CN209812346U - Plug clamping manipulator used in cast tube production process - Google Patents
Plug clamping manipulator used in cast tube production process Download PDFInfo
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- CN209812346U CN209812346U CN201920512745.4U CN201920512745U CN209812346U CN 209812346 U CN209812346 U CN 209812346U CN 201920512745 U CN201920512745 U CN 201920512745U CN 209812346 U CN209812346 U CN 209812346U
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- scissor arm
- plug
- clamping jaw
- production process
- clamping
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Abstract
The utility model discloses an end cap centre gripping manipulator that uses in cast tube production process, including the clamping device who is used for the centre gripping end cap, the telescoping device who is connected with clamping device and be used for controlling the telescoping device and carry out the drive arrangement who switches between extension state and contraction state. The utility model discloses an end cap centre gripping manipulator that uses in the cast tube production process, simple structure, easily preparation, the cost of manufacture is low, can improve the work efficiency of end cap about in the cast tube production process, reduces intensity of labour.
Description
Technical Field
The utility model belongs to the technical field of cast tube production facility, specifically speaking, the utility model relates to an end cap centre gripping manipulator that uses in cast tube production process.
Background
In the production process of the cast pipe, the cement lining is an important anticorrosion process, and before the cement is lined in the cast pipe, plugs are required to be used for plugging a socket and a spigot so as to ensure that the cement cannot overflow in the lining process. At present, an upper plug and a lower plug are operated manually, the plugs are lifted manually and installed at a bell mouth and a socket of a cast pipe, inflation is carried out after the installation is finished, deflation is carried out manually after the use, the plugs are moved manually after deflation is finished, the weight of the plugs is heavy, and the operation mode causes high labor intensity and low working efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides an end cap centre gripping manipulator that uses in cast tube production process, the purpose reduces the intensity of labour of end cap about in the cast tube production process.
In order to realize the purpose, the utility model discloses the technical scheme who takes does: the plug clamping manipulator used in the production process of the cast tube comprises a clamping device for picking up the plug, a telescopic device connected with the clamping device and a driving device for controlling the telescopic device to switch between an extension state and a contraction state.
The clamping device comprises a first clamping jaw and a second clamping jaw which are inserted into the central hole of the plug, and the first clamping jaw and the second clamping jaw are oppositely arranged.
The first clamping jaw and the second clamping jaw are connected with the telescopic device, the distance between the first clamping jaw and the second clamping jaw is reduced along with the switching of the telescopic device to the extension state, and the distance between the first clamping jaw and the second clamping jaw is increased along with the switching of the telescopic device to the contraction state.
The telescopic device comprises a first supporting component connected with the first clamping jaw, a second supporting component connected with the second clamping jaw, and a scissor arm component connected with the first supporting component and the second supporting component.
The scissor arm assembly comprises a first scissor arm connected with the first supporting assembly, a second scissor arm connected with the second supporting assembly and rotationally connected with the first scissor arm through a middle shaft, a third scissor arm rotationally connected with the first scissor arm, a fourth scissor arm rotationally connected with the second scissor arm, and a middle rod connected with the first supporting assembly and the second supporting assembly, wherein the middle shaft is connected with the driving device and the middle rod.
The first supporting assembly comprises a first connecting rod which is rotatably connected with the first scissor arm and connected with the first clamping jaw, and a first rocker which is rotatably connected with the first connecting rod and the middle rod, the first rocker is parallel to the first scissor arm, and the first connecting rod is parallel to the middle rod.
One end of the first scissor arm is rotatably connected with the first connecting rod, the other end of the first scissor arm is rotatably connected with the third scissor arm, and the intermediate shaft is located between two ends of the first scissor arm.
The second supporting assembly comprises a second connecting rod which is rotatably connected with the second scissor arm and is connected with the second clamping jaw, and a second rocker which is rotatably connected with the second connecting rod and the middle rod, the second rocker is parallel to the second scissor arm, and the second connecting rod is parallel to the middle rod.
One end of the second scissor arm is rotatably connected with the second connecting rod, the other end of the second scissor arm is rotatably connected with the fourth scissor arm, and the intermediate shaft is positioned between the two ends of the second scissor arm.
The driving device comprises a push-pull rod connected with the intermediate shaft and an actuator which is connected with the push-pull rod and controls the push-pull rod to do linear motion, and the actuator is an electric cylinder.
The utility model discloses an end cap centre gripping manipulator that uses in the cast tube production process, simple structure, easily preparation, the cost of manufacture is low, can improve the work efficiency of end cap about in the cast tube production process, reduces intensity of labour.
Drawings
The description includes the following figures, the contents shown are respectively:
fig. 1 is a schematic structural view of the plug clamping manipulator of the present invention in an extended state;
fig. 2 is a schematic structural view of the plug clamping manipulator of the present invention in a contracted state;
labeled as: 1. a plug; 2. an inflation hole; 3. a first jaw; 4. an inflation head; 5. a rotating shaft; 6. a first link; 7. a first scissor arm; 8. a first rocker; 9. an intermediate lever; 10. a rotating shaft; 11. an intermediate shaft; 12. a rotating shaft; 13. a second scissor arm; 14. a second rocker; 15. a push-pull rod; 16. a rotating shaft; 17. a rotating shaft; 18. a third scissor arm; 19. a fourth scissor arm; 20. a rotating shaft; 21. a rotating shaft; 22. an actuator; 23. a fixed mount; 24. a rotating shaft; 25. a second link; 26. an inflation tube; 27. a gas release head; 28. a second jaw.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings, for the purpose of helping those skilled in the art to understand more completely, accurately and deeply the conception and technical solution of the present invention, and to facilitate its implementation.
It should be noted that, in the following embodiments, the terms "first", "second", "third" and "fourth" do not represent absolute differences in structure and/or function, nor represent a sequential execution order, but merely for convenience of description.
As shown in fig. 1 and 2, the utility model provides an end cap centre gripping manipulator that uses in cast tube production process, including the clamping device that is used for picking up the end cap, the telescoping device who is connected with clamping device and be used for controlling the drive arrangement that the telescoping device switches between extension state and contraction state.
Specifically, as shown in fig. 1 and 2, the plug has a circular ring-shaped structure, and when cement is coated on the inner wall of the cast pipe in the cast pipe production process, the plug needs to be mounted at the socket or the socket of the cast pipe by a plug clamping manipulator. And after the cement lining inside the cast tube is finished, taking down the plug from the cast tube by the plug clamping manipulator. The plug clamping manipulator replaces manual work to install and take down the plug, so that the labor intensity can be reduced, and the working efficiency of the upper plug and the lower plug in the production process of the cast pipe can be improved.
As shown in fig. 1 and 2, the clamping device comprises a first jaw 3 and a second jaw 28 for insertion into the central hole of the stopper, the first jaw 3 and the second jaw 28 being arranged opposite to each other. The first jaw 3 and the second jaw 28 are connected to a telescopic device, and in the process of switching the telescopic device between the extended state and the contracted state, the distance between the first jaw 3 and the second jaw 28 decreases as the telescopic device is switched to the extended state, and the distance between the first jaw 3 and the second jaw 28 increases as the telescopic device is switched to the contracted state. When a plug is required to be installed on a cast pipe, the first clamping jaw 3 and the second clamping jaw 28 are inserted into a central hole of the plug, the telescopic device is switched from an extension state to a contraction state, so that the distance between the first clamping jaw 3 and the second clamping jaw 28 is gradually increased, finally, the first clamping jaw 3 and the second clamping jaw 28 are attached to the inner circular surface of the plug, the first clamping jaw 3 and the second clamping jaw 28 exert a supporting force on the plug along the radial direction of the plug, and the first clamping jaw 3 and the second clamping jaw 28 are matched to support the plug tightly to achieve picking up of the plug; after the plug is installed on the cast tube, the plug clamping manipulator needs to be separated from the plug, when the plug clamping manipulator is separated from the plug, the telescopic device is switched from a contraction state to an extension state, so that the distance between the first clamping jaw 3 and the second clamping jaw 28 is gradually reduced, the first clamping jaw 3 and the second clamping jaw 28 are separated from the plug, the plug is loosened, and finally the first clamping jaw 3 and the second clamping jaw 28 can be pulled out of the plug.
As shown in fig. 1 and 2, the first jaw 3 and the second jaw 28 are located on the same straight line perpendicular to the axis of the plug, the first jaw 3 and the second jaw 28 are symmetrically arranged, the first jaw 3 and the second jaw 28 are L-shaped structures, each of the first jaw 3 and the second jaw 28 has a blocking portion for limiting the axial direction of the plug when the plug is picked up, the blocking portion has a certain length, the length direction of the blocking portion is parallel to the radial direction of the plug, and the blocking portion extends toward the center far away from the plug, so that after the first jaw 3 and the second jaw 28 are attached to the inner circular surface of the plug, the blocking portion of the first jaw 3 and the second jaw 28 is attached to the end surface of the plug (the end surface of the plug is the end surface of the plug far away from the telescopic device), and thus the plug can be limited in the axial direction of the plug, and the plug is kept between the blocking portion and the telescopic device, the plug can be prevented from falling off, and the picking reliability is improved.
As shown in fig. 1 and 2, the telescopic device comprises a first support assembly connected to the first jaw 3, a second support assembly connected to the second jaw 28, and a scissors arm assembly connected to the first support assembly and the second support assembly. The scissor arm assembly comprises a first scissor arm 7 connected with the first supporting assembly, a second scissor arm 13 connected with the second supporting assembly and rotatably connected with the first scissor arm 7 through an intermediate shaft 11, a third scissor arm 18 rotatably connected with the first scissor arm 7, a fourth scissor arm 19 rotatably connected with the second scissor arm 13, and an intermediate rod 9 connected with the first supporting assembly and the second supporting assembly, wherein the intermediate shaft 11 is connected with a driving device and the intermediate rod 9. The first and second arms 7, 13 are of the same length, the third and fourth arms 18, 19 are of the same length, and the first and second arms 7, 13 are longer than the third and fourth arms 18, 19. The first scissor arm 7 and the second scissor arm 13 are rotatably connected through the intermediate shaft 11 and form an X-shaped structure, and the included angle between the first scissor arm 7 and the second scissor arm 13 is variable. The third scissor arm 18 and the fourth scissor arm 19 are arranged in a V-shape, and the included angle between the third scissor arm 18 and the fourth scissor arm 19 is variable. One end of the first scissor arm 7 in the length direction is rotatably connected with the first supporting component through a rotating shaft 10, the other end of the first scissor arm 7 in the length direction is rotatably connected with one end of the third scissor arm 18 in the length direction through a rotating shaft 17, the rotating shaft 10 and the rotating shaft 17 are parallel to the intermediate shaft 11, and the intermediate shaft 11 is positioned between the rotating shaft 10 and the rotating shaft 17; one end of the second scissor arm 13 in the length direction is rotatably connected with the second supporting component through a rotating shaft 21, the other end of the second scissor arm 13 in the length direction is rotatably connected with one end of the fourth scissor arm 19 in the length direction through a rotating shaft 16, the rotating shaft 21 and the rotating shaft 16 are parallel to the intermediate shaft 11, the intermediate shaft 11 is positioned between the rotating shaft 21 and the rotating shaft 16, and the rotating shaft 16 and the rotating shaft 17 are positioned on the same straight line perpendicular to the axis of the plug; the other end of the third scissor arm 18 in the length direction and the other end of the fourth scissor arm 19 in the length direction are rotatably connected with the fixed frame 23 through the same rotating shaft 20, the rotating shaft 20 is parallel to the intermediate shaft 11, the rotating shaft 20 and the intermediate shaft 11 are positioned on the same straight line parallel to the axis of the plug, and the axis of the intermediate shaft 11 is perpendicular to the axis of the plug. When the telescopic device is switched from a contraction state to an extension state, an included angle between the first scissor arm 7 and the second scissor arm 13 is gradually reduced, an included angle between the third scissor arm 18 and the fourth scissor arm 19 is gradually reduced, and a distance between the intermediate shaft 11 and the rotating shaft 20 is gradually reduced; when the telescopic device is switched from the extension state to the contraction state, the included angle between the first scissor arm 7 and the second scissor arm 13 is gradually increased, the included angle between the third scissor arm 18 and the fourth scissor arm 19 is gradually increased, and the distance between the intermediate shaft 11 and the rotating shaft 20 is gradually increased.
As shown in fig. 1 and 2, the first support assembly comprises a first connecting rod 6 connected in rotation to the first scissor arm 7 and to the first jaw 3, and a first rocker 8 connected in rotation to the first connecting rod 6 and to the intermediate rod 9, the first rocker 8 being parallel to the first scissor arm 7 and the first connecting rod 6 being parallel to the intermediate rod 9. The second support assembly comprises a second link rotatably connected to the second scissor arm 13 and connected to the second jaw 28, and a second rocker 14 rotatably connected to the second link and the intermediate lever 9, the second rocker 14 being parallel to the second scissor arm 13, the second link being parallel to the intermediate lever 9, the intermediate lever 9 being located between the first link 6 and the second link. One end of the first scissor arm 7 is rotatably connected with the first connecting rod 6, the other end of the first scissor arm 7 is rotatably connected with the third scissor arm 18, and the intermediate shaft 11 is positioned between the two ends of the first scissor arm 7. One end of the second scissor arm 13 is rotatably connected with the second connecting rod, the other end of the second scissor arm 13 is rotatably connected with the fourth scissor arm 19, and the intermediate shaft 11 is located between the two ends of the second scissor arm 13. First supporting component is connected with first scissors arm 7 and intermediate lever 9, and second supporting component is connected with second scissors arm 13 and intermediate lever 9, forms two parallelogram structures, helps improving manipulator overall structure's stability like this, simple structure moreover, convenient preparation. Through the translational motion of the first connecting rod 6 and the second connecting rod, the first clamping jaw 3 and the second clamping jaw 28 are always kept in a parallel state, and the plug can be accurately clamped.
As shown in fig. 1 and 2, one end of the first scissor arm 7 in the length direction is rotatably connected with one end of the first connecting rod 6 in the length direction through a rotating shaft 10, the other end of the first connecting rod 6 in the length direction is rotatably connected with one end of the first rocker 8 in the length direction through a rotating shaft 5, the end of the first connecting rod 6 is fixedly connected with the first clamping jaw 3, the first clamping jaw 3 extends towards the direction far away from the first connecting rod 6 along the length direction of the first connecting rod 6, the rotating shaft 10 is parallel to the rotating shaft 5, the other end of the first rocker 8 in the length direction is rotatably connected with one end of the intermediate rod 9 in the length direction through a rotating shaft 12, and the other end of the intermediate rod 9 in the length direction is connected with an intermediate shaft 11; the one end on the length direction of second scissor arm 13 is passed through pivot 21 and is connected with the one end on the length direction of second connecting rod is rotated, the other end on the length direction of second connecting rod is rotated through the one end on the length direction of pivot 24 and second rocker 14 and is connected and this end and the second clamping jaw 28 fixed connection of second connecting rod, second clamping jaw 28 extends along the length direction orientation of second connecting rod and keeps away from the direction of second connecting rod, pivot 21 parallels with pivot 24, the other end on the length direction of second rocker 14 also is through the one end rotation on the length direction of pivot 12 with intermediate lever 9 and be connected. The first rocker 8 and the second rocker 14 are distributed in a V shape, the length of the first rocker 8 is the same as that of the second rocker 14, the length of the first connecting rod 6 is the same as that of the second connecting rod, the length direction of the first rocker 8 is parallel to that of the first scissor arm 7, the length direction of the second rocker 14 is parallel to that of the second scissor arm 13, the first rocker 8, the second rocker 14, the first clamping jaw 3 and the second clamping jaw 28 are located on the same side of the middle rod 9, and the third scissor arm 18 and the fourth scissor arm 19 are located on the other side of the middle rod 9.
As shown in fig. 1 and 2, the driving device includes a push-pull rod 15 connected to the intermediate shaft 11, and an actuator 22 connected to the push-pull rod 15 and controlling the push-pull rod 15 to move linearly, and the actuator 22 is preferably an electric cylinder, which is a telescopic member. The actuator 22 is fixedly connected with the fixed frame 23, and the electric cylinder controls the push-pull rod 15 to do linear reciprocating motion along the direction parallel to the axis of the plug, so that the telescopic device is switched between an extension state and a contraction state. The push-pull rod 15 has a length, one end of the push-pull rod 15 is connected to the intermediate shaft 11, and the other end of the push-pull rod 15 is connected to the actuator 22.
The utility model discloses an end cap centre gripping manipulator uses with industrial robot or cartesian robot cooperation, end cap centre gripping manipulator's mount 23 is connected with industrial robot's end effector 22 or cartesian robot's end effector 22, drive end cap centre gripping manipulator by industrial robot or cartesian robot and wholly move, and in the process of picking up the end cap, after first clamping jaw 3 and second clamping jaw 28 inserted in the centre bore of end cap, drive arrangement control telescoping device switches to the contraction state from the extension state, industrial robot or cartesian robot drive mount 23 is close to the end cap gradually, make the distance between mount 23 and the end cap reduce gradually, so that first clamping jaw 3 and second clamping jaw 28 keep in the centre bore of end cap, the distance between first clamping jaw 3 and second clamping jaw 28 increases gradually simultaneously, finally make first clamping jaw 3 and second clamping jaw 28 laminate with the interior disc of end cap, the end caps are picked up, then an industrial robot or a rectangular coordinate robot drives the end cap clamping mechanical arm and the picked end caps to move to the position of the cast pipe, and the end caps are installed.
The invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-described manner. Various insubstantial improvements are made by adopting the method conception and the technical proposal of the utility model; or without improvement, the above conception and technical solution of the present invention can be directly applied to other occasions, all within the protection scope of the present invention.
Claims (10)
1. End cap centre gripping manipulator that uses in cast tube production process, its characterized in that: the device comprises a clamping device for picking up the plug, a telescopic device connected with the clamping device and a driving device for controlling the telescopic device to switch between an extension state and a contraction state.
2. The plug clamping manipulator used in the cast tube production process according to claim 1, wherein: the clamping device comprises a first clamping jaw and a second clamping jaw which are inserted into the central hole of the plug, and the first clamping jaw and the second clamping jaw are oppositely arranged.
3. The plug clamping manipulator used in the cast tube production process according to claim 2, wherein: the first clamping jaw and the second clamping jaw are connected with the telescopic device, the distance between the first clamping jaw and the second clamping jaw is reduced along with the switching of the telescopic device to the extension state, and the distance between the first clamping jaw and the second clamping jaw is increased along with the switching of the telescopic device to the contraction state.
4. The plug clamping manipulator used in the cast tube production process according to claim 2, wherein: the telescopic device comprises a first supporting component connected with the first clamping jaw, a second supporting component connected with the second clamping jaw, and a scissor arm component connected with the first supporting component and the second supporting component.
5. The plug clamping manipulator used in the cast tube production process according to claim 4, wherein: the scissor arm assembly comprises a first scissor arm connected with the first supporting assembly, a second scissor arm connected with the second supporting assembly and rotationally connected with the first scissor arm through a middle shaft, a third scissor arm rotationally connected with the first scissor arm, a fourth scissor arm rotationally connected with the second scissor arm, and a middle rod connected with the first supporting assembly and the second supporting assembly, wherein the middle shaft is connected with the driving device and the middle rod.
6. The plug clamping manipulator used in the cast tube production process according to claim 5, wherein: the first supporting assembly comprises a first connecting rod which is rotatably connected with the first scissor arm and connected with the first clamping jaw, and a first rocker which is rotatably connected with the first connecting rod and the middle rod, the first rocker is parallel to the first scissor arm, and the first connecting rod is parallel to the middle rod.
7. The plug clamping manipulator used in the cast tube production process according to claim 6, wherein: one end of the first scissor arm is rotatably connected with the first connecting rod, the other end of the first scissor arm is rotatably connected with the third scissor arm, and the intermediate shaft is located between two ends of the first scissor arm.
8. The plug clamping manipulator used in the cast tube production process according to claim 6, wherein: the second supporting assembly comprises a second connecting rod which is rotatably connected with the second scissor arm and is connected with the second clamping jaw, and a second rocker which is rotatably connected with the second connecting rod and the middle rod, the second rocker is parallel to the second scissor arm, and the second connecting rod is parallel to the middle rod.
9. The plug clamping manipulator used in the cast tube production process according to claim 8, wherein: one end of the second scissor arm is rotatably connected with the second connecting rod, the other end of the second scissor arm is rotatably connected with the fourth scissor arm, and the intermediate shaft is positioned between the two ends of the second scissor arm.
10. The plug clamping manipulator used in the cast tube production process according to any one of claims 5 to 9, wherein: the driving device comprises a push-pull rod connected with the intermediate shaft and an actuator which is connected with the push-pull rod and controls the push-pull rod to do linear motion, and the actuator is an electric cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920512745.4U CN209812346U (en) | 2019-04-16 | 2019-04-16 | Plug clamping manipulator used in cast tube production process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920512745.4U CN209812346U (en) | 2019-04-16 | 2019-04-16 | Plug clamping manipulator used in cast tube production process |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209812346U true CN209812346U (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920512745.4U Active CN209812346U (en) | 2019-04-16 | 2019-04-16 | Plug clamping manipulator used in cast tube production process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209812346U (en) |
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2019
- 2019-04-16 CN CN201920512745.4U patent/CN209812346U/en active Active
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