CN108483031B - Mechanical pipe conveying manipulator and transformation method thereof - Google Patents
Mechanical pipe conveying manipulator and transformation method thereof Download PDFInfo
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- CN108483031B CN108483031B CN201810363723.6A CN201810363723A CN108483031B CN 108483031 B CN108483031 B CN 108483031B CN 201810363723 A CN201810363723 A CN 201810363723A CN 108483031 B CN108483031 B CN 108483031B
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- connecting rod
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- sliding
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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
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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
- 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 mechanical pipe conveying manipulator which comprises a supporting plate, a ridge plate, a hinge column, a sliding block, a roller, a connecting rod group and a screw rod mechanism, wherein the ridge plate is arranged on the top of the supporting plate; the pipe clamping device has the beneficial effects that the pipe is clamped by the roller, so that the influence of the traditional dental plate type clamping on the appearance and the mechanical property of the pipe can be avoided; meanwhile, the roller clamping adopts line contact to replace surface contact of a tooth plate, so that the function of clamping pipes with various sizes by one set of rollers can be realized; in addition, the screw mechanism is adopted to replace a hydraulic mechanism, so that the production cost and the maintenance cost of the manipulator can be reduced, and the application environment range of the manipulator is expanded.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a mechanical pipe conveying manipulator.
Background
The pipe transportation is an important step in the pipe production process, and how to safely and stably transport the pipe to different stations is an important content for ensuring the quality of the pipe. At present, a pipe grabbing mechanical arm is commonly used by pipe production enterprises for pipe transportation.
However, the clamping of tubular product is carried out to the mode that current tubular product transportation manipulator adopted the dental lamina to eat into the pipe wall, not only can cause tubular product to leave the seal of a government organization in old china and influence beautifully, and the impression of eating into moreover and leaving the dent also can become the weak link of tubular product body, seriously influences the mechanical properties of tubular product. In addition, aiming at the pipes with different sizes, the tooth plates are required to be replaced, the workload of pipe conveying work is increased, and the work efficiency is seriously influenced.
Meanwhile, the existing pipe conveying manipulator adopts a hydraulic control mode, and a hydraulic device has the characteristics of complex structure, high use environment requirement and the like. Therefore, once a problem occurs during the use, the whole pipe production process is seriously affected, and the maintenance of the manipulator after attending the failure is an expensive and complicated process.
Disclosure of Invention
The purpose of the invention is as follows: the utility model provides a mechanical type tubular product transportation manipulator to solve among the prior art problem that dental lamina bite mark and dental lamina frequently changed.
In order to achieve the purpose, the technical scheme of the invention is as follows: a mechanical pipe conveying manipulator comprises a supporting plate, a ridge plate, a hinge column, a sliding block, a roller, a connecting rod group and a screw rod mechanism; a pair of the supporting plates are arranged at intervals; the ridge plate is arranged between the pair of support plates and is connected with the support plates in a welding mode; the hinged column is of a cylindrical structure; the pair of hinge columns is arranged between the pair of support plates and is connected with the support plates in a welding mode; the sliding blocks are of rectangular structures, and a pair of sliding blocks are arranged between the supporting plates; a pair of L-shaped sliding grooves is formed in the inner side of the front part of the supporting plate, and the cross sections of the sliding grooves are rectangular; two ends of the sliding block are respectively provided with a cylindrical sliding body; the sliding body is arranged in the sliding groove to realize that the sliding block slides along the axis of the sliding groove; a pair of connecting columns is symmetrically arranged on the inner side of the sliding block; the rollers are of cylindrical structures, and a pair of rollers are respectively hinged with the connecting column and can rotate around the axis of the rollers; the connecting rod group comprises a first connecting rod and a second connecting rod; the connecting rod group is arranged between the pair of supporting plates; the middle parts of the first connecting rod and the second connecting rod are connected with the hinge columns; the wire cylinder mechanism is arranged between the pair of supporting plates; the screw mechanism comprises a screw column, a rolling bearing and a servo motor; one end of the screw rod column is provided with the rolling bearing, and the rolling bearing is connected with the end part of the first connecting rod; the servo motor is arranged at the other end of the screw rod column; the end part of the second connecting rod is provided with a screw hole; the screw lever is arranged in the screw hole to connect the screw lever and the second connecting rod; one end of the first connecting rod, which is far away from the wire lever, is hinged with the sliding block; one end of the second connecting rod, which is far away from the wire lever, is hinged with the other sliding block.
The mechanical pipe conveying manipulator is characterized in that the axes of the wire lever, the rolling bearing and the servo motor are on the same axis, so that the servo motor drives the wire lever to rotate around the bearing, and the connecting rod group is driven to swing.
The mechanical pipe conveying manipulator is characterized in that a cylindrical groove is formed in the end part of the first connecting rod; the diameter of the cylindrical groove is smaller than that of the rolling bearing, and the rolling bearing and the cylindrical groove are in interference fit, so that the rotation of the screw rod is realized, and the screw rod is prevented from slipping in the cylindrical groove to influence the action of the screw rod mechanism.
The mechanical pipe conveying manipulator is characterized in that the roller comprises a base body and a rubber sleeve; the base body is of a cylindrical structure, and the rubber sleeve is of a cylindrical structure; the rubber sleeve is sleeved on the surface of the base body, the rubber sleeve and the base body are in interference fit, the roller is a quick-wear part, the replacement times of the base body can be reduced by replacing the rubber sleeve, the workload of replacing the roller is reduced, and the service life of the base body is prolonged.
The mechanical pipe conveying manipulator is characterized in that uniform spiral patterns are arranged on the surface of the rubber sleeve, and the contact area between the rubber sleeve and the pipe is remarkably increased through the spiral patterns.
The mechanical pipe conveying manipulator further comprises a strain gauge; the joint of the sliding block and the connecting rod group is provided with the strain gauge, and a user identifies the contact force between the roller and the pipe according to the data converted by the strain gauge, so that whether the clamping force is changed or not is determined.
The mechanical pipe conveying manipulator further comprises a stud; the double-screw bolt setting be in the backup pad surface to be the circumference equipartition, a plurality of the double-screw bolt conveniently be connected with tubular product transportation arm, become this manipulator into whole tubular product transportation system's independent subsystem simultaneously, conveniently carry out solitary maintenance and maintenance to it.
The mechanical pipe conveying manipulator is characterized in that the diameter of the sliding body is equal to the width of the sliding groove, and the sliding body is used for controlling the movement track of the sliding block.
The invention also provides a transformation method of the mechanical lifting equipment, which comprises the following steps:
replacing a hydraulic cylinder with the screw rod mechanism, and simultaneously arranging a cylindrical groove at the end part of the first connecting rod and the screw hole at the end part of the second connecting rod according to the connection requirement of the screw rod;
and step two, replacing the tooth plate on the inner side of the sliding block with the roller, and processing the connecting column on the inner side of the sliding block according to the connection requirement of the roller.
Preferably, the surface of the connecting column is provided with mounting holes, and two end faces of the base body are correspondingly provided with base body screw holes; fixing bolt passes the mounting hole with base member screw jogged joint to connect spliced pole and gyro wheel, it is convenient right to adopt screwed joint the gyro wheel reform transform and change.
In conclusion, the pipe clamping device has the beneficial effects that the pipe is clamped by the roller, so that the influence of the traditional dental plate type clamping on the appearance and the mechanical property of the pipe can be avoided; meanwhile, the roller clamping adopts line contact to replace surface contact of a tooth plate, so that the function of clamping pipes with various sizes by one set of rollers can be realized; in addition, the screw mechanism is adopted to replace a hydraulic mechanism, so that the production cost and the maintenance cost of the manipulator can be reduced, and the application environment range of the manipulator is expanded.
Drawings
Fig. 1 is a schematic structural diagram of a mechanical pipe conveying manipulator of the present invention.
Figure 2 is a side view of a mechanical pipe transport robot of the present invention.
Figure 3 is a top cross-sectional view of a mechanical tubing transport robot of the present invention.
Detailed Description
The embodiments of the present invention are further described below with reference to the drawings.
Referring to fig. 1 to 3, a mechanical pipe transportation manipulator includes a support plate 1, a ridge plate 2, a hinge column 3, a slider 4, a roller 5, a linkage 6 and a screw mechanism 7; a pair of the supporting plates 1 are arranged at intervals; the ridge plate 2 is arranged between the pair of support plates, and the ridge plate 2 is connected with the support plates 1 in a welding mode; the hinged column 3 is of a cylindrical structure; the pair of hinge columns 3 is arranged between the pair of support plates 1 and connected by welding; the slide blocks 4 are in a rectangular structure, and a pair of slide blocks 4 are arranged between the support plates 1; a pair of L-shaped sliding grooves 101 are formed in the inner side of the front part of the supporting plate 1, and the cross sections of the sliding grooves 101 are rectangular; two ends of the sliding block 4 are respectively provided with a cylindrical sliding body 401; the sliding body 401 is arranged in the sliding chute 101 to realize the sliding of the sliding block 4 along the axis of the sliding chute 101; a pair of connecting columns 402 is symmetrically arranged on the inner side of the sliding block 4; the rollers 5 are cylindrical structures, and a pair of the rollers 5 are respectively hinged with the connecting column 402 and can rotate around the axis of the rollers; the linkage 6 comprises a first connecting rod 601 and a second connecting rod 602; the connecting rod group 6 is arranged between the pair of supporting plates 1; the middle parts of the first connecting rod 601 and the second connecting rod 602 are connected with the hinge column 3; the wire cylinder mechanism 7 is arranged between the pair of support plates 1; the screw mechanism 7 comprises a screw column 701, a rolling bearing 702 and a servo motor 703; the rolling bearing 702 is arranged at one end of the screw rod column 701, and the rolling bearing 702 is connected with the end part of the first connecting rod 601; the servo motor 703 is arranged at the other end of the screw rod column 701; the end of the second connecting rod 602 is provided with a screw hole 603; the screw lever 701 is arranged in the screw hole 603 to connect the screw lever 701 and the second connecting rod 602; one end of the first connecting rod 601, which is far away from the wire lever 701, is hinged with the sliding block 4; one end of the second connecting rod 602 away from the wire lever 701 is hinged with the other sliding block 4.
The axes of the wire lever 701, the rolling bearing 702 and the servo motor 703 are on the same axis, so that the servo motor 703 rotates to drive the wire lever 701 to rotate around the rolling bearing 702, thereby driving the connecting rod group 6 to swing.
A cylindrical groove 604 is formed in the end of the first connecting rod 601; the diameter of the cylindrical groove 604 is smaller than that of the rolling bearing 702, and the rolling bearing 702 and the cylindrical groove 604 are in interference fit, so that the rotation of the screw lever 701 is realized, and the screw lever 701 cannot slip in the cylindrical groove 604 to influence the action of the screw mechanism 7.
The roller 5 comprises a base body 501 and a rubber sleeve 502; the base 501 is of a cylindrical structure, and the rubber sleeve 502 is of a cylindrical structure; the rubber sleeve 502 is sleeved on the surface of the base body 501, the rubber sleeve and the base body 501 are in interference fit, the roller 5 is a wearing part, the replacement times of the base body 501 can be reduced by replacing the rubber sleeve 502, the workload of replacing the roller 5 is reduced, and the service life of the base body 5 is prolonged.
The surface of the rubber sleeve 502 is provided with uniform spiral patterns 503, and the spiral patterns 503 obviously improve the contact area between the rubber sleeve 502 and the pipe.
Also comprises a strain gauge 8; the strain gauge 8 is arranged at the hinged position of the sliding block 4 and the connecting rod group 6, and a user identifies the contact force between the roller 5 and the pipe according to the data converted by the strain gauge 8, so as to determine whether to change the clamping force.
Also comprises a stud 9; a plurality of double-screw bolts 9 set up backup pad 1 surface to be the circumference equipartition, a plurality of double-screw bolts 9 conveniently be connected with tubular product transportation arm, become this manipulator into whole tubular product transportation system's independent subsystem simultaneously, conveniently carry out solitary maintenance and maintenance to it.
The diameter of the sliding body 401 is equal to the width of the sliding groove 101, and is used for controlling the movement track of the sliding block 4.
The invention also provides a transformation method of the mechanical lifting equipment, which comprises the following steps:
firstly, replacing a hydraulic cylinder with the screw mechanism 7, and simultaneously opening the cylindrical groove 604 at the end part of the first connecting rod 601 and the screw hole 603 at the end part of the second connecting rod 602 according to the connection requirement of the screw lever 701;
and secondly, replacing the tooth plate on the inner side of the sliding block 4 with the roller 5, and processing the connecting column 402 on the inner side of the sliding block 4 according to the connection requirement of the roller 5.
Preferably, the surface of the connecting column 402 is provided with a mounting hole 403, and two end faces of the base 501 are correspondingly provided with base screw holes 504; fixing bolt pass mounting hole 403 with base member screw hole 504 be connected to connect spliced pole 402 and gyro wheel 5, it is right to adopt screwed connection convenience gyro wheel 5 reform transform and change.
When the device is used, the servo motor 703 drives the screw lever 701 to rotate, so that the pair of first connecting rods 601 and the pair of second connecting rods 602 swing oppositely and drive the pair of sliding blocks 4 to slide oppositely to clamp a pipe; after the pipe is completely clamped, the servo motor 703 drives the screw lever 701 to rotate, so that the first connecting rod 601 and the second connecting rod 602 swing oppositely, and the pair of sliding blocks 4 are driven to slide oppositely to loosen the pipe.
In conclusion, the pipe clamping device has the beneficial effects that the pipe is clamped by the roller, so that the influence of the traditional dental plate type clamping on the appearance and the mechanical property of the pipe can be avoided; meanwhile, the roller clamping adopts line contact to replace surface contact of a tooth plate, so that the function of clamping pipes with various sizes by one set of rollers can be realized; in addition, the screw mechanism is adopted to replace a hydraulic mechanism, so that the production cost and the maintenance cost of the manipulator can be reduced, and the application environment range of the manipulator is expanded.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification, or any direct or indirect application attached to other related technical fields, are included in the scope of the present invention.
Claims (2)
1. The utility model provides a mechanical type tubular product transportation manipulator which characterized in that: the connecting rod mechanism comprises a supporting plate, a ridge plate, a hinge column, a sliding block, a roller, a connecting rod group and a screw rod mechanism; a pair of the supporting plates are arranged at intervals; the ridge plate is arranged between the pair of support plates and is connected with the support plates in a welding mode; the hinged column is of a cylindrical structure; the pair of hinge columns is arranged between the pair of support plates and is connected with the support plates in a welding mode; the sliding blocks are of rectangular structures, and a pair of sliding blocks are arranged between the supporting plates; a pair of L-shaped sliding grooves is formed in the inner side of the front part of the supporting plate, and the cross sections of the sliding grooves are rectangular; two ends of the sliding block are respectively provided with a cylindrical sliding body; the sliding body is arranged in the sliding groove to realize that the sliding block slides along the axis of the sliding groove; a pair of connecting columns is symmetrically arranged on the inner side of the sliding block; the rollers are of cylindrical structures, and a pair of rollers are respectively hinged with the connecting column and can rotate around the axis of the rollers; the connecting rod group comprises a first connecting rod and a second connecting rod; the connecting rod group is arranged between the pair of supporting plates; the middle parts of the first connecting rod and the second connecting rod are hinged with the hinge post; the screw rod mechanism is arranged between the pair of supporting plates; the screw mechanism comprises a screw column, a rolling bearing and a servo motor; one end of the screw rod column is provided with the rolling bearing, and the rolling bearing is connected with the end part of the first connecting rod; the servo motor is arranged at the other end of the screw rod column; the end part of the second connecting rod is provided with a screw hole; the screw rod column is arranged in the screw hole so as to be connected with the screw rod column and the second connecting rod; one end of the first connecting rod, which is far away from the screw rod column, is hinged with the sliding block; one end of the second connecting rod, which is far away from the screw rod column, is hinged with the other sliding block, the axes of the screw rod column, the rolling bearing and the servo motor are on the same axis, and the end part of the first connecting rod is provided with a cylindrical groove; the diameter of the cylindrical groove is smaller than that of the rolling bearing, the rolling bearing and the cylindrical groove are in interference fit, and the roller comprises a base body and a rubber sleeve; the base body is of a cylindrical structure, and the rubber sleeve is of a cylindrical structure; the rubber sleeve is sleeved on the surface of the base body and is in interference fit with the base body, uniform spiral patterns are arranged on the surface of the rubber sleeve, and the rubber sleeve further comprises a strain gauge; the joint of the slide block and the connecting rod group is provided with the strain gauge and further comprises a stud; the studs are arranged on the outer surface of the supporting plate and are circumferentially and uniformly distributed, and the diameter of the sliding body is equal to the width of the sliding groove.
2. A method of retrofitting a mechanical pipe transport robot as defined in claim 1, comprising: the method comprises the following steps:
replacing a hydraulic cylinder with the screw rod mechanism, and simultaneously arranging a cylindrical groove at the end part of the first connecting rod and the screw hole at the end part of the second connecting rod according to the connection requirement of the screw rod column; secondly, replacing the tooth plate on the inner side of the sliding block with the roller, and processing the connecting column on the inner side of the sliding block according to the connection requirement of the roller;
the surface of the connecting column is provided with a mounting hole, and two end faces of the base body are correspondingly provided with base body screw holes; fixing bolt passes the mounting hole with base member screw jogged joint to connect spliced pole and gyro wheel, it is convenient right to adopt screwed joint the gyro wheel reform transform and change.
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 CN108483031A (en) | 2018-09-04 |
| CN108483031B true CN108483031B (en) | 2021-03-05 |
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| 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 |
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| CN (1) | CN108483031B (en) |
Family Cites Families (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 |
| US7971917B2 (en) * | 2007-08-21 | 2011-07-05 | Yaogen Ge | Apparatus for an automatic casing stabbing arm |
| DE102014109150A1 (en) * | 2014-06-30 | 2015-12-31 | Rothenberger Ag | Holding device for rotatably supporting a pipe 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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2018
- 2018-04-22 CN CN201810363723.6A patent/CN108483031B/en active Active
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| CN108483031A (en) | 2018-09-04 |
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