CN110303487B

CN110303487B - Manipulator device for carrying pipes

Info

Publication number: CN110303487B
Application number: CN201810485987.9A
Authority: CN
Inventors: 胡耀增; 王龙; 王浩宇; 张守东; 杜鹏坤
Original assignee: Qingdao University of Technology
Current assignee: Qingdao University of Technology
Priority date: 2018-05-17
Filing date: 2018-05-17
Publication date: 2023-06-20
Anticipated expiration: 2038-05-17
Also published as: CN110303487A

Abstract

The invention discloses a manipulator device for pipe conveying, which comprises a sliding mechanism, a balancing mechanism, lifting rings, a first sliding chute, a first sliding block, a manipulator, a second rack, a second sliding chute, a buffer mechanism, a second limiting block, a first servo motor, a first rotating shaft, first racks, a first gear, first limiting blocks and two struts, wherein two struts are respectively fixed with a cross beam through bolts, the center of the top of each cross beam is fixedly provided with the second rack through bolts, two sides of each second rack are correspondingly welded and fixedly provided with the second limiting block, the buffer mechanism is welded and fixed at the center of one side of each second limiting block, the second sliding chute is arranged at one side of each cross beam, the sliding mechanism is correspondingly arranged at the center of the bottom of each sliding mechanism, and the bottom of each sliding mechanism is connected with the center of the top of each first supporting plate through an electric telescopic rod.

Description

Manipulator device for carrying pipes

Technical Field

The invention relates to the technical field of manipulator devices, in particular to a manipulator device for carrying pipes.

Background

The manipulator, the finger can imitate some action functions of human hand and arm, is used for grasping, carrying the article or automatic operating device of the operating tool according to the fixed procedure. Mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace heavy labor to realize mechanization and automation of production, and can operate in harmful environment to protect personal safety, so it can be widely used in the departments of mechanical manufacture, metallurgy, electronics, light industry and atomic energy.

In the life today, with the development of new moon in science and technology, the maximum difference between the robot arm and the arm with human being is the flexibility and the strength. That is, the maximum advantage of the manipulator can repeatedly perform the same action, so that the manipulator can not feel tired under normal conditions of the machine, the application of the manipulator is more and more extensive, and the manipulator is a high-tech automatic production device developed in recent decades, and the accuracy of operation and the capability of completing operation in the environment. An important branch of industrial manipulator robots. However, the existing manipulator device is inconvenient to adjust and is troublesome to operate, so that it is necessary to design a manipulator device for pipe transportation.

Disclosure of Invention

The invention aims to provide a manipulator device for pipe conveying, which is used for solving the problems in the background technology.

In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a manipulator device for tubular product transport, including slide mechanism, balancing mechanism, rings, first spout, first slider, manipulator, first backup pad, electric telescopic handle, crossbeam, second rack, second spout, buffer gear, second stopper, first servo motor, first pivot, first rack, first gear, first stopper and pillar, the pillar has two, and the top of two pillars all has the crossbeam through the bolt fastening, the top center department of crossbeam has the second rack through the bolt fastening, the both sides of second rack correspond welded fastening has the second stopper, the one side center department of second stopper has buffer gear through welded fastening, the second spout has been seted up to one side of crossbeam, and two non-adjacent sides correspond to install slide mechanism, slide mechanism's bottom center department is connected through electric telescopic handle and the top center department of first backup pad, and electric telescopic handle passes through bolted connection with first top both ends through the corresponding balancing mechanism who installs, and rings of first top both ends welded fastening, and first backup pad have the second rack through the bolt fastening with first pivot, the one side corresponds the first pivot is connected with first side of first side through the first slider through the first pivot, the opposite side has the first side to pass through the first side of first pivot is fixed with the first slider, the opposite side is connected with first side through the first side of first pivot through the slider, the first gear is connected with the first rotating shaft through a connecting key, and is positioned at the outer center of the first rotating shaft, the first gear is connected with the first rack in a meshed manner, and a manipulator is arranged at the center of the bottom of the first sliding block.

According to the technical scheme, buffer gear comprises telescopic link, blotter, spring and buffer post, one side and the second stopper of buffer post pass through welded fastening, the inside of buffer post is fixed with the telescopic link through welded fastening, the outside of telescopic link is connected with the spring through the bolt, the opposite side of buffer post is fixed with the blotter through welded fastening.

According to the technical scheme, the sliding mechanism comprises a second servo motor, a second gear, a second rotating shaft and a second sliding block, wherein the second servo motor is fixed on one side of the second sliding block through a bolt, one side of the second servo motor is connected with the second rotating shaft through a connecting key, the second rotating shaft penetrates through one side of the inner wall of the second sliding block and two correspondingly installed second gears and is connected with the other side of the inner wall of the second sliding block through bearings, and the two second gears are meshed with the second racks.

According to the technical scheme, the balance mechanism consists of the fixed pulleys, the balancing weights and the steel wire ropes, one ends of the steel wire ropes are wound on the hanging rings, and the other ends of the steel wire ropes are wound around the two fixed pulleys and are fixed with the balancing weights through bolts.

According to the technical scheme, the second sliding block is matched with the second sliding groove.

According to the technical scheme, the second sliding block is connected with the electric telescopic rod through the bolt.

According to the technical scheme, the second gear is connected with the second rotating shaft through the connecting key.

Compared with the prior art, the invention has the following beneficial effects: according to the manipulator device, the first servo motor works to drive the first rotating shaft to rotate, the first rotating shaft drives the first gear to rotate, and the first gear is meshed with the first rack, so that the first sliding block is driven to slide on the supporting plate, the manipulator is convenient to move left and right, the position is adjusted, the first limiting blocks are correspondingly arranged on the two sides of the first rack, and have a limiting effect, so that the first sliding block is prevented from falling off to cause a safety accident; the fixed pulley, the balancing weight and the steel wire rope are matched for use, so that the balance of the supporting plate is ensured, the use is convenient, the height of the manipulator can be adjusted by the electric telescopic rod, and the movement is convenient; the second servo motor works to drive the second rotating shaft to rotate so as to drive the second gear to rotate, and the second gear is meshed with the second rack so as to drive the second sliding block to slide on the cross beam, so that the manipulator can conveniently move back and forth; under the combined action of the telescopic rod, the buffer cushion, the spring and the buffer post, the buffer has good buffer effect, and the second sliding block is prevented from colliding with the second limiting block, so that equipment is damaged, and safety accidents are caused.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:

FIG. 1 is a schematic overall elevational view of the present invention;

FIG. 2 is a schematic diagram of the overall top view of the present invention;

FIG. 3 is a schematic diagram of the overall side view of the present invention;

FIG. 4 is a schematic view of the manipulator structure of the present invention;

FIG. 5 is a schematic view of a sliding mechanism of the present invention;

FIG. 6 is a schematic side elevational view of the support plate of the present invention;

FIG. 7 is a schematic view of the bottom structure of the support plate of the present invention;

in the figure: 1-a sliding mechanism; 2-balancing mechanism; 3-fixed pulleys; 4-balancing weight; 5-a steel wire rope; 6-hanging rings; 7-a first chute; 8-a first slider; 9-a manipulator; 10-supporting plates; 11-an electric telescopic rod; 12-a cross beam; 13-a second rack; 14-a second chute; 15-a buffer mechanism; 16-a second limiting block; 17-a telescopic rod; 18-cushion pad; 19-a spring; 20-a buffer column; 21-a clamp; 22-three hole connecting rod; 23-a first short link; 24-a second short connecting rod; 25-pneumatic lever; 26-a bracket; 27-large screws; 28-small screws; 29-a second servomotor; 30-a second gear; 31-a second rotating shaft; 32-a second slider; 33-a first servomotor; 34-a first rotation axis; 35-a first rack; 36-a first gear; 37-a first limiting block; 38-struts.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-7, the present invention provides a technical solution: a manipulator device for pipe handling comprises a sliding mechanism 1, a balancing mechanism 2, a lifting ring 6, a first sliding chute 7, a first sliding block 8, a manipulator 9, a supporting plate 10, an electric telescopic rod 11, a cross beam 12, a second rack 13, a second sliding chute 14, a buffer mechanism 15, a second limiting block 16, a first servo motor 33, a first rotating shaft 34, a first rack 35, a first gear 36, a first limiting block 37 and a supporting column 38, wherein two supporting columns 38 are respectively arranged, the tops of the two supporting columns 38 are respectively fixed with the cross beam 12 through bolts, the center of the top of the cross beam 12 is fixedly provided with the second rack 13 through bolts, two sides of the second rack 13 are correspondingly welded and fixedly provided with the second limiting block 16, one side center of the second limiting block 16 is fixedly provided with the buffer mechanism 15 through welding, one side of the cross beam 12 is provided with the second sliding chute 14, the non-adjacent side of the two cross beams 12 is correspondingly provided with the sliding mechanism 1, one side of the sliding mechanism 1 is connected with the top center of the supporting plate 10 through the electric telescopic rod 11, one side of the electric telescopic rod 11 is connected with the supporting plate 10 through bolts, one side of the sliding mechanism 1 is correspondingly provided with the top center of the supporting plate 10 through the first rotating shaft 10 through bolts, the two sides of the corresponding to the first sliding rod 10 is fixedly connected with the first sliding block 10 through bolts 7 through the first sliding chute 35, the two sides of the corresponding to the first sliding rod 6 are fixedly connected with the first sliding block 10 through the first sliding rod 10 through the first sliding chute 10 through the corresponding to the first sliding rod 6, the two sides are correspondingly welded to the first sliding rod 12 is fixedly connected with the first sliding rod 8 through the first sliding chute 8, the first rotating shaft 34 passes through one side of the inner wall of the first sliding block 8 and the first gear 36 and is connected with the other side of the inner wall of the first sliding block 8 through a bearing, the first gear 36 is connected with the first rotating shaft 34 through a connecting key, the first gear 36 is meshed with the first rack 35 at the outer center of the first rotating shaft 34, and the manipulator 9 is installed at the bottom center of the first sliding block 8.

According to the above technical scheme, buffer gear 15 comprises telescopic link 17, blotter 18, spring 19 and buffer post 20, and one side and the second stopper 16 of buffer post 20 pass through welded fastening, and the inside of buffer post 20 is fixed with telescopic link 17 through welded fastening, and the outside of telescopic link 17 is connected with spring 19 through the bolt, and the opposite side of buffer post 20 is fixed with blotter 18 through welded fastening, has the guard action, has prevented damaging equipment.

According to the above technical scheme, the sliding mechanism 1 is composed of the second servo motor 29, the second gear 30, the second rotating shaft 31 and the second sliding block 32, the second servo motor 29 is fixed on one side of the second sliding block 32 through bolts, one side of the second servo motor 29 is connected with the second rotating shaft 31 through a connecting key, the second rotating shaft 31 penetrates through one side of the inner wall of the second sliding block 32 and two correspondingly installed second gears 30 and is connected with the other side of the inner wall of the second sliding block 32 through bearings, and the two second gears 30 are meshed with the second rack 13, so that the position of the manipulator 9 can be conveniently adjusted.

According to the above technical scheme, the balancing mechanism 2 comprises fixed pulleys 3, balancing weights 4 and wire ropes 5, one ends of the wire ropes 5 are wound on the hanging rings 6, and the other ends of the wire ropes 5 are wound around the two fixed pulleys 3 and are fixed with the balancing weights 4 through bolts, so that the balancing support plate 10 is convenient to balance.

According to the above technical solution, the second slider 32 is matched with the second chute 14, so as to facilitate the sliding of the second slider 32.

According to the above technical scheme, the second slider 32 is connected with the electric telescopic rod 11 through the bolt, so that the stability of connection is ensured.

According to the above technical scheme, the second gear 30 is connected with the second rotating shaft 31 through the connection key, so that the stability of connection is ensured.

Working principle: the first servo motor 33 works to drive the first rotating shaft 34 to rotate, the first rotating shaft 34 drives the first gear 36 to rotate, and the first gear 36 is meshed with the first rack 35, so that the first slide block 8 is driven to slide on the support plate 10, the manipulator 9 can conveniently move left and right, the position is adjusted, the first limiting blocks 37 are correspondingly arranged on the two sides of the first rack 35, and the first limiting blocks 37 have a limiting effect to prevent the first slide block 8 from falling off and causing safety accidents; the balance of the supporting plate 10 is ensured through the cooperation of the fixed pulley 3, the balancing weight 4 and the steel wire rope 5, the use is convenient, the height of the manipulator 9 can be adjusted by the electric telescopic rod 11, and the movement is convenient; the second servo motor 29 works to drive the second rotating shaft 31 to rotate so as to drive the second gear 30 to rotate, and the second gear 30 is meshed with the second rack 13 so as to drive the second sliding block 32 to slide on the cross beam 12, so that the manipulator 9 can conveniently move forwards and backwards; under the combined action of the telescopic rod 17, the buffer cushion 18, the spring 19 and the buffer post 20, the buffer has good buffer effect, and the second sliding block 32 is prevented from colliding with the second limiting block 16, so that equipment is damaged, and safety accidents are caused. Finally, it should be noted that: the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, but although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the above. Or equivalent substitutions for some of the features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator device for tubular product transport, including slide mechanism (1), balancing mechanism (2), rings (6), first spout (7), first slider (8), manipulator (9), backup pad (10), electric telescopic handle (11), crossbeam (12), second rack (13), second spout (14), buffer gear (15), second stopper (16), first servo motor (33), first pivot (34), first rack (35), first gear (36), first stopper (37) and pillar (38), its characterized in that: the two support posts (38) are arranged, the tops of the two support posts (38) are respectively fixedly provided with a cross beam (12) through bolts, the top center of the cross beam (12) is fixedly provided with a second rack (13) through bolts, two sides of the second rack (13) are correspondingly welded and fixedly provided with a second limiting block (16), one side center of the second limiting block (16) is fixedly provided with a buffer mechanism (15) through welding, one side of the cross beam (12) is provided with a second sliding groove (14), two non-adjacent sides of the two cross beams (12) are correspondingly provided with a sliding mechanism (1), the bottom center of the sliding mechanism (1) is connected with the top center of the supporting plate (10) through an electric telescopic rod (11), the electric telescopic rod (11) is connected with the supporting plate (10) through bolts, one side of the sliding mechanism (1) is correspondingly arranged through a balancing mechanism (2) and two ends of the top of the supporting plate (10) are correspondingly welded and fixedly provided with lifting rings (6), two sides of the supporting plate (10) are correspondingly welded and fixedly provided with a first sliding groove (7), two sides of the supporting plate (10) are correspondingly provided with a first sliding groove (7), the bottom center of the sliding mechanism (12) is correspondingly provided with a first lifting ring (35) and two sides of the first lifting ring (35) are correspondingly welded and fixedly provided with a first lifting ring (35), the first sliding chute (7) is matched with the first sliding block (8), a first servo motor (33) is fixed on one side of the first sliding block (8) through a bolt, one side of the first servo motor (33) is connected with a first rotating shaft (34) through a connecting key, the first rotating shaft (34) penetrates through one side of the inner wall of the first sliding block (8) and a first gear (36) and is connected with the other side of the inner wall of the first sliding block (8) through a bearing, the first gear (36) is connected with the first rotating shaft (34) through a connecting key, the first gear (36) is meshed and connected with a first rack (35) at the outer center of the first rotating shaft (34), and a manipulator (9) is arranged at the bottom center of the first sliding block (8); the balancing mechanism (2) consists of fixed pulleys (3), balancing weights (4) and steel wire ropes (5), one ends of the steel wire ropes (5) are wound on hanging rings (6), and the other ends of the steel wire ropes (5) bypass the two fixed pulleys (3) and are fixed with the balancing weights (4) through bolts; the balance of the supporting plate is ensured by the cooperation of the fixed pulley (3), the balancing weight (4) and the steel wire rope (5).

2. A manipulator apparatus for pipe handling according to claim 1, wherein: the buffer mechanism (15) is composed of a telescopic rod (17), a buffer cushion (18), a spring (19) and a buffer column (20), one side of the buffer column (20) is fixed with a second limiting block (16) through welding, the telescopic rod (17) is fixed inside the buffer column (20) through welding, the spring (19) is connected to the outside of the telescopic rod (17) through a bolt, and the buffer cushion (18) is fixed to the other side of the buffer column (20) through welding.

3. A manipulator apparatus for pipe handling according to claim 1, wherein: the sliding mechanism (1) is composed of a second servo motor (29), a second gear (30), a second rotating shaft (31) and a second sliding block (32), wherein one side of the second sliding block (32) is fixedly provided with the second servo motor (29) through a bolt, one side of the second servo motor (29) is connected with the second rotating shaft (31) through a connecting key, the second rotating shaft (31) penetrates through one side of the inner wall of the second sliding block (32) and two correspondingly installed second gears (30) and is connected with the other side of the inner wall of the second sliding block (32) through bearings, and the two second gears (30) are meshed with the second rack (13).

4. A manipulator apparatus for pipe handling according to claim 3, wherein: the second sliding block (32) is matched with the second sliding groove (14) for use.

5. A manipulator apparatus for pipe handling according to claim 3, wherein: the second sliding block (32) is connected with the electric telescopic rod (11) through a bolt.

6. A manipulator apparatus for pipe handling according to claim 3, wherein: the second gear (30) is connected with the second rotating shaft (31) through a connecting key.