Water power is clean energy resource, renewable, pollution-free, operating cost is low, it is simple to carry out power peak regulation, is conducive to improving resource utilization and the comprehensive benefit of economic society.In the case of earth traditional energy growing tension, countries in the world universal preferential development water power, utilize hydraulic power potentials energetically；The most explored potential hydroenergy of China, or the hydraulic power potentials that may develop, all rank first in the world.Hydroelectric resources is the superior resources of China, and hydroelectric resource development is the requirement of energy industry development and structural adjustment, is that land resources utilize and the requirement of regional economy development, is the requirement of national environmental protection and sustainable development.Through construction and the practice of decades, China's hydropower technology is the most at the forefront in the world, it is sufficient to support the flourish of hydropower Industry.The reform of State Grid's system and the diversification of water power investment subject, will inject new vitality to the development of hydropower Industry.Along with the economic and further development of society, the raising day by day of environmental requirement, optimizing and revising of electric structure, and the implementing in full of strategy to develop western regions, China's hydropower Industry welcomes development opportunity to be increased.
Hydraulic and Hydro-Power Engineering relates to most be also modal engineering be exactly pipe laying, and the pipeline used in Hydraulic and Hydro-Power Engineering is all heavy large-diameter pipeline, in Hydraulic and Hydro-Power Engineering, construction site is all rugged hollow area, general wheeled vehicle is difficult to enter, and fortune or rolling fortune is manually lifted now for the many employings of the pipeline used in water conservancy and hydropower, the most not only occupy substantial amounts of labour, landed cost is high, and carry stacking efficiency low, its interprocedual easily causes certain dangerous security incident simultaneously.In consideration of it, the invention provides a kind of hydraulic engineering pipe fitting piling industrial robot clamping manipulator.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of hydraulic engineering pipe fitting piling industrial robot clamping manipulator.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of hydraulic engineering pipe fitting piling industrial robot clamping manipulator, including 3-freedom parallel mechanism and clamping device；Described 3-freedom parallel mechanism is positioned at directly over clamping device, and 3-freedom parallel mechanism lower end is connected with clamping device.
As a further improvement on the present invention, described 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring, and the quantity of ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring is three；Described fixed platform and moving platform the most rounded shape structure, and moving platform is positioned at immediately below fixed platform, ear mount is positioned on the upper surface of fixed platform, and the installation angle between ear mount is 60 degree, connect seat to be positioned on moving platform lower surface, and ear mount distinguishes one_to_one corresponding with being connected seat；Described electric pushrod bottom is arranged in ear mount by rotating shaft, and electric pushrod top is attached by spherical hinge with being connected between seat, and limit spring is around being enclosed within electric pushrod upper end；During specific works, the motion of moving platform can be driven by pumping of electric pushrod, and jitter when reducing 3-freedom parallel mechanism motion by limit spring, add the stationarity of 3-freedom parallel mechanism motion, 3-freedom parallel mechanism is big with serial mechanism phase specific stiffness, motion is flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, 3-freedom parallel mechanism uses the form of the parallel institution of 3-RPS, drive whole clamping device can carry out a translation two in space by 3-freedom parallel mechanism and rotate the motion in three degree of freedom direction altogether, 3-freedom parallel mechanism be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As a further improvement on the present invention, described clamping device includes fixed plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at immediately below fixed plate, and clamping device is linearly equally spaced along the central transverse axis of fixed plate；Described clamping device include directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connecting stud, the second slide block, hydraulic cylinder, mobile ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；nullDescribed directive slide track is strip structure，And the directive slide track left and right sides is respectively arranged with baffle plate，Directive slide track vertical cross section is I-shaped structure，First slide block is arranged on directive slide track，And first slide block be respectively symmetrically layout along the central axis of directive slide track，Upper gripper jaw upper end is fixed on immediately below the first slide block，And upper gripper jaw is quadrant shape column structure，Lower gripper jaw is positioned at immediately below gripper jaw，Lower gripper jaw is also quadrant shape column structure，Stretching spring is between upper gripper jaw and lower gripper jaw，And stretching spring is arranged side by side between upper gripper jaw and lower gripper jaw，Stretching spring upper end is connected with upper gripper jaw lower surface by connecting stud，Stretching lower spring end is connected with lower gripper jaw upper surface by connecting stud，Second slide block is positioned at outside the first slide block，And second slide block be arranged on directive slide track，Hydraulic cylinder upper end is fixed on the second slide block，And hydraulic cylinder uses single-acting single-stage telescoping hydraulic cylinder，Hydraulic cylinder lower end is fixed with mobile ear mount，Mobile shipping and reselling on another market is used to be attached between air-leg one end and mobile ear mount，The air-leg other end is connected with fixed ear base by fixing swing pin，Fixed ear base is fixed on lower gripper jaw lateral wall，And move ear mount and the most U-shaped structure of fixed ear base；During specific works, first pass through clamping diameter when directive slide track, the first slide block and the second slide block adjustment gripping apparatus grips；Then upper gripper jaw and lower gripper jaw are placed into the outside of water conservancy and hydropower pipeline to be handled, wherein on the one hand stretching spring serves clamping diameter dimension when the present invention clamps water conservancy and hydropower pipeline and adjusts the effect of change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；Drive the lower gripper jaw compressional movement to inner side by the stretching routine of air-leg again, further water conservancy and hydropower pipeline is clamped, prevent the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower gripper jaw extension movement laterally by the contractile motion of air-leg so that lower gripper jaw opens, and is discharged by water conservancy and hydropower pipeline.
Compared with prior art, the invention have the advantages that
(1) present invention can realize the crawl to water conservancy and hydropower pipeline, carry and a series of operations such as stacking, and automaticity is high, stable movement is flexible, operating efficiency is high, the problem such as solve that a dead lift operating cost is high, efficiency is low and danger is big.
(2) 3-freedom parallel mechanism of the present invention is big with serial mechanism phase specific stiffness, motion is flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, 3-freedom parallel mechanism uses the form of the parallel institution of 3-RPS, driving whole clamping device can carry out a translation two in space by 3-freedom parallel mechanism and rotate the motion in altogether three degree of freedom direction, 3-freedom parallel mechanism is mainly used in the present invention and carries out the minute sized adjustment in local when operation is stacked in the carrying of water conservancy and hydropower pipeline.
(3) clamping device level interval and the vertical interval of the present invention are the most adjustable, it is simple to capture the water conservancy and hydropower pipeline of different-diameter size, and capture and stack fast and easy, and in handling process, clamping is stable firmly, are difficult to slip, and security is good.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the front view of 3-freedom parallel mechanism of the present invention；
Fig. 3 is the perspective view of clamping device of the present invention；
Fig. 4 is the perspective view of clamping device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with being specifically illustrating, the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of hydraulic engineering pipe fitting piling industrial robot clamping manipulator, including 3-freedom parallel mechanism 4 and clamping device 5；Described 3-freedom parallel mechanism 4 is positioned at directly over clamping device 5, and 3-freedom parallel mechanism 4 lower end is connected with clamping device 5.
As depicted in figs. 1 and 2, described 3-freedom parallel mechanism 4 includes fixed platform 41, moving platform 42, ear mount 43, rotating shaft 44, electric pushrod 45, spherical hinge 46, connects seat 47 and limit spring 48, and the quantity of ear mount 43, rotating shaft 44, electric pushrod 45, spherical hinge 46, connection seat 47 and limit spring 48 is three；Described fixed platform 41 and moving platform 42 the most rounded shape structure, and moving platform 42 is positioned at immediately below fixed platform 41, ear mount 43 is positioned on the upper surface of fixed platform 41, and the installation angle between ear mount 43 is 60 degree, connect seat 47 to be positioned on moving platform 42 lower surface, and ear mount 43 distinguishes one_to_one corresponding with being connected seat 47；Described electric pushrod 45 bottom is arranged in ear mount 43 by rotating shaft 44, and electric pushrod 45 top is attached by spherical hinge 46 with being connected between seat 47, and limit spring 48 is around being enclosed within electric pushrod 45 upper end；During specific works, the motion of moving platform 42 can be driven by pumping of electric pushrod 45, and reduce jitter when 3-freedom parallel mechanism 4 moves by limit spring 48, add the stationarity of 3-freedom parallel mechanism 4 motion, 3-freedom parallel mechanism 4 is big with serial mechanism phase specific stiffness, motion is flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, 3-freedom parallel mechanism 4 uses the form of the parallel institution of 3-RPS, drive whole clamping device 5 can carry out a translation two in space by 3-freedom parallel mechanism 4 and rotate the motion in three degree of freedom direction altogether, 3-freedom parallel mechanism 4 be mainly used in the present invention carry out water conservancy and hydropower pipeline carrying stack operation time the minute sized adjustment in local.
As shown in Figure 3 and Figure 4, described clamping device 5 includes fixed plate 51 and clamping device 52, and clamping device 52 quantity is three；Described clamping device 52 is positioned at immediately below fixed plate 51, and clamping device 52 is linearly equally spaced along the central transverse axis of fixed plate 51；Described clamping device 52 includes directive slide track the 521, first slide block 522, upper gripper jaw 523, lower gripper jaw 524, stretching spring 525, connecting stud the 526, second slide block 527, hydraulic cylinder 528, mobile ear mount 529, mobile ship and resell on another market 5210, air-leg 5211, fixed ear base 5212 and fixing swing pin 5213；nullDescribed directive slide track 521 is in strip structure，And directive slide track 521 left and right sides is respectively arranged with baffle plate，Directive slide track 521 vertical cross section is I-shaped structure，First slide block 522 is arranged on directive slide track 521，And first slide block 522 be respectively symmetrically layout along the central axis of directive slide track 521，Upper gripper jaw 523 upper end is fixed on immediately below the first slide block 522，And upper gripper jaw 523 is in quadrant shape column structure，Lower gripper jaw 524 is positioned at immediately below gripper jaw 523，Lower gripper jaw 524 is also quadrant shape column structure，Stretching spring 525 is between upper gripper jaw 523 and lower gripper jaw 524，And stretching spring 525 is arranged side by side between upper gripper jaw 523 and lower gripper jaw 524，Stretching spring 525 upper end is connected with upper gripper jaw 523 lower surface by connecting stud 526，Stretching spring 525 lower end is connected with lower gripper jaw 524 upper surface by connecting stud 526，Second slide block 527 is positioned at outside the first slide block 522，And second slide block 527 be arranged on directive slide track 521，Hydraulic cylinder 528 upper end is fixed on the second slide block 527，And hydraulic cylinder 528 uses single-acting single-stage telescoping hydraulic cylinder，Hydraulic cylinder 528 lower end is fixed with mobile ear mount 529，Mobile shipping and reselling on another market is used 5210 to be attached between air-leg 5211 one end and mobile ear mount 529，Air-leg 5211 other end is connected with fixed ear base 5212 by fixing swing pin 5213，Fixed ear base 5212 is fixed on lower gripper jaw 5247 lateral wall，And move ear mount 529 and the most U-shaped structure of fixed ear base 5212；During specific works, first pass through directive slide track the 521, first slide block 522 and clamping diameter time the second slide block 527 adjusts gripping apparatus grips；Then upper gripper jaw 523 and lower gripper jaw 524 are placed into the outside of water conservancy and hydropower pipeline to be handled, wherein stretching spring 525 1 aspect serves clamping diameter dimension when the present invention clamps water conservancy and hydropower pipeline and adjusts the effect of change, the effect resetted after on the other hand serving clamping water conservancy and hydropower pipeline；Drive the lower gripper jaw 524 compressional movement to inner side by the stretching routine of air-leg 5211 again, further water conservancy and hydropower pipeline is clamped, prevent the slippage in handling process of the water conservancy and hydropower pipeline；Finally after water conservancy and hydropower pipeline is transported to destination, drive lower clamping 524 pawls extension movement laterally by the contractile motion of air-leg 5211 so that lower gripper jaw 524 opens, and is discharged by water conservancy and hydropower pipeline.
The general principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; the principle that the present invention is simply described of the description in above-described embodiment and specification; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (1)
1. a hydraulic engineering pipe fitting piling industrial robot clamping manipulator, it is characterised in that: include three-freedom parallel
Structure and clamping device；Described 3-freedom parallel mechanism is positioned at directly over clamping device, and 3-freedom parallel mechanism lower end with
Clamping device is connected；Wherein:
Described 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, rotating shaft, electric pushrod, spherical hinge, connection
Seat and limit spring, and the quantity of ear mount, rotating shaft, electric pushrod, spherical hinge, connection seat and limit spring is three；Described
Fixed platform and moving platform the most rounded shape structure, and moving platform is positioned at immediately below fixed platform, and ear mount is positioned at the upper surface of fixed platform
On, and the installation angle between ear mount is 60 degree, connects seat and is positioned on moving platform lower surface, and ear mount is distinguished with being connected seat
One_to_one corresponding；Described electric pushrod bottom is arranged in ear mount by rotating shaft, and ball is passed through with being connected between seat in electric pushrod top
Hinge is attached, and limit spring is around being enclosed within electric pushrod upper end；
Described clamping device includes fixed plate and clamping device, and clamping device quantity is three；Described clamping device is positioned at solid
Determine immediately below plate, and clamping device is linearly equally spaced along the central transverse axis of fixed plate；Described clamping device includes
Directive slide track, the first slide block, upper gripper jaw, lower gripper jaw, stretching spring, connecting stud, the second slide block, hydraulic cylinder, shifting
Dynamic ear mount, mobile ship and resell on another market, air-leg, fixed ear base and fixing swing pin；Described directive slide track is strip structure, and leads
Be respectively arranged with baffle plate to the slide rail left and right sides, directive slide track vertical cross section is I-shaped structure, and it is sliding that the first slide block is arranged on guiding
On rail, and the first slide block is respectively symmetrically layout along the central axis of directive slide track, upper gripper jaw upper end be fixed on the first slide block just under
Just, and upper gripper jaw is quadrant shape column structure, and lower gripper jaw is positioned at immediately below gripper jaw, and lower gripper jaw is also four
/ mono-circular cylinder structure, stretching spring between upper gripper jaw and lower gripper jaw, and stretching spring upper gripper jaw and under
Being arranged side by side between gripper jaw, stretching spring upper end is connected with upper gripper jaw lower surface by connecting stud, stretches lower spring end
Being connected with lower gripper jaw upper surface by connecting stud, the second slide block is positioned at outside the first slide block, and the second slide block is arranged on and leads
On slide rail, hydraulic cylinder upper end is fixed on the second slide block, and hydraulic cylinder uses single-acting single-stage telescoping hydraulic cylinder, hydraulic cylinder
Lower end is fixed with mobile ear mount, uses mobile shipping and reselling on another market to be attached between air-leg one end and mobile ear mount, air-leg another
End is connected with fixed ear base by fixing swing pin, and fixed ear base is fixed on lower gripper jaw lateral wall, and mobile ear mount is with fixing
The most U-shaped structure of ear mount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610351905.2A CN105856251A (en) | 2016-05-24 | 2016-05-24 | Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610351905.2A CN105856251A (en) | 2016-05-24 | 2016-05-24 | Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines |
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| Publication Number | Publication Date |
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| CN105856251A true CN105856251A (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610351905.2A Pending CN105856251A (en) | 2016-05-24 | 2016-05-24 | Clamping manipulator of industrial robot for stacking water conservancy engineering pipelines |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106348227A (en) * | 2016-10-21 | 2017-01-25 | 珠海迪尔生物工程有限公司 | Cap screwing device |
| CN106477320A (en) * | 2016-11-30 | 2017-03-08 | 无锡市创恒机械有限公司 | A kind of triangle robot device |
| CN108861404A (en) * | 2018-08-13 | 2018-11-23 | 广东电网有限责任公司 | Rail carry device and rail carry equipment |
| CN110683073A (en) * | 2019-11-08 | 2020-01-14 | 上海上飞飞机装备制造有限公司 | Orthogonal parallel platform device for butt joint of aircraft components |
| CN110900647A (en) * | 2019-12-10 | 2020-03-24 | 湖州信倍连网络科技有限公司 | Long-shaped part clamping mechanism for mounting mechanical arm of robot |
| CN112454318A (en) * | 2020-11-03 | 2021-03-09 | 王兴平 | Mechanical carrying structure and pipe stacking equipment |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106348227A (en) * | 2016-10-21 | 2017-01-25 | 珠海迪尔生物工程有限公司 | Cap screwing device |
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| CN106477320A (en) * | 2016-11-30 | 2017-03-08 | 无锡市创恒机械有限公司 | A kind of triangle robot device |
| CN108861404A (en) * | 2018-08-13 | 2018-11-23 | 广东电网有限责任公司 | Rail carry device and rail carry equipment |
| CN110683073A (en) * | 2019-11-08 | 2020-01-14 | 上海上飞飞机装备制造有限公司 | Orthogonal parallel platform device for butt joint of aircraft components |
| CN110683073B (en) * | 2019-11-08 | 2024-04-12 | 上海上飞飞机装备制造股份有限公司 | Orthogonal parallel platform device for docking aircraft components |
| CN110900647A (en) * | 2019-12-10 | 2020-03-24 | 湖州信倍连网络科技有限公司 | Long-shaped part clamping mechanism for mounting mechanical arm of robot |
| CN112454318A (en) * | 2020-11-03 | 2021-03-09 | 王兴平 | Mechanical carrying structure and pipe stacking equipment |
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Application publication date: 20160817 |