CN109048963A - A kind of manipulator suitable for tubing - Google Patents
A kind of manipulator suitable for tubing Download PDFInfo
- Publication number
- CN109048963A CN109048963A CN201811128587.9A CN201811128587A CN109048963A CN 109048963 A CN109048963 A CN 109048963A CN 201811128587 A CN201811128587 A CN 201811128587A CN 109048963 A CN109048963 A CN 109048963A
- Authority
- CN
- China
- Prior art keywords
- arm
- force
- tubing
- shaft
- fixed link
- 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.)
- Withdrawn
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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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators suitable for tubing, belong to tubing transport field, the manipulator suitable for tubing includes: mobile bar, fixed link, first arm of force and second arm of force, circular hole has been opened up among the fixed link, mobile bar passes through fixed link by circular hole, shaft one is provided on the left of fixed link, first arm of force is hinged in fixed link by shaft one, shaft two is provided on the right side of fixed link, second arm of force is hinged in fixed link by shaft two, the manipulator suitable for tubing solves crawl tubing manipulator in the prior art there are the degree of automation low, problem complex for operation step, a kind of robot manipulator structure design suitable for tubing is reasonable, its can the tubing to different size carry out crawl and hauling operation, it is easy to operate, it is practical, it is worth promoting and using in tubing transport field.
Description
Technical field
The present invention relates to tubing transport field, specifically a kind of manipulator suitable for tubing.
Background technique
The scene that tubing is applied in life is ubiquitous, from conveying water to transferring raw material, the effect of tubing do not say and
Analogy, currently, the carrying of tubing is all by manually moving back rolling tubing, in the handling process, not only tubing is easy to damage deformation, and
Tubing can also cause certain damage to the both hands of bearer sometimes.
A kind of tubing manipulator, this machinery are provided in the patent publication that patent publication No. is CN103722558A
Hand is although easy to operate, it is good to carry effect, but there is also certain defects, for example, the degree of automation is not high, need according to tubing
Specification size is manually adjusted, it appears some cumbersome and troubles.
For the problems mentioned above in the background art, the present invention is intended to provide a kind of manipulator suitable for tubing.
Summary of the invention
The purpose of the present invention is to provide a kind of manipulators suitable for tubing, public to solve patent in above-mentioned background technique
The number of opening is a kind of tubing manipulator for providing there are the degree of automation low, manipulator in the patent publication of CN103722558A
Continue cumbersome problem.
To achieve the above object, the invention provides the following technical scheme:
A kind of manipulator suitable for tubing comprising: mobile bar, fixed link, first arm of force and second arm of force, the fixation
Circular hole is opened up among bar, mobile bar passes through fixed link by circular hole, is provided with shaft one on the left of fixed link, first arm of force passes through
Shaft one is hinged in fixed link, and shaft two is provided on the right side of fixed link, and second arm of force is hinged in fixed link by shaft two；
The mobile bar upper end is provided with fixed frame, and mobile bar bottom end is mounted with that shaft three, shaft three and first arm of force drive by first
Lever connection, shaft three is connect with second arm of force by the second drive rod, when moving up and down fixed frame by other components,
Mobile fixed frame drives mobile bar to move up and down, and is driven by shaft one, shaft two, shaft three, the first drive rod and second
The collective effect of lever makes to be bonded and separate between first arm of force and second arm of force, to realize the clamping and transport to tubing.
As a further solution of the present invention: first arm of force is by connection frame one, buffer stopper one, oblique frame one and fixture block
Composition, connection frame one are connect with oblique frame one by buffer stopper one, and buffer stopper one not only realizes the company of connection frame one Yu oblique frame one
Connect fixation, it is often more important that buffer stopper one reduces the torsion tension in the first arm of force knee, and extend first arm of force uses the longevity
Life；It is mounted with Non-slip material on oblique frame one, protrusion is provided on Non-slip material, when protrusion enhances first arm of force and the fitting of second arm of force
To the frictional force of tubing, tubing is made to be not easy to fall；Fixture block is mounted on one lower section of oblique frame, has opened up groove inside fixture block, on groove
Lower surface is coated with wear-resistant material layer.
As further scheme of the invention: second arm of force is identical as the first arm of force mechanism, only the second power
The fixture block of first arm of force has been changed into fixed block below arm, is mounted with that loop bar, loop bar are coated with anti-slip material up and down on the left of fixed block
Layer, when first arm of force is bonded with second arm of force, loop bar is protruded into the groove of fixture block, realizes first arm of force and second arm of force pastes
Integrality and compactness when conjunction, the wear-resistant material layer in groove reduce loop bar and pass in and out caused by groove in groove
The degree of wear extends groove service life；Slide resistant material on loop bar then increases loop bar for the frictional force of groove, protects
The tubing that card loop bar should not slide in groove, thus be not easy to convey first arm of force when being bonded with second arm of force, which is fallen, injures work by a crashing object
Make personnel.
Compared with prior art, the beneficial effects of the present invention are:
Rationally, fixed frame is moved up and down by other power supply devices for a kind of robot manipulator structure design suitable for tubing
When, mobile fixed frame drives mobile bar to move up and down, and passes through shaft one, shaft two, shaft three, the first drive rod and second
The collective effect of drive rod makes to be bonded and separate between first arm of force and second arm of force, to realize the clamping and fortune to tubing
It is defeated；When first arm of force is bonded with second arm of force, loop bar is protruded into the groove of fixture block, is realized first arm of force and is bonded with second arm of force
When integrality and compactness, the wear-resistant material layer in groove reduces loop bar and passes in and out the mill caused by groove in groove
Damage degree extends groove service life；Slide resistant material on loop bar then increases loop bar for the frictional force of groove, guarantees
Loop bar is not easy to slide in groove.
It is a kind of tubing machinery palmistry ratio provided in the patent publication of CN103722558A, institute with patent publication No.
The tubing manipulator stated solves the problems, such as that the degree of automation is low, complex for operation step.
A kind of manipulator suitable for tubing can the tubing to different size carry out crawl and hauling operation, behaviour
Make simply, it is practical, it is worth promoting and using in tubing transport field.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1.
Fig. 2 is a kind of Non-slip material structural schematic diagram of manipulator suitable for tubing.
Fig. 3 is a kind of bottom end combination principle schematic diagram of manipulator suitable for tubing.
Fig. 4 is the structural schematic diagram of the embodiment of the present invention 2.
In figure: 1- fixed frame, 2- mobile bar, 3- circular hole, 4- shaft one, 5- fixed link, 6- shaft two, 7- connection frame one,
8- connection frame two, 9- shaft three, the first drive rod of 10-, the second drive rod of 11-, 12- buffer stopper one, 13- buffer stopper two, 14- are oblique
Frame one, 15- Non-slip material, 16- fixture block, 17- groove, 18- loop bar, 19- fixed block, 20-oblique framves two, 21- protrusion, the wear-resisting material of 22-
The bed of material, 23- slide resistant material, 24- cylinder.
Specific embodiment
Technical solution of the present invention is described in more detail With reference to embodiment.
Embodiment 1
Please refer to Fig. 1-3, in the embodiment of the present invention 1, a kind of manipulator suitable for tubing comprising: mobile bar 2, fixed link
5, first arm of force and second arm of force, circular hole 3 has been opened up among the fixed link 5, and mobile bar 2 passes through fixed link by circular hole 3
5, shaft 1 is provided on the left of fixed link 5, first arm of force is hinged in fixed link 5 by shaft 1, is arranged on the right side of fixed link 5
Shaft 26, second arm of force are hinged in fixed link 5 by shaft 26；2 upper end of mobile bar is provided with fixed frame 1, moves
2 bottom end of lever is mounted with that shaft 39, shaft 39 are connect with first arm of force by the first drive rod 10, shaft 39 and the second power
Arm is connected by the second drive rod 11, and when moving up and down fixed frame 1 by other components, mobile fixed frame 1, which drives, to be moved
Lever 2 moves up and down, and passes through the common of shaft 1, shaft 26, shaft 39, the first drive rod 10 and the second drive rod 11
Effect, makes to be bonded and separate between first arm of force and second arm of force, to realize the clamping and transport to tubing.
First arm of force is made of connection frame 1, buffer stopper 1, oblique frame 1 and fixture block 16, connection frame 1 with
For oblique frame 1 by the connection of buffer stopper 1, buffer stopper 1 not only realizes being connected and fixed for connection frame 1 and oblique frame 1,
More importantly buffer stopper 1 reduces the torsion tension in the first arm of force knee, extends the service life of first arm of force；Tiltedly
It is mounted with Non-slip material 15 on frame 1, protrusion 21 is provided on Non-slip material 15, protrusion 21 enhances first arm of force and second arm of force
To the frictional force of tubing when fitting, tubing is made to be not easy to fall；Fixture block 16 is mounted on oblique one 14 lower section of frame, opens up inside fixture block 16
Groove 17,17 upper and lower surface of groove are coated with wear-resistant material layer 22.
Second arm of force is identical as the first arm of force mechanism, only changes the fixture block 16 of first arm of force below second arm of force
At fixed block 19, be mounted with that loop bar 18, about 18 loop bar are coated with slide resistant material 23 on the left of fixed block 19, when first arm of force with
When second arm of force is bonded, loop bar 18 is protruded into the groove 17 of fixture block 16, realizes complete when first arm of force is bonded with second arm of force
Whole property and compactness, the wear-resistant material layer 22 in groove 17, which reduces loop bar 18, to be passed in and out in groove 17 and causes to groove 17
The degree of wear, extend 17 service life of groove；Slide resistant material 23 on loop bar 18 then increases loop bar 18 for groove
17 frictional force guarantees that loop bar 18 should not slide in groove 17, thus is not easy to keep first arm of force defeated when being bonded with second arm of force
The tubing sent, which is fallen, injures staff by a crashing object.
Embodiment 2
Referring to Fig. 4, in the embodiment of the present invention 2, a kind of manipulator suitable for tubing, the fixed frame of mobile bar upper end setting
1 has changed cylinder 24 into, and compared with Example 1,2 rate travel of mobile bar of embodiment 2 is not easy to control, be easy to cause first arm of force
To the bad control of tubing pressure size when being bonded with second arm of force, it may occur that pressure is too small to fall tubing, and pressure is too big, presses quick-fried
The drawbacks of tubing.
The working principle of the invention is: when fixed frame 1 is moved up and down by other power supply devices, mobile 1 band of fixed frame
Dynamic mobile bar 2 moves up and down, and passes through shaft 1, shaft 26, shaft 39, the first drive rod 10 and the second drive rod 11
Collective effect makes to be bonded and separate between first arm of force and second arm of force, to realize the clamping and transport to tubing；First power
When arm is bonded with second arm of force, loop bar 18 is protruded into the groove 17 of fixture block 16, when realizing first arm of force and being bonded with second arm of force
Integrality and compactness, the wear-resistant material layer 22 in groove 17 reduces loop bar 18 and passed in and out in groove 17 to groove 17
Caused by the degree of wear, extend 17 service life of groove；Slide resistant material 23 on loop bar 18 then increase loop bar 18 for
The frictional force of groove 17 guarantees that loop bar 18 should not slide in groove 17, thus is not easy to be bonded first arm of force with second arm of force
When the tubing that conveys fall and injure staff by a crashing object, a kind of robot manipulator structure design suitable for tubing rationally, can
To the tubing of different size carry out crawl and hauling operation, it is easy to operate, it is practical, be worth tubing transport field promote with
It uses.
Better embodiment of the invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment party
Formula within the knowledge of one of ordinary skill in the art can also be without departing from the purpose of the present invention
Various changes can be made.
Claims (8)
1. a kind of manipulator suitable for tubing comprising: mobile bar (2), fixed link (5), first arm of force and second arm of force,
It is characterized by: having opened up circular hole (3) among the fixed link (5), mobile bar (2) passes through fixed link (5) by circular hole (3),
Shaft one (4) is provided on the left of fixed link (5), first arm of force is hinged on fixed link (5) by shaft one (4), fixed link (5)
Right side is provided with shaft two (6), and second arm of force is hinged on fixed link (5) by shaft two (6).
2. a kind of manipulator suitable for tubing according to claim 1, it is characterised in that: mobile bar (2) upper end
Provided with fixed frame (1), mobile bar (2) bottom end is mounted with shaft three (9).
3. a kind of manipulator suitable for tubing according to claim 2, it is characterised in that: shaft three (9) and the first power
Arm is linked by the first drive rod (10), and shaft three (9) and second arm of force are linked by the second drive rod (11).
4. a kind of manipulator suitable for tubing according to claim 1, it is characterised in that: first arm of force is by connecting
Frame one (7), buffer stopper one (12), oblique frame one (14) and fixture block (16) composition.
5. a kind of manipulator suitable for tubing according to claim 4, it is characterised in that: connection frame one (7) and oblique frame
One (14) are connected by buffer stopper one (12), are mounted with Non-slip material (15) on oblique frame one (14), are provided on Non-slip material (15) convex
It rises (21).
6. a kind of manipulator suitable for tubing according to claim 5, it is characterised in that: the fixture block (16) is mounted on
Below oblique frame one (14), opened up groove (17) inside fixture block (16), groove (17) upper and lower surface is coated with wear-resistant material layer (22).
7. a kind of manipulator suitable for tubing according to claim 1, it is characterised in that: second arm of force is provided with
Fixed block (19), fixed block (19) left side are mounted with loop bar (18) that loop bar (18) is coated with slide resistant material (23) up and down.
8. a kind of transporting equipment containing the manipulator for being suitable for tubing as described in claim 1-7 is any, it is characterised in that: fortune
Transfer device is mounted with wheel, and the quantity of wheel is 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811128587.9A CN109048963A (en) | 2018-09-27 | 2018-09-27 | A kind of manipulator suitable for tubing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811128587.9A CN109048963A (en) | 2018-09-27 | 2018-09-27 | A kind of manipulator suitable for tubing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048963A true CN109048963A (en) | 2018-12-21 |
Family
ID=64766252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811128587.9A Withdrawn CN109048963A (en) | 2018-09-27 | 2018-09-27 | A kind of manipulator suitable for tubing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048963A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941415A (en) * | 2020-08-07 | 2020-11-17 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| WO2022257220A1 (en) * | 2021-06-08 | 2022-12-15 | 南京涵铭置智能科技有限公司 | Automatic clamping robot special for cutting machine and clamping method thereof |
-
2018
- 2018-09-27 CN CN201811128587.9A patent/CN109048963A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941415A (en) * | 2020-08-07 | 2020-11-17 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| CN111941415B (en) * | 2020-08-07 | 2021-09-24 | 江苏昱博自动化设备有限公司 | Clamping type clamp for power-assisted manipulator |
| WO2022257220A1 (en) * | 2021-06-08 | 2022-12-15 | 南京涵铭置智能科技有限公司 | Automatic clamping robot special for cutting machine and clamping method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181221 |
|
| WW01 | Invention patent application withdrawn after publication |