CN221271139U - Seamless pipe transfer robot - Google Patents

Abstract

The utility model relates to a seamless pipe transfer robot, which provides path support for equipment through a guide wire and a mark line, enables the equipment to accurately find the corresponding position in a factory, provides enough maneuverability for a platform through a Megaku wheel (11) of a transfer robot driving device (13), enables a plurality of the seamless pipe transfer robot to cooperatively work through a cooperative alignment camera (6) and a cooperative alignment mark (10), enables the position of a steel pipe relative to the seamless pipe transfer robot to be determined through a steel pipe sensor (7), facilitates the steel pipe transfer beam (2) to form a cross shape with the steel pipe, provides enough support for lifting and lowering a fork arm (3), a fork arm cross shaft (4) and a fork arm control block (5), enables a trolley not to move back and forth between a storage area, a delivery area truck and a galvanized standby position, automatically transfers the steel pipe to the position near the delivery area truck and the galvanized standby position, facilitates the quick hoisting of the steel pipe to a vehicle or a processing feeding area, and effectively improves the transfer efficiency of the steel pipe.

Description

Seamless pipe transfer robot

Technical Field

The utility model relates to a steel pipe conveying device, in particular to a seamless pipe conveying robot.

Background

The seamless steel pipes are required to be placed in a storehouse before and after galvanization, are usually bundled into a bundle or scattered, in order to prevent the steel pipes from being damped or worn, a plurality of wood blocks or steel rails are usually placed under the steel pipes to lift the steel pipes, the stored steel pipes are hoisted to a truck or a galvanization processing standby position through a crane when the steel pipes are required to be used or shipped, but the transportation efficiency is extremely low by simply using the crane, the crane is required to move the steel pipes back and forth between the truck and the galvanization processing standby position in a storage area, a shipping area, the steel pipes are often not busy when tasks such as galvanization, warehouse-in and warehouse-out of the steel pipes are carried out at the same time, the production efficiency of enterprises is affected, and if a worker operates a forklift, the cost expenditure is increased, and the profit rate of the enterprises is affected.

At present, the utility model with the patent number of CN210907593U discloses a full-automatic hot spinning steel cylinder forming and transferring device, which comprises a hot spinning machine, a heating and heat preserving device, a steel pipe transferring device, a hot spinning feeding and blanking machine, a steel pipe heating device, a slag pouring device, a feeding and conveying device and a top and bottom machine; the steel pipe heating device is positioned at the output end of the feeding conveying device; the output end of the hot spinning feeding and discharging machine is propped against the fixed end of the hot spinning machine; the heating and heat-preserving device is positioned at one side of the hot spinning feeding and discharging machine; the steel pipe transferring device is positioned at one side of the hot spinning feeding and blanking machine and is used for transferring the heated steel pipe in the steel pipe heating device to the hot spinning feeding and blanking machine and transferring the steel pipe processed on the hot spinning feeding and blanking machine to the slag pouring device; the output end of the slag pouring device is propped against the inlet of the top-bottom machine. The device has simple and convenient operation and stable yield, can continuously and uninterruptedly produce, greatly reduces the labor intensity of workers and improves the operation safety; and as automatic control is realized, the quality control and the consistency of products are ensured. However, this patent is mainly used for continuously feeding steel pipes into a hot spinning machine and the like during steel cylinder production, and cannot cope with the conventional transfer task of the steel pipes in a warehouse.

Disclosure of Invention

Aiming at the problems in the prior art, the utility model provides the seamless pipe transfer robot which can automatically transfer the steel pipe to be transferred to a truck in a delivery area and a trolley near a galvanization processing standby position, is convenient for the trolley to quickly hoist the steel pipe to a vehicle or a processing feeding area, and can effectively improve the transfer efficiency of the steel pipe.

In order to achieve the above purpose, the seamless pipe transfer robot comprises an anti-roll block, a steel pipe transfer beam, a fork arm cross shaft, a fork arm control block, a cooperative alignment camera, a steel pipe sensor, an obstacle avoidance radar, a road finding camera, a cooperative alignment mark, a microphone wheel, a steel pipe transfer platform, a transfer platform body, a lifting control box, a lifting control threaded rod, a fork arm control block chute, an annular toothed belt, a transfer robot driving device, a transfer platform body driving motor, a battery pack and a wireless charging device, and further comprises a guide wire and a marking line paved or drawn on the ground, wherein four or six microphone wheels are arranged on two sides of the transfer robot driving device, the obstacle avoidance radar and the road finding camera are respectively arranged on the front and the rear sides of the transfer robot driving device through bosses, the cooperative alignment camera and the cooperative alignment mark are respectively fixedly arranged on the surfaces of the transfer robot driving device on the two sides of the front and the rear obstacle avoidance radar, and the cooperative alignment camera and the cooperative alignment mark are arranged in a staggered manner; a rotatable steel pipe transfer platform is arranged in a circular groove at the center of the upper part of the transfer robot driving device, steel pipe sensors are arranged on the surfaces of the transfer robot driving device in a cross shape in the front, back, left and right directions of the steel pipe transfer platform, annular toothed belts are sleeved on the lower part of a transfer platform body of the steel pipe transfer platform, two parallel fork arm control block sliding grooves are formed in the upper surface of the transfer platform body of the steel pipe transfer platform, a lifting control box is fixedly arranged in the middle of each fork arm control block sliding groove, lifting control threaded rods with opposite thread directions are arranged on two sides of the lifting control box, the lifting control threaded rods are in threaded connection with fork arm control blocks, the fork arm control blocks are connected with the lower ends of fork arms through rotating shafts, fork arms in the same fork arm control sliding grooves are crossed to form a group of lifting arms, the cross points of the two groups of lifting arms are connected through fork arm cross shafts, the top ends of the two groups of lifting arms are connected through steel pipe transfer beams, and anti-rolling stops are arranged at two ends of the steel pipe transfer beams; the lower part of the transfer robot driving device is provided with a groove for installing a wireless charging device.

In addition, the seamless tube transfer robot according to the above embodiment of the present utility model may further have the following additional technical features:

as a further improvement scheme of the utility model, the transfer robot driving device comprises a transfer platform body driving motor and a battery pack, wherein a microphone wheel driving motor, the transfer platform body driving motor and the battery pack are arranged in the transfer robot driving device through a bracket, and a rotating shaft of the transfer platform body driving motor is meshed with an annular toothed belt of the transfer platform body through a gear.

As a further improvement of the utility model, the transfer robot driving device is internally provided with a controller and a wireless communication device.

As a further development of the utility model, the roll screen is provided with a three-part sleeve.

As a further development of the utility model, the roll screen edge is provided with four to six outwardly extending roll screen arms, which are inclined outwardly.

As a further improvement of the utility model, the steel pipe sensor is a laser sensor.

By means of the scheme, the utility model has at least the following advantages: compared with the conventional mode that the travelling crane is directly used for transporting the steel pipes in the storage area to the galvanized standby position, the special steel pipe transfer robot is additionally arranged among the storage area, the delivery area truck and the galvanized standby position, so that the travelling crane does not need to move back and forth among the storage area, the delivery area truck and the galvanized standby position, and the travelling crane only needs to hoist the steel pipes which are transported to the delivery area truck and the galvanized standby position and are close to the travelling crane to the corresponding positions, so that the steel pipe transfer efficiency can be effectively improved.

Drawings

FIG. 1 is a schematic perspective view of a seamless tube transfer robot;

FIG. 2 is a bottom view of the seamless tube transfer robot;

FIG. 3 is a perspective view of a steel pipe transfer platform of the seamless pipe transfer robot;

FIG. 4 is a cross-sectional view of a steel pipe transfer platform of the seamless pipe transfer robot;

In the figure: 1. the anti-rolling device comprises an anti-rolling block, 2 steel pipe transfer beams, 3, fork arms, 4, fork arm cross shafts, 5, fork arm control blocks, 6, a cooperative alignment camera, 7, a steel pipe sensor, 8, an obstacle avoidance radar, 9, a road finding camera, 10, a cooperative alignment mark, 11, a microphone wheel, 12, a steel pipe transfer platform, 12-1, a transfer platform body, 12-2, a lifting control box, 12-3, a lifting control threaded rod, 12-4, fork arm control block sliding grooves, 12-5, an annular toothed belt, 13, a transfer robot driving device, 13-1, a transfer platform body driving motor, 13-2, a battery pack, 14 and a wireless charging device.

Detailed Description

At present, when the steel pipe is galvanized, the steel pipe to be processed and galvanized is piled on a short frame made of steel rails after being bundled, and when needed, the corresponding steel pipe is hoisted to a truck in a delivery area or a galvanized standby position from a storage area through a crane, so that the crane travel is too long, further, the steel pipe is often busy when the tasks of galvanization, warehouse-out and warehouse-in of the steel pipe are simultaneously carried out, and the production efficiency of enterprises is affected.

A seamless pipe transfer robot according to an embodiment of the present utility model will be described below with reference to the accompanying drawings.

In a first embodiment of the present application, as shown in fig. 1 to 3, the present seamless pipe transfer robot (hereinafter referred to as "the present patent") mainly moves back and forth between storage areas, delivery area trucks or galvanization processing standby positions, and the bundled or scattered steel pipes are transferred back and forth between the storage areas, delivery area trucks or galvanization processing standby positions through two or three transfer group columns formed by the present patent, wherein the robots in the group columns form a straight line through the cooperation of the front and rear robots and the cooperation of the alignment cameras 6 and the cooperation of the alignment marks 10, which is convenient for transferring the steel pipes. This patent is through the built-in wireless module receipt control signal of transfer robot drive arrangement 13, after receiving control signal, the route-finding camera 9 can scan and lay or draw in the guide wire and the identification line on ground, let this patent can be in a plurality of regional in intelligent route-finding, prevent that the transportation route from appearing wrong, simultaneously, be in the barrier radar 8 is kept away to this patent that is in first position in the group row makes the barrier that probably exists on the scanning route to in time stop, in time stop through other robots in the wireless signal notification group row, prevent the collision. When loading steel pipes, the steel pipes can be piled up through the short frames, the steel pipes can be drilled under the short frames, the steel pipe sensor 7 senses the general direction of the steel pipes, the gear of the transfer platform body driving motor 13-1 drives the annular toothed belt 12-5, the annular toothed belt 12-5 drives the transfer platform body 12-1 to rotate, so that the steel pipe transfer beam 2 and the steel pipes form a cross shape, the lifting control box 12-2 drives the lifting control threaded rod 12-3 to rotate, the threads of the lifting control threaded rod 12-3 drive the two fork arm control blocks 5 to open and close in the fork arm control block sliding grooves 12-4, the fork arms 3 are sheared by the opening and closing of the fork arm control blocks 5, the steel pipe transfer beam 2 at the top ends of the fork arms 3 is lifted, the transfer robot driving device 13 is driven by the driving motor to drive the microphone wheels 11 to make the transfer robot driving device 13 to turn or translate in place after the steel pipes are lifted, and the steel pipes leave the steel pipe frames and bypass limiting blocks of the steel pipe frames. This patent can be along laying or drawing in guide wire and the sign line on ground, goes to delivery district truck or galvanization processing stand-by position according to the requirement, accomplishes the transportation operation, reduces driving travel time, promotes whole work efficiency. In order to make this patent can infinitely continue to travel, can bury wireless power supply unit under guide wire or the sign line, wireless power supply unit can constantly charge this patent through wireless charging device 14.

The utility model relates to a full-automatic hot spinning steel cylinder forming transfer device (hereinafter referred to as the patent) with the number of CN210907593U, which is mainly used for continuously inputting steel pipes into equipment such as a hot spinning machine and the like during steel cylinder production and cannot cope with the conventional transfer task of the steel pipes in a warehouse.

The other structures of the second embodiment are the same on the basis of the first embodiment, and the only difference is that, as shown in fig. 4, in order to make the rotation of the transfer platform body 12-1 more controllable, the transfer robot driving device 13 includes a transfer platform body driving motor 13-1 and a battery pack 13-2, the inside of the transfer robot driving device 13 is provided with a microphone wheel 11 driving motor, a transfer platform body driving motor 13-1 and a battery pack 13-2 through a bracket, and the rotating shaft of the transfer platform body driving motor 13-1 is meshed with the annular toothed belt 12-5 of the transfer platform body 12-1 through a gear, so that the transfer platform body 12-1 can rotate as required, thereby aligning the steel tube bundles or the steel tube stacks.

In order to further optimize the working efficiency of the application and to improve the intelligent degree of the equipment, a control machine is arranged in the transfer robot driving device 13. In order to enable the steel pipe transfer beam 2 to better lift the steel pipe, the roll screen 1 is provided with a three-section sleeve. In order to prevent that the steel pipe from rolling off from steel pipe transfer roof beam 2 to can take the steel pipe from the steel pipe steadily when this patent takes the steel pipe from the steel pipe support, anti-roll keep off 1 edge be equipped with four to six outwards extended anti-roll arms, and anti-roll arm outwards slope. In order to improve the induction precision, the steel tube inductor 7 is a laser inductor.

It should be noted that: when the steel pipe transfer beam 2 is controlled to align with the steel pipe, the relative position of the steel pipe can be determined as long as the induction area of one steel pipe inductor 7 of the four steel pipe inductors 7 does not induce the steel pipe or the steel pipe inductor 7 at the diagonal line can induce the steel pipe, the gear of the transfer platform body driving motor 13-1 drives the annular toothed belt 12-5, and the annular toothed belt 12-5 drives the transfer platform body 12-1 to rotate, so that the steel pipe transfer beam 2 and the steel pipe form a cross shape, and the steel pipe transfer beam 2 is aligned.

When the seamless pipe transfer robot is used, the seamless pipe transfer robot is installed, corresponding parameters are set, and the charging equipment can start to work.

When the utility model is used, the concrete work is as follows:

Firstly, an operator gives a loading instruction to a control host and provides a specific steel pipe short frame position, the control host can automatically group two or three steel pipe short frames for transferring operation, after the two or three road finding cameras 9 of the patent reach the vicinity of corresponding goods shelves along guide wires and identification lines, the whole group column is completed through the cooperation alignment cameras 6 and the cooperation alignment marks 10 which are arranged front and back, the cooperation alignment cameras 6 align the cooperation alignment marks 10 to enable a plurality of robots to be in the same straight line, then a driving motor built in a transferring robot driving device 13 drives a microphone wheel 11 to translate to the lower part of a steel pipe frame and enter the lower part of the steel pipe, at the moment, when three steel pipe sensors 7 in four steel pipe sensors 7 sense the steel pipe or diagonal steel pipe sensor 7, and the other two steel pipe sensors cannot sense the steel pipe, a gear driving annular toothed belt 12-5 of a transferring platform body 13-1, the annular toothed belt 12-5 drives a transferring platform body 12-1 to rotate, so that a steel pipe transferring fork beam 2 and the steel pipe form a cross shape, a lifting control box 12-2 drives a lifting control fork arm 12-3 to rotate, then a lifting control fork arm 12-3 drives a fork arm 3 to rotate, and a fork arm 3 drives a fork arm 3 to lift the steel pipe fork arm 3 to move away from the threaded rod, and a control arm 3 drives the fork arm 3 to the top of the steel pipe, and a fork arm 3 is driven by the fork arm 3, and the fork arm 3 is driven by the fork arm 3 is driven to rotate the fork arm 3, and the fork arm 3 is driven to move the top of the steel pipe 3. This patent can be along laying or drawing in guide wire and the sign line on ground, goes to delivery district truck or galvanization processing stand-by position according to the requirement, accomplishes the transportation operation, reduces driving travel time, promotes whole work efficiency.

In summary, the seamless pipe transfer robot of the embodiment of the utility model provides path support for equipment through the guide wire and the identification line, so that the equipment can accurately find the corresponding position in a factory, enough maneuverability is provided for a platform through the Mega wheel 11 of the transfer robot driving device 13, a plurality of the seamless pipe transfer robot can cooperatively work through the cooperative alignment camera 6 and the cooperative alignment mark 10 to finish the transfer of the steel pipe, the position of the steel pipe relative to the seamless pipe is determined through the steel pipe sensor 7, the steel pipe transfer beam 2 can conveniently form a cross shape with the steel pipe, enough support is provided for lifting of the fork arm 3, the fork arm cross shaft 4 and the fork arm control block 5, the crane does not need to move back and forth among a storage area, a delivery area truck and a galvanized standby position, and the crane only need to hoist the steel pipe which is transferred to the delivery area truck and the galvanized standby position and is just before the crane to the corresponding position, and the steel pipe transfer efficiency can be effectively improved.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (6)

1. The seamless pipe transfer robot comprises a transfer robot driving device (13) and a battery pack (13-2), and is characterized by further comprising a guide wire and a marking wire which are paved or drawn on the ground, wherein four or six Mecanum wheels (11) are arranged on two sides of the transfer robot driving device (13), an obstacle avoidance radar (8) and a road finding camera (9) are respectively arranged on the front side and the rear side of the transfer robot driving device (13) through bosses, a cooperative alignment camera (6) and a cooperative alignment mark (10) are respectively fixedly arranged on the surfaces of the transfer robot driving devices (13) on the two sides of the front and the rear obstacle avoidance radar (8), and the front and the rear cooperative alignment cameras (6) and the cooperative alignment mark (10) are arranged in a staggered mode; a circular groove is formed in the center of the upper part of a transfer robot driving device (13) to install a rotatable steel pipe transfer platform (12), the surfaces of the transfer robot driving device (13) of the steel pipe transfer platform (12) are in a cross shape to arrange steel pipe inductors (7), the lower part of a transfer platform body (12-1) of the steel pipe transfer platform (12) is sleeved with an annular toothed belt (12-5), two parallel fork arm control block sliding grooves (12-4) are formed in the upper surface of the transfer platform body (12-1) of the steel pipe transfer platform (12), a lifting control box (12-2) is fixedly installed in the middle of each fork arm control block sliding groove (12-4), lifting control threaded rods (12-3) with opposite thread directions are arranged on two sides of a lifting control box (12-2), the lifting control threaded rods (12-3) are in threaded connection with fork arm control blocks (5), the fork arm control blocks (5) are connected with the lower ends of fork arms (3) through rotating shafts, the fork arms (3) in the same fork arm control block sliding chute (12-4) are crossed to form a group of lifting arms, the crossing points of the two groups of lifting arms are connected through fork arm crossed shafts (4), the tops of the two groups of lifting arms are connected through steel pipe transfer beams (2), and rolling prevention blocks (1) are arranged at two ends of each steel pipe transfer beam (2); the lower part of the transfer robot driving device (13) is provided with a groove for installing a wireless charging device (14).

2. The seamless pipe transfer robot according to claim 1, wherein the transfer robot driving device (13) comprises a transfer platform body driving motor (13-1) and a battery pack (13-2), wherein a microphone wheel (11) driving motor, the transfer platform body driving motor (13-1) and the battery pack (13-2) are mounted in the transfer robot driving device (13) through a bracket, and a rotating shaft of the transfer platform body driving motor (13-1) is meshed with an annular toothed belt (12-5) of the transfer platform body (12-1) through a gear.

3. A seamless tube transfer robot according to claim 1 or 2, wherein the transfer robot driving means (13) incorporates a controller and a wireless communication means.

4. A seamless tube transfer robot according to claim 1, characterized in that the roll screen (1) is provided with a three-section sleeve.

5. The seamless tube transfer robot according to claim 4, wherein four to six rolling arms extending outwards are arranged at the edge of the rolling block (1), and the rolling arms are inclined outwards.

6. A seamless tube transfer robot according to claim 1, wherein the steel tube sensor (7) is a laser sensor.