CN105904467B - A kind of self-centering docking robot of pipe - Google Patents
A kind of self-centering docking robot of pipe Download PDFInfo
- Publication number
- CN105904467B CN105904467B CN201610401327.9A CN201610401327A CN105904467B CN 105904467 B CN105904467 B CN 105904467B CN 201610401327 A CN201610401327 A CN 201610401327A CN 105904467 B CN105904467 B CN 105904467B
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- China
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- moving axis
- connecting rod
- dead axle
- hydraulic cylinder
- fixedly mounted
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Media Introduction/Drainage Providing Device (AREA)
Abstract
The present invention discloses a kind of self-centering docking robot of pipe, including bottom plate, moving axis second connecting rod, hydraulic cylinder connector, moving axis hydraulic cylinder, moving axis cylinder bottom stent, moving axis first connecting rod, moving axis leading screw sleeve, dead axle support plate connecting seat, moving axis guide rail linear sliding block, it is characterised in that：Moving axis riser is fixedly mounted on bottom plate, moving axis motor is fixed on moving axis leading screw and is connected, and moving axis motor is fixedly mounted in moving axis motor fixing seat, and moving axis motor fixing seat is fixedly mounted on bottom plate, axle fixed frame is fixedly mounted on bottom plate, and axle is mounted on axle fixed frame.The present invention and can carry out stablizing support, moving axis can be axially moveable, and realize the relative movement of pipe, reduce the operating procedure in pipe docking handling process, and can save a large amount of labours pipe docks and processes.
Description
Technical field
The present invention relates to a kind of municipal construction equipment, and in particular to machine in a kind of pipe of on-site cutting heavy caliber steel-belt-pipe
Device people belongs 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 being frequently necessary in engineering,
But pipe easily rolls around, it has not been convenient to dock, therefore be badly in need of a kind of robot that can easily dock pipe, make work
It is more convenient that pipe is docked in journey.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of self-centering docking robot of pipe, by setting pipe inner support knot
Structure carries out pipe and is docked.
The technical solution that the present invention takes is：A kind of self-centering docking robot of pipe, connects including bottom plate, moving axis second
Bar, hydraulic cylinder connector, moving axis hydraulic cylinder, moving axis cylinder bottom stent, moving axis first connecting rod, shafts support plate connecting seat, moving axis
Support plate, wheel, moving axis riser, moving axis leading screw, moving axis leading screw sleeve, moving axis first connecting rod stent, moving axis second connecting rod stent,
Moving axis guide rail, moving axis motor, moving axis motor fixing seat, dead axle, dead axle riser, axle fixed frame, axle, dead axle second connecting rod branch
Frame, 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 stent,
Dead axle support plate, dead axle support plate connecting seat, moving axis guide rail linear sliding block, it is characterised in that：The moving axis riser fixes peace
On bottom plate, the moving axis leading screw is mounted on moving axis riser, and can be rotated, and the moving axis motor is fixed on moving axis
Leading screw is connected, and the moving axis motor is fixedly mounted in moving axis motor fixing seat, and the moving axis motor fixing seat fixes peace
On bottom plate, the moving axis leading screw sleeve is mounted on moving axis leading screw；The moving axis second connecting rod stent is fixedly mounted
On moving axis leading screw sleeve, the moving axis second connecting rod is hinged with moving axis second connecting rod stent, the moving axis cylinder bottom
Stent is fixedly mounted on moving axis leading screw sleeve, and the moving axis hydraulic cylinder bottom fitting is hingedly mounted on moving axis cylinder bottom branch
On frame, the moving axis hydraulic cylinder piston rod is connected with hydraulic cylinder connector, and the hydraulic cylinder connector is hingedly mounted on moving axis
On connector among two connecting rods, the moving axis first connecting rod stent is fixedly mounted on moving axis leading screw sleeve, the moving axis
First connecting rod is hingedly mounted on moving axis first connecting rod stent, and the shafts support plate connecting seat is fixedly mounted on shafts support
On plate, and it is respectively hinged on moving axis second connecting rod and moving axis first connecting rod other end articulated joint；The dead axle riser is consolidated
On bottom plate, the dead axle is fixedly mounted on dead axle riser for Dingan County, and the dead axle first connecting rod stent is fixedly mounted
On dead axle, the dead axle first connecting rod is hingedly mounted on dead axle first connecting rod stent, the dead axle cylinder bottoms of hydraulic cylinders
Stent is fixedly mounted on dead axle, and the dead axle cylinder bottoms of hydraulic cylinders is hingedly mounted on dead axle hydraulic cylinder lower supporter, described
Dead axle hydraulic cylinder piston rod be connected with hydraulic cylinder connector, the hydraulic cylinder connector is hingedly mounted among dead axle second connecting rod
Connector on；The dead axle second connecting rod stent is fixedly mounted on dead axle, and the dead axle second connecting rod is hingedly mounted on
On second connecting rod stent, the dead axle support plate connecting seat is fixedly mounted in dead axle support plate, and be respectively hinged at dead axle
On second connecting rod and dead axle first connecting rod other end articulated joint；The axle fixed frame is fixedly mounted on bottom plate, described
Axle be mounted on axle fixed frame on, the wheel be mounted on axle on.
Further, the shafts support plate and dead axle support plate can be respectively in moving axis hydraulic cylinders and dead axle hydraulic cylinder
Driving is lower to be unfolded and is closed.
Further, the moving axis leading screw sleeve can move along a straight line with the rotation of moving axis leading screw.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：The present invention can be docked in pipe
And processing, and carry out stablizing support, moving axis can be axially moveable, and realize the relative movement of pipe, reduce pipe docking
Operating procedure in handling process, and a large amount of labours can be saved.
Description of the drawings
Fig. 1 is the whole assembling dimensional structure diagram of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the partial assembled dimensional structure diagram of another angle of the present invention.
Fig. 4 is the left view of the present invention.
Fig. 5 is the vertical view of the present invention.
Drawing reference numeral：1- bottom plates；2- moving axis second connecting rods；3- hydraulic cylinder connectors；4- moving axis hydraulic cylinders；5- moving axis hydraulic cylinders
Lower supporter；6- moving axis first connecting rods；7- shafts support plate connecting seats；8- shafts support plates；9- wheels；10- moving axis risers；11-
Moving axis leading screw；12- moving axis leading screw sleeves；13- moving axis first connecting rod stents；14- moving axis second connecting rod stents；15- moving axis guide rails；
16- moving axis motors；17- moving axis motor fixing seats；18- dead axles；19- dead axle risers；20- axle fixed frames；21- axles；22- determines
Axis second connecting rod stent；23- dead axle second connecting rods；24- dead axle hydraulic cylinder lower supporters；25- dead axle hydraulic cylinders；26- dead axles
One connecting rod；27- dead axle first connecting rod stents；28- dead axle support plates；29- dead axle support plate connecting seats；30- moving axis guide rail linears
Sliding block.
Specific embodiment
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, a kind of self-centering docking robot of pipe, including bottom plate 1, moving axis
Two connecting rods 2, hydraulic cylinder connector 3, moving axis hydraulic cylinder 4, moving axis cylinder bottom stent 5, moving axis first connecting rod 6, shafts support plate connect
Joint chair 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 stent
13rd, moving axis second connecting rod stent 14, moving axis guide rail 15, moving axis motor 16, moving axis motor fixing seat 17, dead axle 18, dead axle riser
19th, axle fixed frame 20, axle 21, dead axle second connecting rod stent 22, dead axle second connecting rod 23, dead axle hydraulic cylinder lower supporter
24th, dead axle hydraulic cylinder 25, dead axle first connecting rod 26, dead axle first connecting rod stent 27, dead axle support plate 28, the connection of dead axle support plate
Seat 29, moving axis guide rail linear sliding block 30, it is characterised in that：The moving axis riser 10 is fixedly mounted on bottom plate 1, and described is dynamic
Axial filament thick stick 11 is mounted on moving axis riser 10, and can be rotated, and the moving axis motor 16 is fixed on moving axis leading screw 11 and is connected, institute
The moving axis motor 16 stated is fixedly mounted in moving axis motor fixing seat 17, and the moving axis motor fixing seat 17 is fixedly mounted on bottom
On plate 1, the moving axis leading screw sleeve 12 is mounted on moving axis leading screw 11；The moving axis second connecting rod stent 14 is fixedly mounted
On moving axis leading screw sleeve 12, the moving axis second connecting rod 2 is hinged with moving axis second connecting rod stent 14, the moving axis hydraulic pressure
Cylinder bottom stent 5 is fixedly mounted on moving axis leading screw sleeve 12, and 4 bottom fitting of moving axis hydraulic cylinder is hingedly mounted on moving axis liquid
On cylinder pressure lower supporter 5,4 piston rod of moving axis hydraulic cylinder is connected with hydraulic cylinder connector 3, and the hydraulic cylinder connector 3 is hinged
On the connector among moving axis second connecting rod 2, the moving axis first connecting rod stent 13 is fixedly mounted on moving axis screw set
On cylinder 12, the moving axis first connecting rod 6 is hingedly mounted on moving axis first connecting rod stent 13, shafts support plate connection
Seat 7 is fixedly mounted on shafts support plate 8, and is respectively hinged at moving axis second connecting rod 2 and 6 other end of moving axis first connecting rod is hinged
On connector；The dead axle riser 19 is fixedly mounted on bottom plate 1, and the dead axle 18 is fixedly mounted on dead axle riser 19,
The dead axle first connecting rod stent 27 is fixedly mounted on dead axle 18, and the dead axle first connecting rod 26 is hingedly mounted on dead axle
On first connecting rod stent 27, the dead axle hydraulic cylinder lower supporter 24 is fixedly mounted on dead axle 18, the dead axle hydraulic pressure
25 cylinder bottom of cylinder is hingedly mounted on dead axle hydraulic cylinder lower supporter 24,25 piston rod of dead axle hydraulic cylinder and hydraulic cylinder connector
3 are connected, and the hydraulic cylinder connector 3 is hingedly mounted on the connector among dead axle second connecting rod 23；The dead axle second connects
Bar stent 22 is fixedly mounted on dead axle 18, and the dead axle second connecting rod 23 is hingedly mounted on second connecting rod stent 22, institute
The dead axle support plate connecting seat 29 stated is fixedly mounted in dead axle support plate 28, and is respectively hinged at dead axle second connecting rod 23 and is determined
In 26 other end articulated joint of axis first connecting rod；The axle fixed frame 20 is fixedly mounted on bottom plate 1, the axle 21
On axle fixed frame 20, the wheel 9 is mounted on axle 21.
Further, the shafts support plate 8 and dead axle support plate 28 can be respectively in moving axis hydraulic cylinders 4 and dead axle hydraulic pressure
It is unfolded under the driving of cylinder 25 and is closed.
Further, the moving axis leading screw sleeve 12 can move along a straight line with the rotation of moving axis leading screw 11.
The present invention operation principle be：In the use of the present invention, hydraulic cylinder piston rod moves out, support construction expansion,
Support plate is contacted and is fixed with round tube inner wall, and moving axis side is similarly moved；Moving axis motor 16 starts, and drives moving axis leading screw
11 rotations, moving axis leading screw sleeve 12 move along a straight line therewith, realize the docking of pipe.
Claims (3)
1. a kind of self-centering docking robot of pipe, including bottom plate（1）, moving axis second connecting rod（2）, hydraulic cylinder connector（3）, moving axis
Hydraulic cylinder（4）, moving axis cylinder bottom stent（5）, moving axis first connecting rod（6）, shafts support plate connecting 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 stent（13）、
Moving axis second connecting rod stent（14）, moving axis guide rail（15）, moving axis motor（16）, moving axis motor fixing seat（17）, dead axle（18）, it is fixed
Axis riser（19）, axle fixed frame（20）, axle（21）, dead axle second connecting rod stent（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 stent（27）, dead axle
Support plate（28）, dead axle support plate connecting seat（29）, moving axis guide rail linear sliding block（30）, it is characterised in that：The moving axis is stood
Plate（10）It is fixedly mounted on bottom plate（1）On, the moving axis leading screw（11）Mounted on moving axis riser（10）On, and can rotate,
The moving axis motor（16）It is fixed on moving axis leading screw（11）It is connected, the moving axis motor（16）It is fixedly mounted on moving axis motor
Fixed seat（17）On, the moving axis motor fixing seat（17）It is fixedly mounted on bottom plate（1）On, the moving axis leading screw sleeve
（12）Mounted on moving axis leading screw（11）On；The moving axis second connecting rod stent（14）It is fixedly mounted on moving axis leading screw sleeve（12）
On, the moving axis second connecting rod（2）With moving axis second connecting rod stent（14）Hinged, described moving axis cylinder bottom stent（5）
It is fixedly mounted on moving axis leading screw sleeve（12）On, the moving axis hydraulic cylinder（4）Bottom fitting is hingedly mounted on moving axis hydraulic cylinder
Lower supporter（5）On, the moving axis hydraulic cylinder（4）Piston rod and hydraulic cylinder connector（3）It is connected, the hydraulic cylinder connector（3）
It is hingedly mounted on moving axis second connecting rod（2）On intermediate connector, the moving axis first connecting rod stent（13）It is fixedly mounted on dynamic
Axial filament thick stick sleeve（12）On, the moving axis first connecting rod（6）It is hingedly mounted on moving axis first connecting rod stent（13）On, it is described
Shafts support plate connecting seat（7）It is fixedly mounted on shafts support plate（8）On, and it is respectively hinged at moving axis second connecting rod（2）With it is dynamic
Axis first connecting rod（6）In other end articulated joint；The dead axle riser（19）It is fixedly mounted on bottom plate（1）On, described determines
Axis（18）It is fixedly mounted on dead axle riser（19）On, the dead axle first connecting rod stent（27）It is fixedly mounted on dead axle（18）
On, the dead axle first connecting rod（26）It is hingedly mounted on dead axle first connecting rod stent（27）On, the dead axle hydraulic cylinder
Lower supporter（24）It is fixedly mounted on dead axle（18）On, the dead axle hydraulic cylinder（25）Cylinder bottom is hingedly mounted on dead axle hydraulic cylinder
Lower supporter（24）On, the dead axle hydraulic cylinder（25）Piston rod and hydraulic cylinder connector（3）It is connected, the hydraulic cylinder connector
（3）It is hingedly mounted on dead axle second connecting rod（23）On intermediate connector；The dead axle second connecting rod stent（22）It is fixedly mounted
In dead axle（18）On, the dead axle second connecting rod（23）It is hingedly mounted on second connecting rod stent（22）On, the dead axle branch
Fagging connecting seat（29）It is fixedly mounted on dead axle support plate（28）On, and it is respectively hinged at dead axle second connecting rod（23）With dead axle
One connecting rod（26）In other end articulated joint；The axle fixed frame（20）It is fixedly mounted on bottom plate（1）On, the axle
（21）Mounted on axle fixed frame（20）On, the wheel（9）Mounted on axle（21）On.
2. a kind of self-centering docking robot of pipe according to claim 1, it is characterised in that：The shafts support plate
（8）With dead axle support plate（28）It can be respectively in moving axis hydraulic cylinder（4）With dead axle hydraulic cylinder（25）Driving under expansion and be closed.
3. a kind of self-centering docking robot of pipe according to claim 2, it is characterised in that：The moving axis screw set
Cylinder（12）It can be with moving axis leading screw（11）Rotation and move along a straight line.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711311237.1A CN107813329A (en) | 2016-06-09 | 2016-06-09 | The self-centering docking robot of pipe |
| CN201610401327.9A CN105904467B (en) | 2016-06-09 | 2016-06-09 | A kind of 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 CN105904467A (en) | 2016-08-31 |
| CN105904467B true CN105904467B (en) | 2018-07-03 |
Family
ID=56749962
Family Applications (2)
| 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 |
| CN201610401327.9A Active CN105904467B (en) | 2016-06-09 | 2016-06-09 | A kind of self-centering docking robot of pipe |
Family Applications Before (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) | CN107813329A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107321853B (en) * | 2017-08-01 | 2018-11-09 | 滁州华宇机件有限公司 | A kind of air conditioner housing punching structure being moved easily |
| 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 |
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 CN201711311237.1A patent/CN107813329A/en not_active Withdrawn
- 2016-06-09 CN CN201610401327.9A patent/CN105904467B/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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107813329A (en) | 2018-03-20 |
| CN105904467A (en) | 2016-08-31 |
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| 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: 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. |