CN105856256A - Robot with circular tube self-centering and fixing functions - Google Patents
Robot with circular tube self-centering and fixing functions Download PDFInfo
- Publication number
- CN105856256A CN105856256A CN201610401329.8A CN201610401329A CN105856256A CN 105856256 A CN105856256 A CN 105856256A CN 201610401329 A CN201610401329 A CN 201610401329A CN 105856256 A CN105856256 A CN 105856256A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- hydraulic cylinder
- support
- supports
- electric magnet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000009434 installation Methods 0.000 claims description 2
- 238000003754 machining Methods 0.000 abstract 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
Abstract
The invention discloses a robot with circular tube self-centering and fixing functions. The robot comprises a center shaft, first connecting rod supports, hydraulic cylinder supports, hydraulic cylinders, second connecting rod supports, second connecting rod and hydraulic cylinder connectors, supporting plate connecting supports and supporting plates. The first connecting rod supports are fixedly mounted on the center shaft, the hydraulic cylinder supports are fixedly mounted on the center shaft, the hydraulic cylinders are mounted on the hydraulic cylinder supports in a hinged manner, the second connecting rod supports are fixedly mounted on the center shaft, first connecting rods are mounted on the first connecting rod supports in a hinged manner, and second connecting rods are mounted on the second connecting rod supports in a hinged manner; the two corresponding supporting plate connecting supports are fixedly mounted on each supporting plate and are respectively mounted on the corresponding first connecting rod and the corresponding second connecting rod, and electromagnet fixing seats are fixedly mounted on the supporting plates. The robot has the advantages that two pipelines can be fixed by the aid of the robot when about to be machined, and accordingly the robot can bring convenience for machining the pipelines.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of pipe self-centering stationary machines people, belong to robotics.
Background technology
Round steel pipe has been widely used in engineering project, but pipe easily rolls around, it has not been convenient to fixing, causes it to be machined with certain difficulty, is therefore badly in need of a kind of robot that can fix pipe easily, makes processing pipe convenient.
Summary of the invention
For the problems referred to above, the present invention provides a kind of pipe self-centering stationary machines people, and it carries out pipe fix by arranging pipe inner supporting structure, the convenient processing to pipe.
The technical scheme that the present invention takes is: a kind of pipe self-centering stationary machines people, including central shaft, six first connecting rod supports, six hydraulic cylinder legs, six hydraulic cylinders, six second connecting rod supports, second connecting rod hydraulic cylinder joint, six gripper shoes connect support, six gripper shoes, six first connecting rods, six second connecting rods, 12 electric magnet fix seat, six electric magnet, it is characterized in that: described first connecting rod support fixedly mounts on center shaft, described hydraulic cylinder leg fixedly mounts on center shaft, described hydraulic cylinder is hingedly mounted on hydraulic cylinder leg, described second connecting rod support fixedly mounts on center shaft, described first connecting rod is hingedly mounted on first connecting rod support, described second connecting rod is hingedly mounted on second connecting rod support；It is installed with two gripper shoes in described gripper shoe and connects support, two described gripper shoes connection supports are respectively articulated with and are arranged on first connecting rod and second connecting rod, described electric magnet is fixed seat and is fixedly mounted on the supporting plate, and described electric magnet fixed installation electric magnet is fixed on seat；The piston rod union joint of described hydraulic cylinder is connected with second connecting rod hydraulic cylinder joint；Second connecting rod hydraulic cylinder joint it is provided with on described second connecting rod.
Further, described first connecting rod support, hydraulic cylinder leg, hydraulic cylinder, second connecting rod support, gripper shoe connect support, gripper shoe, first connecting rod, second connecting rod, electric magnet are fixed seat and electric magnet around array axis three, and had same setting at the central shaft other end.
Owing to present invention employs technique scheme, the invention have the advantages that two pipelines can be fixed when being processed two pipelines by the present invention, make the processing to pipeline convenient.
Accompanying drawing explanation
Fig. 1 is the overall assembling perspective view of the present invention.
Fig. 2 is the overall assembling perspective view of another angle of the present invention.
Fig. 3 is the overall assembling perspective view of another angle of the present invention.
Fig. 4 is second connecting rod hydraulic cylinder joint of the present invention and the partial enlarged drawing of hydraulic cylinder piston joint.
Drawing reference numeral: 1-central shaft；2-first connecting rod support；3-hydraulic cylinder leg；4-hydraulic cylinder；5-second connecting rod support；6-second connecting rod hydraulic cylinder joint；7-gripper shoe connects support；8-gripper shoe；9-first connecting rod；10-second connecting rod；11-electric magnet fixes seat；12-electric magnet.
Detailed description of the invention
Below in conjunction with specific embodiment, the invention will be further described, and the illustrative examples invented at this and explanation are for explaining the present invention, but not as a limitation of the invention.
nullSuch as Fig. 1、Fig. 2、Shown in Fig. 3 and Fig. 4，A kind of pipe self-centering stationary machines people，Including central shaft 1、Six first connecting rod supports 2、Six hydraulic cylinder legs 3、Six hydraulic cylinders 4、Six second connecting rod supports 5、Second connecting rod hydraulic cylinder joint 6、Six gripper shoes connect support 7、Six gripper shoes 8、Six first connecting rods 9、Six second connecting rods 10、12 electric magnet fix seat 11、Six electric magnet 12，It is characterized in that: described first connecting rod support 2 is fixedly mounted on central shaft 1，Described hydraulic cylinder leg 3 is fixedly mounted on central shaft 1，Described hydraulic cylinder 4 is hingedly mounted on hydraulic cylinder leg 3，Described second connecting rod support 5 is fixedly mounted on central shaft 1，Described first connecting rod 9 is hingedly mounted on first connecting rod support 2，Described second connecting rod 10 is hingedly mounted on second connecting rod support 5；It is installed with two gripper shoes in described gripper shoe 8 and connects support 7, two described gripper shoes connection supports 7 are respectively articulated with and are arranged on first connecting rod 9 and second connecting rod 10, described electric magnet is fixed seat 11 and is fixedly mounted in gripper shoe 8, and described electric magnet 12 fixedly mounts electric magnet and fixes on seat 11；The piston rod union joint of described hydraulic cylinder 4 is connected with second connecting rod hydraulic cylinder joint 6；Second connecting rod hydraulic cylinder joint 6 it is provided with on described second connecting rod 10.
Further, described first connecting rod support 2, hydraulic cylinder leg 3, hydraulic cylinder 4, second connecting rod support 5, gripper shoe connect support 7, gripper shoe 8, first connecting rod 9, second connecting rod 10, electric magnet are fixed seat 11 and electric magnet 12 around array axis three, and had same setting at central shaft 1 other end.
The operation principle of the present invention is: three hydraulic cylinders of homonymy extend simultaneously, second connecting rod 10 is driven outwards to launch, gripper shoe 8 is along with the motion of second connecting rod 10, the most outwards launch, when gripper shoe 8 contacts with round tube inner wall, under pressure, this robot is fixed together with pipe, this robot other end fixes a pipe equally, i.e. easily pipe can be carried out corresponding operating.
Claims (2)
- null1. a pipe self-centering stationary machines people，Including central shaft (1)、Six first connecting rod supports (2)、Six hydraulic cylinder legs (3)、Six hydraulic cylinders (4)、Six second connecting rod supports (5)、Second connecting rod hydraulic cylinder joint (6)、Six gripper shoes connect support (7)、Six gripper shoes (8)、Six first connecting rods (9)、Six second connecting rods (10)、12 electric magnet fix seat (11)、Six electric magnet (12)，It is characterized in that: described first connecting rod support (2) is fixedly mounted on central shaft (1)，Described hydraulic cylinder leg (3) is fixedly mounted on central shaft (1)，Described hydraulic cylinder (4) is hingedly mounted on hydraulic cylinder leg (3)，Described second connecting rod support (5) is fixedly mounted on central shaft (1)，Described first connecting rod (9) is hingedly mounted on first connecting rod support (2)，Described second connecting rod (10) is hingedly mounted on second connecting rod support (5)；It is installed with two gripper shoes in described gripper shoe (8) and connects support (7), two described gripper shoes connection support (7) are respectively articulated with and are arranged on first connecting rod (9) and second connecting rod (10), described electric magnet is fixed seat (11) and is fixedly mounted in gripper shoe (8), and described electric magnet (12) fixed installation electric magnet is fixed on seat (11)；The piston rod union joint of described hydraulic cylinder (4) is connected with second connecting rod hydraulic cylinder joint (6)；It is provided with second connecting rod hydraulic cylinder joint (6) on described second connecting rod (10).
- 2. according to a kind of pipe self-centering stationary machines people described in claim (1), it is characterized in that: described first connecting rod support (2), hydraulic cylinder leg (3), hydraulic cylinder (4), second connecting rod support (5), gripper shoe connect support (7), gripper shoe (8), first connecting rod (9), second connecting rod (10), electric magnet are fixed seat (11) and electric magnet (12) around array axis three, and had same setting at central shaft (1) other end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401329.8A CN105856256B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering stationary machines people of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401329.8A CN105856256B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering stationary machines people of pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105856256A true CN105856256A (en) | 2016-08-17 |
| CN105856256B CN105856256B (en) | 2018-07-31 |
Family
ID=56677127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610401329.8A Active CN105856256B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering stationary machines people of pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105856256B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378759A (en) * | 2017-06-09 | 2017-11-24 | 安徽机电职业技术学院 | A kind of large-size pipe fixing device for being used to be machined |
| CN108114836A (en) * | 2017-12-31 | 2018-06-05 | 合肥林翔智能科技有限公司 | A kind of steel tube jet printing device |
| CN108114837A (en) * | 2017-12-31 | 2018-06-05 | 合肥林翔智能科技有限公司 | A kind of spray printing device for steel pipe |
| CN111735837A (en) * | 2020-06-22 | 2020-10-02 | 中国辐射防护研究院 | X-ray backscatter detection device for inspecting defects in pipeline |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6070699A (en) * | 1995-04-05 | 2000-06-06 | Grip Gmbh | Hydraulic platform lift, especially for motorcycles |
| CN203657734U (en) * | 2014-01-24 | 2014-06-18 | 中国石化集团胜利石油管理局海上石油工程技术检验中心 | Variable diameter magnetic leakage detection apparatus in petroleum pipeline |
| CN204038581U (en) * | 2014-08-23 | 2014-12-24 | 杭州重型钢管有限公司 | Novel tube pulling unit |
| CN104565674A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Hydraulic peristaltic pipeline robot traction device |
| CN104948195A (en) * | 2015-03-19 | 2015-09-30 | 地质矿产廊坊聚力岩土工程科技开发公司 | Diameter-variable multi-head profile forming equipment for tunneling |
-
2016
- 2016-06-09 CN CN201610401329.8A patent/CN105856256B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6070699A (en) * | 1995-04-05 | 2000-06-06 | Grip Gmbh | Hydraulic platform lift, especially for motorcycles |
| CN203657734U (en) * | 2014-01-24 | 2014-06-18 | 中国石化集团胜利石油管理局海上石油工程技术检验中心 | Variable diameter magnetic leakage detection apparatus in petroleum pipeline |
| CN104565674A (en) * | 2014-06-20 | 2015-04-29 | 北京石油化工学院 | Hydraulic peristaltic pipeline robot traction device |
| CN204038581U (en) * | 2014-08-23 | 2014-12-24 | 杭州重型钢管有限公司 | Novel tube pulling unit |
| CN104948195A (en) * | 2015-03-19 | 2015-09-30 | 地质矿产廊坊聚力岩土工程科技开发公司 | Diameter-variable multi-head profile forming equipment for tunneling |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378759A (en) * | 2017-06-09 | 2017-11-24 | 安徽机电职业技术学院 | A kind of large-size pipe fixing device for being used to be machined |
| CN108114836A (en) * | 2017-12-31 | 2018-06-05 | 合肥林翔智能科技有限公司 | A kind of steel tube jet printing device |
| CN108114837A (en) * | 2017-12-31 | 2018-06-05 | 合肥林翔智能科技有限公司 | A kind of spray printing device for steel pipe |
| CN111735837A (en) * | 2020-06-22 | 2020-10-02 | 中国辐射防护研究院 | X-ray backscatter detection device for inspecting defects in pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105856256B (en) | 2018-07-31 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180621 Address after: 323400 217 Rui Yang Road, Songyang County Industrial Park, Lishui, Zhejiang Applicant after: BAOFENG STEEL GROUP CO.,LTD. Address before: No. 82, Yao Lou village, Linxi County, Xingtai, Hebei Applicant before: Xu Hongjun |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 217 Ruiyang Avenue, Xiping Street Industrial Park, Songyang County, Lishui City, Zhejiang Province 323000 Patentee after: Zhejiang Baofeng Special Materials Co.,Ltd. Address before: 323400 217 Rui Yang Road, Songyang County Industrial Park, Lishui, Zhejiang Patentee before: BAOFENG STEEL GROUP CO.,LTD. |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A self centering fixed robot for circular tubes Effective date of registration: 20231024 Granted publication date: 20180731 Pledgee: Zhejiang Songyang rural commercial bank Limited by Share Ltd. Yanqing branch Pledgor: Zhejiang Baofeng Special Materials Co.,Ltd. Registration number: Y2023330002462 |