CN214454986U

CN214454986U - Tubular product of novel structure snatchs manipulator

Info

Publication number: CN214454986U
Application number: CN202120256989.8U
Authority: CN
Inventors: 厉恩贵; 陈震天
Original assignee: Linhai Weixing New Building Materials Co Ltd
Current assignee: Linhai Weixing New Building Materials Co Ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-10-22
Anticipated expiration: 2031-01-29

Abstract

The utility model belongs to the technical field of automated production and processing equipment technique and specifically relates to a tubular product of novel structure snatchs manipulator. The pipe grabbing manipulator comprises a grabbing tool fixing rod and a plurality of grabbing tools arranged along the length direction of the grabbing tool fixing rod, wherein each grabbing tool comprises a fixing plate which is perpendicular to and fixed on the grabbing tool fixing rod, one end of each fixing plate is bent downwards to form a baffle, the grabbing tool fixing rod is rotatably connected with a rotating column, a rocker is fixed at the lower end of the rotating column and used for forming a closed ring together with the rotating column, the fixing plates and the baffles, and a driving mechanism used for driving the rotating column to rotate is fixed on the grabbing tool fixing rod; the driving mechanism comprises a cylinder and a rotating plate connected with an output shaft of the cylinder, the rotating plate is fixedly connected with the circumferential direction of the rotating column, and the output shaft of the cylinder drives the rotating plate to drive the rotating column to rotate in a telescopic mode. The utility model discloses in, directly promote through the cylinder and rotate the post and make the rocker realize opening, closing the action, simple structure is reliable, adaptation operation requirement that can be better.

Description

Tubular product of novel structure snatchs manipulator

Technical Field

The utility model belongs to the technical field of automated production and processing equipment technique and specifically relates to a tubular product of novel structure snatchs manipulator.

Background

Because traditional PPR tubular product pile up neatly carries out the pile up neatly operation for manual handling mode, great physical demands is brought for the manual work to repeated physical power operation and the artifical handling in-process is extremely easily caused the scraping collision of tubular product and is brought bad market effect.

It is therefore proposed to use a robot instead of the heavy labour of a person to achieve mechanisation and automation of production. The manipulator can imitate some action functions of human hand and arm, and can be used for grabbing, carrying article or operating automatic operation device of tool according to fixed program. There are many types of manipulators, and many types of manipulators are used for transportation, and a transported object is generally lifted by a suction cup or a clamp at present, but such a lifting method is not effective for a round tube.

Referring to fig. 1, a chinese utility model patent with an authorization publication number CN208305063U of the same applicant discloses a pipe gripping manipulator, which comprises a main beam, a plurality of fixing rods arranged along the length direction of the main beam and perpendicular to the main beam; one end of the fixed rod is bent downwards to form a matching rod, the other end of the fixed rod is connected with a rotating column in a rotating mode, a swing arm is fixed to the lower end of the rotating column and can rotate on a plane parallel to the main beam, the swing arm is used for forming a closed ring with the rotating column, the fixed rod and the matching rod, and the main beam is fixed with a driving mechanism used for driving the rotating column to rotate. The swing arm forms confined annular space with rotating post, dead lever, cooperation pole when closed state for tubular product effectual avoid producing the scraping phenomenon when being snatched. The tubular product snatchs manipulator can effectually snatch the tubular product of circle form.

After the pipe grabbing manipulator is used, the existing pipe grabbing manipulator converts linear motion of a cylinder into rotary motion of a rotating shaft by utilizing meshing of a gear and a rack to enable a swing arm to realize opening and closing actions, and the consistency of the grab is poor due to insufficient precision between matching.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a tubular product of novel structure snatchs manipulator directly promotes through the cylinder and rotates the post and make the rocker realize opening, closing the action, and simple structure is reliable, adaptation operation requirement that can be better.

In order to achieve the advantages, the utility model provides a tubular product grabbing manipulator of novel structure, including gripping apparatus dead lever, a plurality of gripping apparatus that arrange along gripping apparatus dead lever length direction, the gripping apparatus includes the fixed plate that is perpendicular and fixed in this gripping apparatus dead lever, and the one end tip of this fixed plate is crooked downwards and is formed the baffle, the gripping apparatus dead lever still rotates and is connected with the rotation post, the lower extreme of rotation post is fixed with the rocker, the rocker can rotate on the plane that is on a parallel with this gripping apparatus dead lever, this rocker is used for forming the closed ring with this rotation post, fixed plate, baffle, this gripping apparatus dead lever is fixed with the actuating mechanism that is used for driving this rotation post rotatory;

the driving mechanism comprises a cylinder and a rotating plate connected with an output shaft of the cylinder, the rotating plate is fixedly connected with the circumferential direction of the rotating column, and the output shaft of the cylinder drives the rotating plate to drive the rotating column to rotate in a telescopic mode.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, the rotation post is fixed in through the bearing frame the side of gripping apparatus dead lever.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, the cylinder body of cylinder pass through the connecting seat with surface connection is fixed on the gripping apparatus dead lever.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, it is used for the cover to establish to change the board rotate the outer trepanning of post upper end, it is equipped with the screw hole to rotate the post terminal surface, this screw hole connecting bolt, the bolt with change and be equipped with the gasket between the board, the radial dimension of this gasket is greater than the radial dimension of trepanning.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, it locates to change the board cover outside the rotation post, the rotation post is equipped with the draw-in groove of connecting the jump ring, the jump ring with the restriction of draw-in groove cooperation the board is followed the rotation post axial displacement.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, the rocker is established including the cover rotate the outer body of post lower extreme, with the cylinder that the body set up perpendicularly.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, the body with it is fixed that the post passes through key circumferential connection to rotate.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, the cylinder overcoat has the sheath.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, gripping apparatus dead lever cross-section is the rectangle.

The utility model discloses an in the embodiment of the tubular product of novel structure snatchs manipulator, the fixed plate the gripping apparatus dead lever is made by steel.

The utility model discloses in, directly promote through the cylinder and rotate the post and make the rocker realize opening, closing the action, simple structure is reliable, adaptation operation requirement that can be better.

Drawings

Fig. 1 is a schematic structural diagram of a pipe gripping robot in the prior art.

Fig. 2 is a schematic structural view of the pipe gripping manipulator with the novel structure according to the first embodiment of the present invention.

Fig. 3 is a side view of the tube gripping robot of fig. 2.

Fig. 4 is an exploded view of the gripper of the pipe gripping robot of fig. 2.

Fig. 5 is a schematic view of the gripper of the pipe gripping robot of fig. 2 in a closed state.

Fig. 6 is a schematic view of the gripper of the pipe gripping robot of fig. 2 in an open state.

Fig. 7 is a schematic structural view of the gripper of the pipe gripping robot of fig. 2 gripping a pipe.

Fig. 8 is a side view of the gripper of the pipe gripping robot of fig. 7 gripping a pipe.

Detailed Description

The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and thus, it should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; of course, mechanical connection and electrical connection are also possible; alternatively, they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 2, the pipe gripping manipulator with a novel structure according to the first embodiment of the present invention includes a gripper fixing rod 1 and four grippers 2 arranged along the length direction of the gripper fixing rod 1.

Referring to fig. 3, the cross section of the gripper fixing rod 1 is rectangular. The four peripheral surfaces of the gripping apparatus fixing rod 1 are respectively provided with a T-shaped groove 11. In this embodiment, the bolt head can be clamped into the T-shaped groove 11 to fix the bearing seat 31 and the connecting seat 53, on one hand, a hole does not need to be drilled on the gripper fixing rod 1, so that the fixing deviation caused by the position deviation of the hole is avoided, and on the other hand, the axial fixing position of the gripper is convenient to adjust.

Referring to fig. 4, the gripper 2 includes a fixing plate 21 vertically fixed to the gripper fixing bar 1. The fixing plate 21 is fixed on the gripper fixing rod 1. One end of the fixing plate 21 is bent downwards to form a baffle 22, the other end of the fixing plate 21 is bent upwards and then horizontally to form an L-shaped connecting part 23, and the connecting part 23 is respectively fixed with the upper surface and the side surface of the gripper fixing rod 1 through bolt connection, so that the fixing is firmer and more stable. In the present embodiment, the fixing plate 21, the baffle plate 22, and the connecting portion 23 are integrally formed, and the fixing plate 21, the baffle plate 22, and the connecting portion 23 are formed by bending a steel plate.

The gripper fixing rod 1 is further rotatably connected with a rotating column 3, a rocker 4 is fixed at the lower end of the rotating column 3, the rocker 4 can rotate on a plane parallel to the gripper fixing rod 1, the rocker 4 is used for forming a closed ring with the rotating column 3, the fixing plate 21 and the baffle 22, and the gripper fixing rod 1 is fixed with a driving mechanism 5 for driving the rotating column 3 to rotate.

The driving mechanism 5 comprises a cylinder 51 and a rotating plate 52 connected with an output shaft of the cylinder 51, the rotating plate 52 is circumferentially and fixedly connected with the rotating column 3, and the output shaft of the cylinder 51 stretches and retracts to drive the rotating plate 52 to rotate so as to drive the rotating column 3 and the rocker 4 to rotate. The rotary column 3 is fixed to the side of the gripper fixing rod 1 through a bearing block 31. The cylinder body of the air cylinder 51 is fixedly connected with the upper surface of the gripping apparatus fixing rod 1 through a connecting seat 53. In the present embodiment, the rotation angle of the rocker 4 is between 0 and 90 °.

The rotating plate 52 is provided with a sleeve hole 520 for being sleeved outside the upper end of the rotating column 3, the end surface of the rotating column 3 is provided with a threaded hole 32, the threaded hole 32 is connected with a bolt 321, a gasket 322 is arranged between the bolt 321 and the rotating plate 52, and the radial size of the gasket 322 is larger than that of the sleeve hole 520. The side edge of the end face of the rotating plate 52 is connected with a connecting column 521, and the output shaft of the air cylinder 51 is pivoted with the connecting column 521 through a connecting piece 54. The bolt 321 is connected with the rotary column 3 and then limits the axial movement of the rotary plate 52 along the rotary column 3 through the gasket 322.

The utility model discloses an in other embodiments, change 52 covers of board and locate to rotate 3 outside the post, rotate the draw-in groove that post 3 was equipped with the connection jump ring, jump ring and draw-in groove cooperation restriction change board 52 along rotating 3 axial displacement of post.

The rocker 4 comprises a tube body 41 sleeved outside the lower end of the rotating column 3 and a column body 42 arranged perpendicular to the tube body 41. The tube body 41 is circumferentially connected and fixed with the rotary column 3 through a key. The column 42 is externally sleeved with a sheath 421, so that the tube 100 is effectively prevented from being scratched when being grabbed.

The fixing plate 21, the baffle 22, the connecting part 23 and the gripper fixing rod 1 are made of steel.

Please refer to fig. 5-6, the working principle: the linear motion of the cylinder 51 is converted into the rotary motion of the rotary column 3 by the rotary plate 52, so that the rocker 4 is opened and closed.

Referring to fig. 5-8, in operation, the pipe gripping manipulator moves to a position near the extrusion line platform, a single or multiple PPR pipes to be moved are arranged on the extrusion line platform, at this time, the rocker 4 is in an open state before the gripping of the gripping device 2, after the pipe gripping manipulator moves to a position to be gripped, the cylinder 51 retracts, and at this time, the gripping device 2 is in a closed state of the rocker 4; four grippers 2 on the fixing plate 21 of the gripper 2 move synchronously, and a pipe to be gripped on the extrusion line platform is placed in the gripper 2. After the gripping of the gripping device 2 is finished, the pipe gripping manipulator moves to the trolley, the air cylinder 51 moves in the reverse direction, at the moment, the gripping device 2 is opened, the PPR pipe falls into the trolley, and finally the manipulator returns to the extrusion line platform. The automatic conveying of the pipes is realized by repeated actions.

The utility model discloses in, rocker 4 constitutes confined annular space 9 with rotation post 35, dead lever 2, cooperation pole 21 when closed state, and cylinder 42 overcoat has sheath 421, makes tubular product effectually avoid producing the scraping phenomenon when being snatched.

The utility model discloses can effectually snatch tubular product 100 of circle form.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims

1. A pipe grabbing manipulator with a novel structure comprises a grabbing tool fixing rod and a plurality of grabbing tools arranged along the length direction of the grabbing tool fixing rod, and is characterized in that each grabbing tool comprises a fixing plate which is perpendicular to and fixed on the grabbing tool fixing rod, one end of each fixing plate is bent downwards to form a baffle, each grabbing tool fixing rod is further connected with a rotating column in a rotating mode, a rocker is fixed to the lower end of each rotating column and can rotate on a plane parallel to the grabbing tool fixing rod, each rocker is used for forming a closed ring with the rotating column, the fixing plates and the baffles, and a driving mechanism used for driving the rotating columns to rotate is fixed on the grabbing tool fixing rod;

2. The pipe gripping manipulator of claim 1, wherein the rotary column is fixed to a side surface of the gripper fixing rod through a bearing seat.

3. The pipe grabbing manipulator with the novel structure as claimed in claim 1, wherein the cylinder body of the air cylinder is fixedly connected with the upper surface of the gripping apparatus fixing rod through a connecting seat.

4. The pipe grabbing manipulator with the novel structure as claimed in claim 1, wherein the rotating plate is provided with a sleeve hole for being sleeved outside the upper end of the rotating column, the end face of the rotating column is provided with a threaded hole, the threaded hole is connected with a bolt, a gasket is arranged between the bolt and the rotating plate, and the radial dimension of the gasket is larger than that of the sleeve hole.

5. The pipe grabbing manipulator with the novel structure as claimed in claim 1, wherein the rotating plate is sleeved outside the rotating column, the rotating column is provided with a clamping groove for connecting a clamping spring, and the clamping spring and the clamping groove cooperate to limit the rotating plate to move axially along the rotating column.

6. The pipe grabbing manipulator with the novel structure as claimed in claim 1, wherein the rocker comprises a pipe body sleeved outside the lower end of the rotating column and a cylinder body arranged perpendicular to the pipe body.

7. The pipe grabbing manipulator with the novel structure as claimed in claim 6, wherein the pipe body and the rotating column are circumferentially connected and fixed through a key.

8. The pipe grabbing manipulator with the novel structure as claimed in claim 6, wherein a sheath is sleeved outside the cylinder.

9. The pipe gripping manipulator of claim 1, wherein the gripper fixing rod is rectangular in cross section.

10. The pipe gripping manipulator of any one of claims 1 to 9, wherein the fixing plate and the gripper fixing rod are made of steel.