CN106737784A - A kind of cylindrical tube manipulator - Google Patents
A kind of cylindrical tube manipulator Download PDFInfo
- Publication number
- CN106737784A CN106737784A CN201611258574.4A CN201611258574A CN106737784A CN 106737784 A CN106737784 A CN 106737784A CN 201611258574 A CN201611258574 A CN 201611258574A CN 106737784 A CN106737784 A CN 106737784A
- Authority
- CN
- China
- Prior art keywords
- swelling
- bar
- sleeve pipe
- crane
- hinged
- 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.)
- Pending
Links
Classifications
-
- 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
-
- 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
- B25J15/0019—End effectors other than grippers
-
- 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
- B25J15/0047—Gripping heads and other end effectors for internally gripping hollow or recessed objects
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of cylindrical tube manipulator, it is characterised in that：Including vertical lines module, crane, sleeve pipe, clamping cylinder, upper sleeve body, lower body, upper swelling bar, lower swelling bar, swelling top board；Vertical lines module includes sliding block, crane is fixed on sliding block, sleeve pipe is fixed on crane, and clamping cylinder is arranged on crane, and the clamp lever of clamping cylinder is inserted into sleeve pipe, upper sleeve body is fixed on sleeve pipe, lower body is fixed in clamp lever, and the upper end of upper swelling bar is hinged with upper sleeve body, and lower end and the swelling top board of upper swelling bar are hinged, the lower end of lower swelling bar is hinged with lower body, and upper end and the tensioning top board of lower swelling bar are hinged.This manipulator coordinates displacement mechanical component to use, it is possible to achieve the movement to cylindrical tube, realizes the automation of cylindrical tube movement, saves manpower, eliminates safe hidden trouble, and improves processing efficiency.
Description
Technical field
The invention belongs to machinery production equipment technical field, more particularly to a kind of cylindrical tube manipulator.
Background technology
, it is necessary to be transported through to the part of cylindrical tube or mobile, prior art during hydraulic cylinder is manufactured
In, the transhipment of cylindrical tube or mobile by a dead lift completion, automaticity is low, wastes time and energy, and there is potential safety hazard.
The content of the invention
Present invention seek to address that in the prior art the technical problem of cylindrical tube movement automation low degree and one kind is provided
Cylindrical tube manipulator.
The present invention is adopted the technical scheme that to solve technical problem present in known technology：A kind of cylindrical tube machine
Tool hand, it is characterised in that：Including vertical lines module, crane, sleeve pipe, clamping cylinder, upper sleeve body, lower body, upper swelling bar,
Lower swelling bar, swelling top board；The vertical lines module includes the sliding block that can be moved up and down vertically, and the crane is fixed on
On the sliding block, described sleeve pipe upper end is fixed on the crane, and the axis vertical of described sleeve pipe is set, the clamping cylinder
On the crane, the clamping cylinder has clamp lever that can be flexible up and down vertically, and the clamp lever is inserted
In described sleeve pipe, the lower end of the clamp lever is stretched out from the lower end of described sleeve pipe；The upper sleeve body is fixed on the set
Guan Shang, the lower body is fixed in the clamp lever, and the upper end of the upper swelling bar is hinged with the upper sleeve body, it is described on
The lower end of swelling bar is hinged with the swelling top board, and lower end and the lower body of the lower swelling bar are hinged, the lower swelling
The upper end of bar is hinged with the tensioning top board；
The upper swelling bar, lower swelling bar and swelling top board constitute one group of swelling element, and the upper sleeve body is trapped with described
Swelling element at least described in two groups is installed between body.
The present invention can also use following technical measures：
The upper swelling bar and lower swelling bar are made up of two split bars connected by chute and bearing pin, split described in two
Spring is installed between bar.
The present invention has the advantages and positive effects that：
The present invention provides a kind of automatic mechanical hand clamped to cylindrical tube, and this manipulator coordinates displacement mechanical group
Part is used, it is possible to achieve the movement to cylindrical tube, realizes the automation of cylindrical tube movement, saves manpower, eliminates safety hidden
Suffer from, improve processing efficiency.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
In figure：1st, vertical lines module；2nd, crane；3rd, sleeve pipe；4th, clamping cylinder；4-1, clamp lever；5th, upper sleeve body；
6th, lower body；7th, upper swelling bar；8th, lower swelling bar；9th, swelling top board.
Specific embodiment
For the content of the invention of the invention, feature and effect can be further appreciated that, following examples are hereby enumerated, and coordinate accompanying drawing
Describe in detail as follows：
Refer to Fig. 1, a kind of cylindrical tube manipulator, including vertical lines module 1, crane 2, sleeve pipe 3, clamping cylinder
4th, upper sleeve body 5, lower body 6, upper swelling bar 7, lower swelling bar 8, swelling top board 9.The vertical lines module 1 includes can be vertical
The sliding block for moving up and down, the crane 2 is fixed on the sliding block, and the upper end of described sleeve pipe 3 is fixed on the crane 2
On, the axis vertical of described sleeve pipe 3 is set, and the clamping cylinder 4 is arranged on the crane 2, and the clamping cylinder 4 has
Clamp lever 4-1 that can be flexible up and down vertically, the clamp lever 4-1 are inserted into described sleeve pipe 3, the clamp lever 4-
1 lower end is stretched out from the lower end of described sleeve pipe 3.The upper sleeve body 5 is fixed on the upper of described sleeve pipe 3, and the lower body 6 is fixed on
On the clamp lever 4-1.The upper end of the upper swelling bar 7 is hinged with the upper sleeve body 5, the lower end of the upper swelling bar 7 with
The swelling top board 9 is hinged.The lower end of the lower swelling bar 8 is hinged with 6 bodies of trapping, the upper end of the lower swelling bar 8 with
The tensioning top board 9 is hinged.The upper swelling bar 7, lower swelling bar 8 and swelling top board 9 constitute one group of swelling element, the upper set
Swelling element at least described in two groups is installed between body 5 and the lower body 6.
Method of work：
Cylindrical tube axis vertical is placed, and the sleeve pipe 3 of this manipulator is moved to the surface of cylindrical tube, vertical lines mould
Group 1 controls sleeve pipe 3 to move down, until swelling element is completely into cylindrical tube inner side.Clamping cylinder 4 does retraction work, on
The distance between body 5 and lower body 6 diminish, and the swelling top board 9 of swelling element is extended out and final tightly top pressure cylindrical tube
Medial surface, the clamping to cylindrical tube is realized with this.In the present embodiment, sheet rubber is installed on the lateral surface of swelling top board 9, with
Increase the frictional force between swelling top board 9 and cylindrical tube medial surface, improve the chucking power of this manipulator.
The upper swelling bar and lower swelling bar are made up of two split bars connected by chute and bearing pin, split described in two
Spring is installed between bar.Spring can provide swelling tension force for swelling top board, so as to ensure that swelling element begins in this manipulator
There is enough tension forces eventually.
Claims (2)
1. a kind of cylindrical tube manipulator, it is characterised in that：Including vertical lines module (1), crane (2), sleeve pipe (3), folder
Tight cylinder (4), upper sleeve body (5), lower body (6), upper swelling bar (7), lower swelling bar (8), swelling top board (9)；
The vertical lines module (1) includes the sliding block that can move up and down vertically, and the crane (2) is fixed on the sliding block
On, the upper end of described sleeve pipe (3) is fixed on the crane (2), and the axis vertical of described sleeve pipe (3) is set, the clamping
On the crane (2), the clamping cylinder (4) is with the clamp lever (4- that can be stretched up and down vertically for cylinder (4)
1), the clamp lever (4-1) is inserted into described sleeve pipe (3), and the lower end of the clamp lever (4-1) is from described sleeve pipe (3)
Lower end stretch out；The upper sleeve body (4) is fixed in described sleeve pipe (3), and the lower body (5) is fixed on the clamp lever
On (4-1), the upper end of the upper swelling bar (7) is hinged with the upper sleeve body (5), the lower end of the upper swelling bar (7) with it is described
Swelling top board (9) is hinged, and the lower end of the lower swelling bar (8) is hinged with the lower body (6), the lower swelling bar (8) it is upper
End is hinged with tensioning top board (9)；
The upper swelling bar (7), lower swelling bar (8) and swelling top board (9) constitute one group of swelling element, the upper sleeve body (5) with
Swelling element at least described in two groups is installed between the lower body (6).
2. cylindrical tube manipulator according to claim 1, it is characterised in that：The upper swelling bar (7) and lower swelling bar
(8) it is made up of two split bars connected by chute and bearing pin, spring is installed between split bar described in two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258574.4A CN106737784A (en) | 2016-12-30 | 2016-12-30 | A kind of cylindrical tube manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611258574.4A CN106737784A (en) | 2016-12-30 | 2016-12-30 | A kind of cylindrical tube manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737784A true CN106737784A (en) | 2017-05-31 |
Family
ID=58954598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611258574.4A Pending CN106737784A (en) | 2016-12-30 | 2016-12-30 | A kind of cylindrical tube manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737784A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175001A (en) * | 2017-07-05 | 2017-09-19 | 安徽新兴翼凌机电发展有限公司 | A kind of machinery mixer for dividing bucket |
| CN108372513A (en) * | 2018-04-16 | 2018-08-07 | 上汽时代动力电池系统有限公司 | A kind of battery modules automation grabbing device |
| CN108890682A (en) * | 2018-09-30 | 2018-11-27 | 苏州软体机器人科技有限公司 | A kind of inner support clamp and clamping device |
| CN111037590A (en) * | 2019-12-20 | 2020-04-21 | 芜湖隆深机器人有限公司 | Robot gripping apparatus |
| CN112077871A (en) * | 2020-08-31 | 2020-12-15 | 上海工程技术大学 | Industrial robot clamp for intelligent manufacturing system |
| CN112476087A (en) * | 2020-11-24 | 2021-03-12 | 林眉 | Based on quick grinding device of wooden toy gyro wheel |
| CN112719993A (en) * | 2021-02-07 | 2021-04-30 | 浙江铂动工贸有限公司 | Device for preventing deformation of wheel hub during hot processing |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08198578A (en) * | 1995-01-30 | 1996-08-06 | Mitsubishi Chem Corp | Chucking device |
| JPH08231178A (en) * | 1995-02-28 | 1996-09-10 | Mitsubishi Heavy Ind Ltd | Cylindrical body restrainer |
| CN2400423Y (en) * | 1999-11-30 | 2000-10-11 | 林爱国 | Internal bearing hoisting device |
| CN202186835U (en) * | 2011-07-18 | 2012-04-11 | 江阴华新电器有限公司 | Device for hoisting motor stator |
| CN203284064U (en) * | 2013-05-22 | 2013-11-13 | 武汉钢铁集团精鼎工业炉有限责任公司 | Special hoisting tool for circular tubular products |
| CN203667809U (en) * | 2014-01-01 | 2014-06-25 | 佛山市顺德区信源电机有限公司 | Cordless hoisting device |
| CN206502398U (en) * | 2016-12-30 | 2017-09-19 | 天津市双象工程液压件有限责任公司 | A kind of cylindrical tube clamping device |
-
2016
- 2016-12-30 CN CN201611258574.4A patent/CN106737784A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08198578A (en) * | 1995-01-30 | 1996-08-06 | Mitsubishi Chem Corp | Chucking device |
| JPH08231178A (en) * | 1995-02-28 | 1996-09-10 | Mitsubishi Heavy Ind Ltd | Cylindrical body restrainer |
| CN2400423Y (en) * | 1999-11-30 | 2000-10-11 | 林爱国 | Internal bearing hoisting device |
| CN202186835U (en) * | 2011-07-18 | 2012-04-11 | 江阴华新电器有限公司 | Device for hoisting motor stator |
| CN203284064U (en) * | 2013-05-22 | 2013-11-13 | 武汉钢铁集团精鼎工业炉有限责任公司 | Special hoisting tool for circular tubular products |
| CN203667809U (en) * | 2014-01-01 | 2014-06-25 | 佛山市顺德区信源电机有限公司 | Cordless hoisting device |
| CN206502398U (en) * | 2016-12-30 | 2017-09-19 | 天津市双象工程液压件有限责任公司 | A kind of cylindrical tube clamping device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107175001A (en) * | 2017-07-05 | 2017-09-19 | 安徽新兴翼凌机电发展有限公司 | A kind of machinery mixer for dividing bucket |
| CN108372513A (en) * | 2018-04-16 | 2018-08-07 | 上汽时代动力电池系统有限公司 | A kind of battery modules automation grabbing device |
| CN108890682A (en) * | 2018-09-30 | 2018-11-27 | 苏州软体机器人科技有限公司 | A kind of inner support clamp and clamping device |
| CN108890682B (en) * | 2018-09-30 | 2024-05-14 | 北京软体机器人科技股份有限公司 | Internal stay anchor clamps and clamping device |
| CN111037590A (en) * | 2019-12-20 | 2020-04-21 | 芜湖隆深机器人有限公司 | Robot gripping apparatus |
| CN112077871A (en) * | 2020-08-31 | 2020-12-15 | 上海工程技术大学 | Industrial robot clamp for intelligent manufacturing system |
| CN112476087A (en) * | 2020-11-24 | 2021-03-12 | 林眉 | Based on quick grinding device of wooden toy gyro wheel |
| CN112719993A (en) * | 2021-02-07 | 2021-04-30 | 浙江铂动工贸有限公司 | Device for preventing deformation of wheel hub during hot processing |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170531 |