CN108483031A - A kind of mechanical tube conveyor tool hand and its remodeling method - Google Patents
A kind of mechanical tube conveyor tool hand and its remodeling method Download PDFInfo
- Publication number
- CN108483031A CN108483031A CN201810363723.6A CN201810363723A CN108483031A CN 108483031 A CN108483031 A CN 108483031A CN 201810363723 A CN201810363723 A CN 201810363723A CN 108483031 A CN108483031 A CN 108483031A
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- CN
- China
- Prior art keywords
- connecting rod
- idler wheel
- pair
- sliding block
- support plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
Abstract
The invention discloses a kind of mechanical tube conveyor tool hands, including support plate, epimere, hinge column, sliding block, idler wheel, connection rod set and screw mechanism；The beneficial effects of the present invention are be clamped using pair of rollers tubing, traditional dental lamina formula can be avoided to be clamped and impacted to the appearance and mechanical property of tubing；Meanwhile idler wheel clamping contacts the function, it can be achieved that a set of idler wheel clamping sizes tubing using line contact instead of the face of dental lamina；In addition, replacing hydraulic mechanism using screw mechanism, the production cost and maintenance cost of manipulator can not only be reduced, and extend the use environment range of manipulator.
Description
Technical field
The present invention relates to manipulator technical field more particularly to a kind of mechanical tube conveyor tool hands.
Background technology
The migration of tubing is the important step in tubing production process, how tubing to be migrated in difference safely, smoothly
Station, be ensure pipe workpiece quality important content.Currently, tubing manufacturing enterprise often carries out the fortune of tubing with pipe-grabbing mechanical arm
It moves.
But existing tube conveyor tool hand getting carries out the clamping of tubing with the mode of dental lamina wedging tube wall, not only can
Causing tubing, there are the markings to influence beauty, and the dent that wedging leaves also can be as the weak link of tubing ontology, serious shadow
The mechanical property of speaking pipe material.In addition, being directed to various sizes of tubing, it is also necessary to be replaced to dental lamina, equally increase tubing
Migrate work workload and seriously affected working efficiency.
Meanwhile existing tube conveyor tool hand getting hydraulic control mode, hydraulic device have it is complicated, use ring
Border requires the features such as high.Therefore, entire tubing production process will be seriously affected by once going wrong in use, and machine
It is also a process costly that tool hand, which attends the maintaining after that failure,.
Invention content
The purpose of the present invention：A kind of mechanical tube conveyor tool hand is provided, with solve in the prior art dental lamina bite mark and
The problem of dental lamina is frequently replaced.
To achieve the goals above, the technical scheme is that：A kind of mechanical tube conveyor tool hand, including support
Plate, epimere, hinge column, sliding block, idler wheel, connection rod set and screw mechanism；Support plate described in a pair is alternatively arranged；The epimere
It is arranged between the support plate described in a pair, and the epimere is connect by welding manner with the support plate；It is described
Hinge column be cylindrical structure；Hinge column described in a pair is arranged between the support plate described in a pair, and the two passes through
Welding manner connects；The sliding block is cuboid structure, and the sliding block described in a pair is arranged between the support plate；
The support plate front inner offers a pair of " L " shape sliding slot, and the sliding slot cross section is rectangle；The sliding block
Both ends are respectively set that there are one cylindrical gliding masses；The gliding mass is arranged in the sliding slot, to realize the sliding block edge
The sliding slot axis sliding；It is symmetrically arranged with a pair of of connecting pole on the inside of the sliding block；The idler wheel is cylindrical structure,
Idler wheel described in a pair is column articulated with the connection respectively, and can be rotated around own axes；The connection rod set includes the
One connecting rod and second connecting rod；The connection rod set is arranged between the support plate described in a pair；The first connecting rod and second
Join with the hinge column in the middle part of connecting rod；The Si Gang mechanisms are arranged between the support plate described in a pair；The silk
Thick stick mechanism includes leading screw column, rolling bearing and servo motor；Described leading screw column one end is provided with the rolling bearing, and
The rolling bearing is connect with the first connecting rod end；The servo motor is arranged another in the leading screw column
End；The second connecting rod end set has screw hole；The wire lever is arranged in the screw hole, described in connection
Wire lever and second connecting rod；The first connecting rod is hinged far from described wire lever one end and the sliding block；Described
Second connecting rod is hinged far from the sliding block described in described wire lever one end and another.
A kind of above-mentioned mechanical tube conveyor tool hand, wherein wire lever, rolling bearing and the servo motor shaft
Line is in same axis, to realize the servo motor rotation driving wire lever around the bearing rotary, to band
The connection rod set is moved to swing.
Above-mentioned a kind of mechanical tube conveyor tool hand, wherein the first connecting rod end offers cylinder groove；Institute
The cylinder groove diameter stated is less than the rolling bearing diameter, and the rolling bearing and the cylinder groove are matched for interference
It closes, while realizing the wire lever rotation, ensures that the wire lever will not skid in the cylinder groove, influence
The screw mechanism action.
Above-mentioned a kind of mechanical tube conveyor tool hand, wherein the idler wheel includes matrix and rubber sleeve；Described
Matrix is cylindrical structure, and the rubber sleeve is cylindrical structure；The rubber sleeve is sleeved on the matrix surface, and
The two is interference fit, and the idler wheel is vulnerable part, by replacing the rubber sleeve, can reduce the replacement time of matrix
Number to reduce the workload for replacing idler wheel, and improves the matrix service life.
Above-mentioned a kind of mechanical tube conveyor tool hand, wherein the rubber sleeve surface is provided with uniform spiral
Decorative pattern, the spiral pattern considerably improve the contact area of the rubber sleeve and tubing.
Above-mentioned a kind of mechanical tube conveyor tool hand, wherein further include foil gauge；The sliding block and the company
Bar group hinged place is provided with the foil gauge, user according to the data identification that the foil gauge the is converted idler wheel with
Contact force between tubing determines whether the size for changing chucking power.
Above-mentioned a kind of mechanical tube conveyor tool hand, wherein further include stud；Several studs are arranged in institute
The support plate outer surface stated, and be evenly distributed in circumferential, several studs are convenient to be connect with tube conveyor tool arm, simultaneously will
The manipulator becomes the independent particle system of entire tubing transportation system, convenient to carry out individual care and maintenance to it.
A kind of above-mentioned mechanical tube conveyor tool hand, wherein the gliding mass diameter is equal to the trough width,
For carrying out TRAJECTORY CONTROL to the slide block movement.
The present invention additionally provides a kind of remodeling method of mechanical elevating equipment simultaneously, it includes the following steps：
Hydraulic cylinder changing is the screw mechanism by the first step, while according to the connection request of the wire lever, described
First connecting rod end open up cylinder groove, the screw hole is opened up in the second connecting rod end；
Dental lamina on the inside of the sliding block is changed to the idler wheel by second step, while according to the connection request of idler wheel, in institute
The connecting pole is processed on the inside of the sliding block stated.
Preferably, the connecting pole surface is provided with mounting hole, matrix both ends of the surface correspondence offers matrix
Screw hole；Fixing bolt is connect across the mounting hole with the matrix screw hole, to connect the connecting pole and rolling
Wheel is transformed and replaces to the idler wheel using screw connection is convenient.
In conclusion the beneficial effects of the present invention are be clamped using pair of rollers tubing, can avoid traditional tooth
Board-like clamping impacts the appearance and mechanical property of tubing；Meanwhile idler wheel clamping is connect using line contact instead of the face of dental lamina
Touch the function, it can be achieved that a set of idler wheel clamping sizes tubing；In addition, hydraulic mechanism is replaced using screw mechanism, it can not only
The production cost and maintenance cost of manipulator are enough reduced, and extends the use environment range of manipulator.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of mechanical tube conveyor tool hand of the present invention.
Fig. 2 makes a kind of side view of mechanical tube conveyor tool hand of the present invention.
Fig. 3 is a kind of overhead sectional view of mechanical tube conveyor tool hand of the present invention.
Specific implementation mode
The embodiment further illustrated the present invention below in conjunction with attached drawing.
It refers to shown in attached drawing 1 to attached drawing 3, a kind of mechanical tube conveyor tool hand, including support plate 1, epimere 2, hinge
Connect column 3, sliding block 4, idler wheel 5, connection rod set 6 and screw mechanism 7；Support plate 1 described in a pair is alternatively arranged；The epimere 2 is set
Between setting the support plate described in a pair, and the epimere 2 is connect by welding manner with the support plate 1；It is described
Hinge column 3 be cylindrical structure；Hinge column 3 described in a pair is arranged between the support plate 1 described in a pair, and the two is logical
Cross welding manner connection；The sliding block 4 is cuboid structure, and the sliding block 4 described in a pair is arranged in the support plate 1
Between；1 front inner of support plate offers a pair of " L " shape sliding slot 101, and 101 cross section of sliding slot is square
Shape；4 both ends of sliding block are respectively set that there are one cylindrical gliding masses 401；The gliding mass 401 is arranged in the sliding slot
In 101, to realize that the sliding block 4 is slided along 101 axis of sliding slot；4 inside of sliding block is symmetrically arranged with a pair
Connecting pole 402；The idler wheel 5 is cylindrical structure, and the idler wheel 5 described in a pair is hinged with the connecting pole 402 respectively, and
And it can be rotated around own axes；The connection rod set 6 includes first connecting rod 601 and second connecting rod 602；The connection rod set 6 is set
It sets between the support plate 1 described in a pair；The first connecting rod 601 and 602 middle part of second connecting rod is handed over the hinge column 3
It connects；The Si Gang mechanisms 7 are arranged between the support plate 1 described in a pair；The screw mechanism 7 includes leading screw column 701, rolling
Dynamic bearing 702 and servo motor 703；Described 701 one end of leading screw column is provided with the rolling bearing 702, and described
Rolling bearing 702 is connect with 601 end of first connecting rod；The servo motor 703 is arranged in the leading screw column 701
The other end；602 end set of second connecting rod has screw hole 603；The wire lever 701 is arranged in the screw hole
In 603, to connect the wire lever 701 and second connecting rod 602；The first connecting rod 601 is far from the wire lever 701
One end is hinged with the sliding block 4；The second connecting rod 602 is far from described in described 701 one end of wire lever and another
Sliding block 4 is hinged.
Wire lever 701, rolling bearing 702 and 703 axis of servo motor is in same axis, to realize described watch
It takes the rotation driving of motor 703 wire lever 701 to rotate around the rolling bearing 702, to drive the connection rod set 6
It swings.
601 end of first connecting rod offers cylinder groove 604；604 diameter of cylinder groove is less than the rolling
702 diameter of dynamic bearing, and the rolling bearing 702 and the cylinder groove 604 are interference fit, are realizing the silk
While lever 701 rotates, ensures that the wire lever 701 will not skid in the cylinder groove 604, influence the silk
Thick stick mechanism 7 acts.
The idler wheel 5 includes matrix 501 and rubber sleeve 502；The matrix 501 is cylindrical structure, the rubber
Gum cover 502 is cylindrical structure；The rubber sleeve 502 is sleeved on 501 surface of matrix, and the two is interference fit,
The idler wheel 5 is vulnerable part can reduce the replacement number of matrix 501, to drop by replacing the rubber sleeve 502
It is low to replace the workload of idler wheel 5, and improve 5 service life of matrix.
502 surface of rubber sleeve is provided with uniform spiral pattern 503, and the spiral pattern 503 significantly carries
The high contact area of the rubber sleeve 502 and tubing.
It further include foil gauge 8；The sliding block 4 is provided with the foil gauge 8 with 6 hinged place of connection rod set, makes
User determines whether according to the contact force between the data identification that the foil gauge 8 the is converted idler wheel 5 and tubing
Change the size of chucking power.
It further include stud 9；Several studs 9 are arranged in 1 outer surface of support plate, and are evenly distributed in circumferential,
Several studs 9 are convenient to be connect with tube conveyor tool arm, while the manipulator is become entire tubing transportation system
Independent particle system, it is convenient that individual care and maintenance is carried out to it.
401 diameter of gliding mass is equal to 101 width of sliding slot, for carrying out track to the movement of sliding block 4
Control.
The present invention additionally provides a kind of remodeling method of mechanical elevating equipment simultaneously, it includes the following steps：
Hydraulic cylinder changing is the screw mechanism 7 by the first step, while according to the connection request of the wire lever 701,
601 end of first connecting rod opens up the cylinder groove 604, and the spiral shell is opened up in 602 end of second connecting rod
Wire hole 603；
The dental lamina of 4 inside of the sliding block is changed to the idler wheel 5 by second step, while according to the connection request of idler wheel 5,
The connecting pole 402 is processed in 4 inside of sliding block.
Preferably, 402 surface of connecting pole is provided with mounting hole 403,501 both ends of the surface of matrix correspondence is opened
Equipped with matrix screw hole 504；Fixing bolt is connect across the mounting hole 403 with the matrix screw hole 504, with connection
The connecting pole 402 and idler wheel 5 is transformed and replaces to the idler wheel 5 using screw connection is convenient.
In use, the servo motor 703 drives the wire lever 701 to rotate, to which first described in a pair connects
Bar 601 and second connecting rod 602 are swung in opposite directions, and the sliding block 4 described in a pair is driven to slide in opposition clamping tubing；Wait for that tubing has accommodated
Finish, the servo motor 703 drives the wire lever 701 to rotate, to make the first connecting rod 601 and second connecting rod
602 opposing oscillatories, and the sliding block 4 described in a pair is driven to slide relaxation tubing on the contrary.
In conclusion the beneficial effects of the present invention are be clamped using pair of rollers tubing, can avoid traditional tooth
Board-like clamping impacts the appearance and mechanical property of tubing；Meanwhile idler wheel clamping is connect using line contact instead of the face of dental lamina
Touch the function, it can be achieved that a set of idler wheel clamping sizes tubing；In addition, hydraulic mechanism is replaced using screw mechanism, it can not only
The production cost and maintenance cost of manipulator are enough reduced, and extends the use environment range of manipulator.
The foregoing is merely the preferred embodiment of the present invention, are not intended to limit the scope of the invention, every utilization
Equivalent structure transformation made by present specification, directly or indirectly with the technology neck for being attached to other Related products
Domain is included within the scope of the present invention.
Claims (10)
1. a kind of mechanical tube conveyor tool hand, it is characterised in that：Including support plate, epimere, hinge column, sliding block, idler wheel, company
Bar group and screw mechanism；Support plate described in a pair is alternatively arranged；The epimere is arranged between the support plate described in a pair,
And the epimere is connect by welding manner with the support plate；The hinge column is cylindrical structure；A pair of of institute
The hinge column stated is arranged between the support plate described in a pair, and the two is connected by welding manner；The sliding block is square
Physique structure, and the sliding block described in a pair is arranged between the support plate；The support plate front inner offers
A pair of " L " shape sliding slot, and the sliding slot cross section is rectangle；The sliding block both ends are respectively set to be slided there are one cylindrical
Body；The gliding mass is arranged in the sliding slot, to realize that the sliding block is slided along the sliding slot axis；The cunning
It is symmetrically arranged with a pair of of connecting pole on the inside of block；The idler wheel be cylindrical structure, a pair described in idler wheel respectively with it is described
It connects column articulated, and can be rotated around own axes；The connection rod set includes first connecting rod and second connecting rod；The connecting rod
Group is arranged between the support plate described in a pair；Join with the hinge column in the middle part of the first connecting rod and second connecting rod；
The Si Gang mechanisms are arranged between the support plate described in a pair；The screw mechanism include leading screw column, rolling bearing and
Servo motor；Described leading screw column one end is provided with the rolling bearing, and the rolling bearing and described first
Interlinking lever end connects；The servo motor is arranged in the leading screw column other end；The second connecting rod end set has
Screw hole；The wire lever is arranged in the screw hole, to connect the wire lever and second connecting rod；Described
One connecting rod is hinged far from described wire lever one end and the sliding block；The second connecting rod is far from described wire lever one end
It is hinged with the sliding block described in another.
2. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：The wire lever, rolling
Dynamic Zhou Cheng and servo motor axis are in same axis.
3. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：The first connecting rod end
Portion offers cylinder groove；The cylinder groove diameter is less than the rolling bearing diameter, and the rolling bearing and institute
The cylinder groove stated is interference fit.
4. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：The idler wheel includes base
Body and rubber sleeve；The matrix is cylindrical structure, and the rubber pad is cylindrical structure；The rubber pad is sleeved on institute
The matrix surface stated, and the two is interference fit.
5. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：The rubber sleeve surface
It is provided with uniform spiral pattern.
6. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：It further include foil gauge；Institute
The sliding block stated is provided with the foil gauge with the connection rod set hinged place.
7. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：It further include stud；It is several
The stud is arranged in the support plate outer surface, and in circumferential uniformly distributed.
8. a kind of mechanical tube conveyor tool hand according to claim 1, it is characterised in that：Described gliding mass diameter etc.
In the trough width.
9. a kind of remodeling method using mechanical tube conveyor tool hand described in claim 1-8, it is characterised in that：Including such as
Lower step：
Hydraulic cylinder changing is the screw mechanism by the first step, while according to the connection request of the wire lever, described
First connecting rod end open up cylinder groove, the screw hole is opened up in the second connecting rod end；
Dental lamina on the inside of the sliding block is changed to the idler wheel by second step, while according to the connection request of idler wheel, in institute
The connecting pole is processed on the inside of the sliding block stated.
10. a kind of mechanical tube conveyor tool hand remodeling method according to claim 9, it is characterised in that：Described
Connecting pole surface is provided with mounting hole, and matrix both ends of the surface correspondence offers matrix screw hole；Fixing bolt passes through described
Mounting hole connect with the matrix screw hole, it is convenient to institute using screw connection to connect the connecting pole and idler wheel
The idler wheel stated is transformed and replaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810363723.6A CN108483031B (en) | 2018-04-22 | 2018-04-22 | Mechanical pipe conveying manipulator and transformation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810363723.6A CN108483031B (en) | 2018-04-22 | 2018-04-22 | Mechanical pipe conveying manipulator and transformation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108483031A true CN108483031A (en) | 2018-09-04 |
| CN108483031B CN108483031B (en) | 2021-03-05 |
Family
ID=63313707
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810363723.6A Active CN108483031B (en) | 2018-04-22 | 2018-04-22 | Mechanical pipe conveying manipulator and transformation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108483031B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3710296A1 (en) * | 1987-03-28 | 1988-10-13 | Fraunhofer Ges Forschung | Tool for guiding a flexible or pliant workpiece, in particular a tube |
| JPH0538696A (en) * | 1991-08-05 | 1993-02-19 | Asahi Glass Co Ltd | Chucking device and carrying device of glass article for cathode rat tube |
| US20090053014A1 (en) * | 2007-08-21 | 2009-02-26 | Yaogen Ge | Apparatus for an automatic casing stabbing arm |
| CN205204229U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Tubular product hold transport machinery arm tightly |
| CN205367087U (en) * | 2016-02-02 | 2016-07-06 | 淄博纽氏达特机器人***技术有限公司 | Manipulator |
| CN106457529A (en) * | 2014-06-30 | 2017-02-22 | 罗滕贝格尔股份公司 | Holding apparatus for holding in a rotatable manner a pipe which is to be machined |
| CN107214694A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator for transporting tubing |
-
2018
- 2018-04-22 CN CN201810363723.6A patent/CN108483031B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3710296A1 (en) * | 1987-03-28 | 1988-10-13 | Fraunhofer Ges Forschung | Tool for guiding a flexible or pliant workpiece, in particular a tube |
| JPH0538696A (en) * | 1991-08-05 | 1993-02-19 | Asahi Glass Co Ltd | Chucking device and carrying device of glass article for cathode rat tube |
| US20090053014A1 (en) * | 2007-08-21 | 2009-02-26 | Yaogen Ge | Apparatus for an automatic casing stabbing arm |
| CN106457529A (en) * | 2014-06-30 | 2017-02-22 | 罗滕贝格尔股份公司 | Holding apparatus for holding in a rotatable manner a pipe which is to be machined |
| CN205204229U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Tubular product hold transport machinery arm tightly |
| CN205367087U (en) * | 2016-02-02 | 2016-07-06 | 淄博纽氏达特机器人***技术有限公司 | Manipulator |
| CN107214694A (en) * | 2017-06-20 | 2017-09-29 | 安徽悦尔伟塑料机械有限公司 | Manipulator for transporting tubing |
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| Publication number | Publication date |
|---|---|
| CN108483031B (en) | 2021-03-05 |
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