CN105904467A - Robot achieving self-centering butt joint of round pipe - Google Patents
Robot achieving self-centering butt joint of round pipe Download PDFInfo
- Publication number
- CN105904467A CN105904467A CN201610401327.9A CN201610401327A CN105904467A CN 105904467 A CN105904467 A CN 105904467A CN 201610401327 A CN201610401327 A CN 201610401327A CN 105904467 A CN105904467 A CN 105904467A
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- CN
- China
- Prior art keywords
- moving axis
- dead axle
- connecting rod
- hydraulic cylinder
- fixedly mounted
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- 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.)
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Classifications
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- 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
Abstract
The invention discloses a robot achieving self-centering butt joint of a round pipe. The robot comprises a bottom board, a movable shaft second connection rod, a hydraulic cylinder connector, a movable shaft hydraulic cylinder, a movable shaft hydraulic cylinder bottom support, a movable shaft first connection rod, a movable shaft lead screw sleeve, a fixed shaft supporting board connection base and a movable shaft guide rail linear sliding block, and is characterized in that a movable shaft vertical board is fixedly installed on the bottom board; a movable shaft motor is fixedly connected with a movable shaft lead screw and fixedly installed on a movable shaft motor fixing base; the movable shaft motor fixing base is fixedly installed on the bottom board; an axle fixing frame is fixedly installed on the bottom board; and an axle is installed on the axle fixing frame. The robot can stably support the round pipe during butt joint and machining of the round pipe, a movable shaft can move in the axial direction, relative movement of the round pipe is achieved, the number of the operation steps in the butt joint carrying process of the round pipe is decreased, and a large amount of labor can be saved.
Description
Technical field
The present invention relates to a kind of municipal construction equipment, be specifically related to a kind of can the in-pipe robot of on-site cutting heavy caliber steel-belt-pipe, belong to construction robot technical field.
Background technology
Round steel pipe has been widely used in engineering project, and the docking of pipe is the operation that it is frequently necessary in engineering, but pipe easily rolls around, it has not been convenient to docking, therefore it is badly in need of a kind of robot that can dock pipe easily, makes that engineering is docked pipe convenient.
Summary of the invention
For the problems referred to above, the present invention provides a kind of pipe self-centering docking robot, and it carries out pipe dock by arranging pipe inner supporting structure.
nullThe technical scheme that the present invention takes is: robot is docked in a kind of pipe self-centering，Including base plate、Moving axis second connecting rod、Hydraulic cylinder joint、Moving axis hydraulic cylinder、Moving axis cylinder bottom support、Moving axis first connecting rod、Shafts support plate connects seat、Shafts support plate、Wheel、Moving axis riser、Moving axis leading screw、Moving axis leading screw sleeve、Moving axis first connecting rod support、Moving axis second connecting rod support、Moving axis guide rail、Moving axis motor、Moving axis motor fixing seat、Dead axle、Dead axle riser、Axletree fixed mount、Axletree、Dead axle second connecting rod support、Dead axle second connecting rod、Dead axle hydraulic cylinder lower supporter、Dead axle hydraulic cylinder、Dead axle first connecting rod、Dead axle first connecting rod support、Dead axle gripper shoe、Dead axle gripper shoe connects seat、Moving axis guide rail linear slide block，It is characterized in that: described moving axis riser is fixedly mounted on base plate，Described moving axis leading screw is arranged on moving axis riser，And can rotate，Described moving axis motor is fixed on moving axis leading screw and is connected，Described moving axis motor is fixedly mounted in moving axis motor fixing seat，Described moving axis motor fixing seat is fixedly mounted on base plate，Described moving axis leading screw sleeve is arranged on moving axis leading screw；Described moving axis second connecting rod support is fixedly mounted on moving axis leading screw sleeve, described moving axis second connecting rod is hinged with moving axis second connecting rod support, described moving axis cylinder bottom support is fixedly mounted on moving axis leading screw sleeve, described moving axis hydraulic cylinder bottom fitting is hingedly mounted on moving axis cylinder bottom support, described moving axis hydraulic cylinder piston rod is connected with hydraulic cylinder joint, described hydraulic cylinder joint is hingedly mounted on the joint in the middle of moving axis second connecting rod, described moving axis first connecting rod support is fixedly mounted on moving axis leading screw sleeve, described moving axis first connecting rod is hingedly mounted on moving axis first connecting rod support, described shafts support plate connects seat and is fixedly mounted on shafts support plate, and be respectively hinged in moving axis second connecting rod and moving axis first connecting rod other end articulated joint；Described dead axle riser is fixedly mounted on base plate, described dead axle is fixedly mounted on dead axle riser, described dead axle first connecting rod support is fixedly mounted on dead axle, described dead axle first connecting rod is hingedly mounted on dead axle first connecting rod support, described dead axle hydraulic cylinder lower supporter is fixedly mounted on dead axle, described dead axle cylinder bottoms of hydraulic cylinders is hingedly mounted on dead axle hydraulic cylinder lower supporter, described dead axle hydraulic cylinder piston rod is connected with hydraulic cylinder joint, and described hydraulic cylinder joint is hingedly mounted on the joint in the middle of dead axle second connecting rod；Described dead axle second connecting rod support is fixedly mounted on dead axle, described dead axle second connecting rod is hingedly mounted on second connecting rod support, described dead axle gripper shoe connects seat and is fixedly mounted in dead axle gripper shoe, and is respectively hinged in dead axle second connecting rod and dead axle first connecting rod other end articulated joint；Described axletree fixed mount is fixedly mounted on base plate, and described axletree is arranged on axletree fixed mount, and described wheel is arranged on axletree.
Further, described gripper shoe can be launched under the driving of hydraulic cylinder and close.
Further, described moving axis leading screw sleeve can move along a straight line along with the rotation of moving axis leading screw.
Owing to present invention employs technique scheme, the invention have the advantages that what the present invention can be docked at pipe and process, line stabilization of going forward side by side supports, moving axis can be axially moveable, realize the relative movement of pipe, reduce the operating procedure in pipe docking handling process, and a large amount of labour can be saved.
Accompanying drawing explanation
Fig. 1 is the overall assembling perspective view of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the partial assembled perspective view of another angle of the present invention.
Fig. 4 is the left view of the present invention.
Fig. 5 is the top view of the present invention.
Drawing reference numeral: 1-base plate；2-moving axis second connecting rod；3-hydraulic cylinder joint；4-moving axis hydraulic cylinder；5-moving axis cylinder bottom support；6-moving axis first connecting rod；7-shafts support plate connects seat；8-shafts support plate；9-wheel；10-moving axis riser；11-moving axis leading screw；12-moving axis leading screw sleeve；13-moving axis first connecting rod support；14-moving axis second connecting rod support；15-moving axis guide rail；16-moving axis motor；17-moving axis motor fixing seat；18-dead axle；19-dead axle riser；20-axletree fixed mount；21-axletree；22-dead axle second connecting rod support；23-dead axle second connecting rod；24-dead axle hydraulic cylinder lower supporter；25-dead axle hydraulic cylinder；26-dead axle first connecting rod；27-dead axle first connecting rod support；28-dead axle gripper shoe；29-dead axle gripper shoe connects seat；30-moving axis guide rail linear slide block.
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、Fig. 3、Shown in Fig. 4 and Fig. 5，Robot is docked in a kind of pipe self-centering，Including base plate 1、Moving axis second connecting rod 2、Hydraulic cylinder joint 3、Moving axis hydraulic cylinder 4、Moving axis cylinder bottom support 5、Moving axis first connecting rod 6、Shafts support plate connects seat 7、Shafts support plate 8、Wheel 9、Moving axis riser 10、Moving axis leading screw 11、Moving axis leading screw sleeve 12、Moving axis first connecting rod support 13、Moving axis second connecting rod support 14、Moving axis guide rail 15、Moving axis motor 16、Moving axis motor fixing seat 17、Dead axle 18、Dead axle riser 19、Axletree fixed mount 20、Axletree 21、Dead axle second connecting rod support 22、Dead axle second connecting rod 23、Dead axle hydraulic cylinder lower supporter 24、Dead axle hydraulic cylinder 25、Dead axle first connecting rod 26、Dead axle first connecting rod support 27、Dead axle gripper shoe 28、Dead axle gripper shoe connects seat 29、Moving axis guide rail linear slide block 30，It is characterized in that: described moving axis riser 10 is fixedly mounted on base plate 1，Described moving axis leading screw 11 is arranged on moving axis riser 10，And can rotate，Described moving axis motor 16 is fixed on moving axis leading screw 11 and is connected，Described moving axis motor 16 is fixedly mounted in moving axis motor fixing seat 17，Described moving axis motor fixing seat 17 is fixedly mounted on base plate 1，Described moving axis leading screw sleeve 12 is arranged on moving axis leading screw 11；nullDescribed moving axis second connecting rod support 14 is fixedly mounted on moving axis leading screw sleeve 12，Described moving axis second connecting rod 2 is hinged with moving axis second connecting rod support 14，Described moving axis cylinder bottom support 5 is fixedly mounted on moving axis leading screw sleeve 12，Described moving axis hydraulic cylinder 4 bottom fitting is hingedly mounted on moving axis cylinder bottom support 5，Described moving axis hydraulic cylinder 4 piston rod is connected with hydraulic cylinder joint 3，Described hydraulic cylinder joint 3 is hingedly mounted on the joint in the middle of moving axis second connecting rod 2，Described moving axis first connecting rod support 13 is fixedly mounted on moving axis leading screw sleeve 12，Described moving axis first connecting rod 6 is hingedly mounted on moving axis first connecting rod support 13，Described shafts support plate connects seat 7 and is fixedly mounted on shafts support plate 8，And be respectively hinged in moving axis second connecting rod 2 and moving axis first connecting rod 6 other end articulated joint；Described dead axle riser 19 is fixedly mounted on base plate 1, described dead axle 18 is fixedly mounted on dead axle riser 19, described dead axle first connecting rod support 27 is fixedly mounted on dead axle 18, described dead axle first connecting rod 26 is hingedly mounted on dead axle first connecting rod support 27, described dead axle hydraulic cylinder lower supporter 24 is fixedly mounted on dead axle 18, described dead axle hydraulic cylinder 25 cylinder bottom is hingedly mounted on dead axle hydraulic cylinder lower supporter 24, described dead axle hydraulic cylinder 25 piston rod is connected with hydraulic cylinder joint 3, described hydraulic cylinder joint 3 is hingedly mounted on the joint in the middle of dead axle second connecting rod 23；Described dead axle second connecting rod support 22 is fixedly mounted on dead axle 18, described dead axle second connecting rod 23 is hingedly mounted on second connecting rod support 22, described dead axle gripper shoe connects seat 29 and is fixedly mounted in dead axle gripper shoe 28, and is respectively hinged in dead axle second connecting rod 23 and dead axle first connecting rod 26 other end articulated joint；Described axletree fixed mount 20 is fixedly mounted on base plate 1, and described axletree 21 is arranged on axletree fixed mount 20, and described wheel 9 is arranged on axletree 21.
Further, described gripper shoe can be launched under the driving of hydraulic cylinder and close.
Further, described moving axis leading screw sleeve 12 can move along a straight line along with the rotation of moving axis leading screw 11.
The operation principle of the present invention is: in use, hydraulic cylinder piston rod moves out the present invention, and supporting construction is launched, and gripper shoe contacts with round tube inner wall and fixes, and moving axis side carries out same motion；Moving axis motor 16 starts, and drives moving axis leading screw 11 to rotate, and moving axis leading screw sleeve 12 moves along a straight line therewith, it is achieved the docking of pipe.
Claims (3)
- null1. robot is docked in a pipe self-centering，Including base plate (1)、Moving axis second connecting rod (2)、Hydraulic cylinder joint (3)、Moving axis hydraulic cylinder (4)、Moving axis cylinder bottom support (5)、Moving axis first connecting rod (6)、Shafts support plate connects seat (7)、Shafts support plate (8)、Wheel (9)、Moving axis riser (10)、Moving axis leading screw (11)、Moving axis leading screw sleeve (12)、Moving axis first connecting rod support (13)、Moving axis second connecting rod support (14)、Moving axis guide rail (15)、Moving axis motor (16)、Moving axis motor fixing seat (17)、Dead axle (18)、Dead axle riser (19)、Axletree fixed mount (20)、Axletree (21)、Dead axle second connecting rod support (22)、Dead axle second connecting rod (23)、Dead axle hydraulic cylinder lower supporter (24)、Dead axle hydraulic cylinder (25)、Dead axle first connecting rod (26)、Dead axle first connecting rod support (27)、Dead axle gripper shoe (28)、Dead axle gripper shoe connects seat (29)、Moving axis guide rail linear slide block (30)，It is characterized in that: described moving axis riser (10) is fixedly mounted on base plate (1)，Described moving axis leading screw (11) is arranged on moving axis riser (10)，And can rotate，Described moving axis motor (16) is fixed on moving axis leading screw (11) and is connected，Described moving axis motor (16) is fixedly mounted in moving axis motor fixing seat (17)，Described moving axis motor fixing seat (17) is fixedly mounted on base plate (1)，Described moving axis leading screw sleeve (12) is arranged on moving axis leading screw (11)；nullDescribed moving axis second connecting rod support (14) is fixedly mounted on moving axis leading screw sleeve (12)，Described moving axis second connecting rod (2) is hinged with moving axis second connecting rod support (14)，Described moving axis cylinder bottom support (5) is fixedly mounted on moving axis leading screw sleeve (12)，Described moving axis hydraulic cylinder (4) bottom fitting is hingedly mounted on moving axis cylinder bottom support (5)，Described moving axis hydraulic cylinder (4) piston rod is connected with hydraulic cylinder joint (3)，Described hydraulic cylinder joint (3) is hingedly mounted on the joint in the middle of moving axis second connecting rod (2)，Described moving axis first connecting rod support (13) is fixedly mounted on moving axis leading screw sleeve (12)，Described moving axis first connecting rod (6) is hingedly mounted on moving axis first connecting rod support (13)，Described shafts support plate connects seat (7) and is fixedly mounted on shafts support plate (8)，And be respectively hinged in moving axis second connecting rod (2) and moving axis first connecting rod (6) other end articulated joint；Described dead axle riser (19) is fixedly mounted on base plate (1), described dead axle (18) is fixedly mounted on dead axle riser (19), described dead axle first connecting rod support (27) is fixedly mounted on dead axle (18), described dead axle first connecting rod (26) is hingedly mounted on dead axle first connecting rod support (27), described dead axle hydraulic cylinder lower supporter (24) is fixedly mounted on dead axle (18), described dead axle hydraulic cylinder (25) cylinder bottom is hingedly mounted on dead axle hydraulic cylinder lower supporter (24), described dead axle hydraulic cylinder (25) piston rod is connected with hydraulic cylinder joint (3), described hydraulic cylinder joint (3) is hingedly mounted on the joint in the middle of dead axle second connecting rod (23)；Described dead axle second connecting rod support (22) is fixedly mounted on dead axle (18), described dead axle second connecting rod (23) is hingedly mounted on second connecting rod support (22), described dead axle gripper shoe connects seat (29) and is fixedly mounted in dead axle gripper shoe (28), and is respectively hinged in dead axle second connecting rod (23) and dead axle first connecting rod (26) other end articulated joint；Described axletree fixed mount (20) is fixedly mounted on base plate (1), and described axletree (21) is arranged on axletree fixed mount (20), and described wheel (9) is arranged on axletree (21).
- Robot is docked in a kind of pipe self-centering the most according to claim 1, it is characterised in that: described gripper shoe can be launched under the driving of hydraulic cylinder and close.
- Robot is docked in a kind of pipe self-centering the most according to claim 2, it is characterised in that: described moving axis leading screw sleeve (12) can move along a straight line along with the rotation of moving axis leading screw (11).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401327.9A CN105904467B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering docking robot of pipe |
| CN201711311237.1A CN107813329A (en) | 2016-06-09 | 2016-06-09 | The self-centering docking robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610401327.9A CN105904467B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering docking robot of pipe |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711311237.1A Division CN107813329A (en) | 2016-06-09 | 2016-06-09 | The self-centering docking robot of pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105904467A true CN105904467A (en) | 2016-08-31 |
| CN105904467B CN105904467B (en) | 2018-07-03 |
Family
ID=56749962
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610401327.9A Active CN105904467B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering docking robot of pipe |
| CN201711311237.1A Withdrawn CN107813329A (en) | 2016-06-09 | 2016-06-09 | The self-centering docking robot of pipe |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711311237.1A Withdrawn CN107813329A (en) | 2016-06-09 | 2016-06-09 | The self-centering docking robot of pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN105904467B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107321853A (en) * | 2017-08-01 | 2017-11-07 | 滁州华宇机件有限公司 | A kind of air conditioner housing punching structure being moved easily |
| CN111673656A (en) * | 2020-06-29 | 2020-09-18 | 中国空气动力研究与发展中心超高速空气动力研究所 | Adjustable pipe section installation and connection device |
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 CN201610401327.9A patent/CN105904467B/en active Active
- 2016-06-09 CN CN201711311237.1A patent/CN107813329A/en not_active Withdrawn
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 (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107321853A (en) * | 2017-08-01 | 2017-11-07 | 滁州华宇机件有限公司 | A kind of air conditioner housing punching structure being moved easily |
| CN111673656A (en) * | 2020-06-29 | 2020-09-18 | 中国空气动力研究与发展中心超高速空气动力研究所 | Adjustable pipe section installation and connection device |
| CN111673656B (en) * | 2020-06-29 | 2021-07-16 | 中国空气动力研究与发展中心超高速空气动力研究所 | Adjustable pipe section installation and connection device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107813329A (en) | 2018-03-20 |
| CN105904467B (en) | 2018-07-03 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180530 Address after: 362100 shop 5, 1 floor, Hesheng District, Zhongxing Street, Quangang District, Quanzhou, Fujian. Applicant after: QUANZHOU QUANGANG ZHENGKAI DECORATION DESIGN CO.,LTD. Address before: 362100 West Pavilion No. 11, Lian Yan village, Feng Mei Town, Quangang District, Quanzhou, Fujian. Applicant before: Zheng Zhenyang Effective date of registration: 20180530 Address after: 362100 West Pavilion No. 11, Lian Yan village, Feng Mei Town, Quangang District, Quanzhou, Fujian. Applicant after: Zheng Zhenyang Address before: No. 49, Yao Lou village, Linxi County, Xingtai, Hebei Applicant before: Xu Hongjun |
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Effective date of registration: 20191204 Address after: 233100 south side of Fengxiang Avenue, Linhuaiguan Town, Fengyang County, Chuzhou City, Anhui Province Patentee after: Anhui Guanming Rubber Industry Co.,Ltd. Address before: 362100 shop floor 5, building 1, Hesheng community, Zhongxing Street, Quangang District, Quanzhou City, Fujian Province Patentee before: QUANZHOU QUANGANG ZHENGKAI DECORATION DESIGN CO.,LTD. |
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