CN110962154A - Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method - Google Patents
Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method Download PDFInfo
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- CN110962154A CN110962154A CN201911338860.5A CN201911338860A CN110962154A CN 110962154 A CN110962154 A CN 110962154A CN 201911338860 A CN201911338860 A CN 201911338860A CN 110962154 A CN110962154 A CN 110962154A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 6
- 238000010276 construction Methods 0.000 abstract description 10
- 238000009434 installation Methods 0.000 description 8
- 239000002699 waste material Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- 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
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention relates to a multi-degree-of-freedom-degree-adjusted pipeline carrying and clamping device and a multi-degree-of-freedom-degree-adjusted pipeline carrying and clamping method, and belongs to the technical field of construction tools.
Description
Technical Field
The invention belongs to the technical field of construction tools, and particularly relates to a multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method.
Background
During construction on the site, particularly after a large house is built, in a blank process, pipelines, supports and other structures are required to be installed above the interior of the house so as to continue construction on a ceiling, then objects such as the pipelines, the supports and the like are lifted from the ground to the top surface, the objects are generally built up by using scaffolds, operators stand on the scaffolds, the operators cooperate to lift heavy objects, and when the objects are lifted and placed above the scaffolds, the objects are installed on the top of the house by the operators. However, in the installation process, the pipeline is longer, and weight is great, and it is difficult to aim at or stretch into hoisting support when transport and installation, leads to whole construction process slower, and efficiency is very low, mainly still wastes the manpower, and the construction at every turn all needs a plurality of workman's cooperation just can, builds the scaffold frame moreover and still needs the waste time, consequently, whole work efficiency is extremely low, and human labor intensity is big.
Disclosure of Invention
In order to overcome the technical defects of the existing construction pipeline conveying, the invention provides a pipeline conveying clamping device which can be flexibly adjusted from multiple degrees of freedom to realize the multi-degree-of-freedom adjustment of the precise alignment of a construction pipeline.
Meanwhile, the invention provides a multi-degree-of-freedom-adjustment pipeline conveying and clamping method realized by the multi-degree-of-freedom-adjustment pipeline conveying and clamping device.
The technical scheme adopted by the invention is as follows:
the utility model provides a pipeline transport clamping device of multi freedom adjustment, the on-line screen storage device comprises a base, it still includes circumferential direction subassembly, every single move angle adjustment subassembly, centre gripping subassembly and activity chuck, the circumferential direction subassembly sets up on the base, be provided with every single move angle adjustment subassembly on the circumferential direction subassembly, be provided with centre gripping subassembly on every single move angle adjustment subassembly, the activity chuck sets up the end at centre gripping subassembly, through the cooperation of opening degree of circumferential direction subassembly, every single move angle adjustment subassembly and centre gripping subassembly carry out a plurality of degrees of freedom adjustments to the centre gripping work piece of activity chuck.
Further inject, the circumferential direction subassembly is including rotating fluted disc, drive gear group and circumferential direction driving piece, the rotation fluted disc is connected with the base through the pivot, and the circumferential direction driving piece passes through drive gear group drive rotation fluted disc along circumferential direction on the base.
Further, the transmission gear set comprises at least 2 transmission gears, the transmission gears are symmetrically distributed on the outer side of the rotating fluted disc and are meshed with the rotating fluted disc, and the diameter of the rotating fluted disc is at least 5 times of that of the transmission gears.
Further defined, the pitch angle adjustment assembly includes a pitch plate, a pitch drive, and a pitch hinge mount; the pitching hinged supports are fixed on the rotating fluted disc, and the pitching plate is hinged with the two opposite pitching hinged supports through a rotating shaft and can rotate between the pitching hinged supports along the rotating shaft; one end of the pitching driving piece is hinged with the rotating fluted disc, the other end of the pitching driving piece is hinged with the pitching plate, and when the pitching driving piece works, the pitching plate is driven to rotate in a pitching mode along the pitching hinged support, and the pitching angle is adjusted.
Further inject, the centre gripping subassembly includes that the symmetry sets up centre gripping driving piece and the centre gripping bent arm in every single move board both sides, and the one end of centre gripping bent arm is articulated with the end of every single move board, and the one end of centre gripping driving piece is articulated with the every single move board, and the other end of centre gripping driving piece is articulated with the department of buckling of centre gripping bent arm, and the centre gripping driving piece during operation, two centre gripping bent arms that the drive symmetry set up open and shut, regulate and control the opening degree between the centre gripping bent arm.
Further limiting, the movable chuck is hinged with the tail end of the clamping bent arm, and one side of the movable chuck opposite to the workpiece is arc-shaped, so that two ends of the movable chuck are in point contact with the workpiece to be clamped, and form triangular stress distribution with a hinged point.
Further limit, still include the moving mechanism who is connected with the base, moving mechanism drives the base horizontal migration.
The multi-degree-of-freedom-adjustment pipeline carrying and clamping method is realized by using the multi-degree-of-freedom-adjustment pipeline carrying and clamping device, circumferential adjustment is carried out on a base by using a circumferential rotating assembly along circumferential rotation, a pitching angle adjustment assembly finishes pitching angle adjustment and a clamping assembly adjusts the clamping opening, multi-dimensional adjustment is carried out on a clamping workpiece of a movable chuck, and then three points with triangular clamping stress are dispersed by freely adjusting the movable chuck, so that the multi-degree-of-freedom adjustment of pipeline carrying and clamping is finished.
Further limiting, the specific step of completing the pitch angle adjustment by the pitch angle adjustment assembly is as follows: the pitching driving piece is used for linear telescopic motion to drive the pitching plate to perform pitching rotation along the pitching hinged support, and the adjusting range of the pitching angle is-60 degrees.
Compared with the prior art, the multi-degree-of-freedom-adjustment pipeline carrying and clamping device has the following advantages:
1) according to the multi-degree-of-freedom-adjustment pipeline carrying and clamping device, the clamping workpiece of the movable chuck is subjected to multiple degrees of freedom adjustment by utilizing the cooperation of the circumferential rotating assembly, the pitching angle adjusting assembly and the opening degree of the clamping assembly, the direction and the angle can be flexibly adjusted, and the requirement for accurate alignment of the clamping workpiece in the carrying and installing processes is met.
2) The movable chuck is arc-shaped on one side opposite to the workpiece, so that two ends of the movable chuck are in point contact with the workpiece, and form triangular stress distribution with a hinge point, so that multi-point contact is formed between the movable chuck and the workpiece, stress distribution points are increased, the problem of clamping stress concentration is effectively relieved, and the movable chuck can swing locally and flexibly to adapt to installation of the accurately aligned workpiece.
3) The invention is suitable for the installation and construction of pipelines with longer size, large diameter and heavy weight, in particular to the installation and alignment of the pipelines.
Drawings
FIG. 1 is a schematic structural view of a multi-degree-of-freedom adjustable pipe handling clamp of the present invention;
FIG. 2 is a front view of FIG. 1;
fig. 3 and 4 are diagrams of the pitch adjustment dynamics of fig. 1;
fig. 5 and 6 are dynamic graphs of the grip opening degree of fig. 1.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
The multi-degree-of-freedom-adjustment pipeline conveying and clamping device provided by the invention utilizes the cooperation of the opening degrees of the circumferential rotating assembly 2, the pitching angle adjusting assembly 3 and the clamping assembly 4 to carry out multiple degrees of freedom adjustment on a clamping workpiece of the movable chuck 5, so that the clamping workpiece is accurately aligned in the conveying and mounting process.
As shown in fig. 1 and 2, the multi-degree-of-freedom adjustable pipe conveying and clamping device of the present embodiment includes a base 1, a circumferential rotation assembly 2, a pitch angle adjusting assembly 3, a clamping assembly 4, and a movable chuck 5, wherein the circumferential rotation assembly 2 is disposed on the base 1, the circumferential rotation assembly 2 includes a rotation fluted disc 23, a transmission gear set 22, and a circumferential driving member 21, the rotation fluted disc 23 is connected to the base 1 through a rotation shaft and can rotate around the rotation shaft, the rotation fluted disc 23 is provided with external teeth on the outer periphery thereof, the external teeth are engaged with the transmission gear set 22, the transmission gear set 22 is formed by a plurality of small transmission gear sets 22, the plurality of transmission gears are symmetrically distributed on the outer side of the rotation fluted disc 23 and engaged with the rotation fluted disc 23, the plurality of transmission gears are respectively connected to the circumferential driving member 21 through a connecting member, and the circumferential driving member 21 synchronously drives, the rotating fluted disc 23 is driven to rotate circumferentially on the base 1 to adjust the direction, and in order to maximize the power, the diameter of the rotating fluted disc 23 is at least 5 times, preferably 5-10 times, the diameter of the transmission gear. The circumferential driving part 21 of the embodiment adopts a motor, and the motor is used for driving, so that the energy consumption is relatively saved, and the installation space is saved.
Further, a pitch angle adjusting assembly 3 is mounted on the circumferential rotating assembly 2, and the pitch angle adjusting assembly 3 comprises a pitch plate 32, a pitch driving member 31 and a pitch hinge seat 33; the number of the pitching hinged supports 33 is 2, the pitching hinged supports are symmetrically arranged and fixed in the middle of the rotating fluted disc 23, and two side ends of the pitching plate 32 are hinged with the pitching hinged supports 33 through a rotating shaft and can be turned over up and down between the two pitching hinged supports 33 along the rotating shaft; in order to facilitate the installation of other parts and the overall appearance of the equipment, the pitching plate 32 is an integral structure formed by connecting double-layer metal plates through ribs, an L-shaped support is fixed in the middle of the upper surface of the pitching plate 32 and is connected with one end of the pitching driving piece 31 through the L-shaped support, and the other end of the pitching driving piece 31 is hinged with the rotating fluted disc 23, as shown in fig. 3 and 4, when the pitching driving piece 31 works, the pitching plate 32 is driven to rotate in a pitching manner along a pitching hinged support 33, the pitching angle is adjusted, the adjustment range of the pitching angle is-60 degrees to 60 degrees, preferably positive or negative 30 degrees, the adjustment of positive angles swings in a clockwise direction, and negative angles swings in a counterclockwise direction, so that the adjustment of the pitching angle is completed.
Further, the pitch driving member 31 is a telescopic cylinder, and a piston thereof moves in a telescopic linear manner to drive the pitch plate 32 to rotate up and down along the pitch hinge base 33, thereby completing the pitch angle adjustment. The pitch drive 31 may be replaced by another linear stroke mechanism such as an electric push rod.
Further, a clamping component 4 is arranged on the pitching angle adjusting component 3, the clamping component 4 comprises a clamping driving component 41 and a clamping bent arm 42 which are symmetrically arranged at two sides of the pitching plate 32, the clamping bent arm 42 comprises a left clamping bent arm and a right clamping bent arm, the left clamping bent arm and the right clamping bent arm are mutually symmetrical to form a clamping resultant force bent arm, the left clamping bent arm and the right clamping bent arm are respectively formed by connecting an upper support arm and a lower support arm which mutually form an included angle of about 120 degrees, one end of the left clamping bent arm is hinged with the left end part of the pitching plate 32 through a pin shaft, one end of the right clamping bent arm is hinged with the right end part of the pitching plate 32 through a pin shaft, movable chucks 5 are respectively arranged at the other free ends of the left clamping bent arm and the right clamping bent arm, namely the connection part of the upper support arm and the lower support arm, of the two clamping bent arms 42 are respectively connected with the clamping driving component 41 correspondingly, and the other end of the left clamping driving, the other end of the right clamping driving member is hinged to the right end of the pitching plate 32, and further, the clamping driving member 41 can also be an air cylinder or an electric push rod, which is used for driving the two clamping bent arms 42 to swing left and right through linear motion, adjusting the opening and closing of the two clamping bent arms 42, and regulating the opening degree between the clamping bent arms 42, as shown in fig. 5 and 6.
Furthermore, the free ends of the two clamping bent arms 42 of the clamping component 4 are respectively hinged with a movable chuck 5, one side of the movable chuck 5 opposite to the clamping workpiece is an arc surface with a central angle of 60-120 degrees, so that two ends of the movable chuck 5 are in point contact with the clamping workpiece and form triangular stress distribution with the hinged point. The direction between the movable chuck 5 and the holding bent arm 42 can be freely adjusted according to the size of the held workpiece.
Further in order to conveniently carry and move, the base 1 is installed on the moving mechanism, and the carrying and clamping of the workpiece can be horizontally moved and the carrying operation on the ground can be realized on the moving equipment similar to a forklift, a flat car and the like for construction.
The multi-degree-of-freedom-adjustment pipeline carrying and clamping method realized by the multi-degree-of-freedom-adjustment pipeline carrying and clamping device mainly comprises the steps that a circumferential rotating component 2 rotates on a base 1 along the circumferential rotating motion circumference of 360 degrees to adjust the circumferential deflection angle, a pitching driving component 31 linearly extends and retracts to drive a pitching plate 32 to perform pitching rotation along a pitching hinged support 33 within the range of-60 degrees to 60 degrees, and the vertical rotating direction is adjusted; the clamping assembly 4 is utilized to drive the clamping bent arms 42 to swing left and right by advancing the straight line of the clamping driving piece 41, the opening degree between the clamping bent arms 42 is adjusted and controlled, the workpiece clamped by the movable chuck 5 is subjected to multi-dimensional adjustment, then the clamping stress is dispersed into three triangular points through the free adjustment of the movable chuck 5, the multi-degree-of-freedom and all-dimensional adjustment of pipeline carrying and clamping are completed, and the device is suitable for accurate alignment and installation of clamping workpieces such as pipelines with large diameter, heavy weight and long length in the carrying and installing process.
The connecting pieces, the transmission gears and the like mentioned in the above embodiments are all conventional components, and therefore, the invention is not described in detail, and the invention has the idea that the combination of the connecting pieces, the transmission gears and the like is used for realizing multi-degree-of-freedom adjustment so as to be suitable for precise alignment and installation of clamped workpieces such as pipelines with large diameters, heavy weights and long lengths in the process of carrying and installing.
Claims (9)
1. The utility model provides a pipeline transport clamping device of multi freedom adjustment, including base (1), a serial communication port, still include circumferential direction subassembly (2), every single move angle adjustment subassembly (3), centre gripping subassembly (4) and activity chuck (5), circumferential direction subassembly (2) set up on base (1), be provided with every single move angle adjustment subassembly (3) on circumferential direction subassembly (2), be provided with centre gripping subassembly (4) on every single move angle adjustment subassembly (3), activity chuck (5) set up the end at centre gripping subassembly (4), carry out a plurality of degrees of freedom adjustments to the centre gripping work piece of activity chuck (5) through circumferential direction subassembly (2), the cooperation of opening degree of every single move angle adjustment subassembly (3) and centre gripping subassembly (4).
2. The multi-degree-of-freedom adjustable pipe carrying clamping device as recited in claim 1, wherein the circumferential rotating assembly (2) comprises a rotating toothed disc (23), a transmission gear set (22) and a circumferential driving member (21), the rotating toothed disc (23) is connected with the base (1) through a rotating shaft, and the circumferential driving member (21) drives the rotating toothed disc (23) to rotate on the base (1) along the circumferential direction through the transmission gear set (22).
3. The multiple degree of freedom adjustable pipe handling clamp device according to claim 2, wherein the transmission gear set (22) comprises at least 2 transmission gears symmetrically distributed on the outer side of the rotating toothed disc (23) and meshed with the rotating toothed disc (23), and the diameter of the rotating toothed disc (23) is at least 5 times the diameter of the transmission gears.
4. The multiple degree of freedom adjusted pipe-handling clamp device according to claim 2, wherein the pitch angle adjustment assembly (3) comprises a pitch plate (32), a pitch drive (31), and a pitch hinge mount (33); the pitching hinged supports (33) are fixed on the rotating fluted disc (23), and the pitching plate (32) is hinged with the two opposite pitching hinged supports (33) through a rotating shaft and can rotate between the pitching hinged supports (33) along the rotating shaft; one end of the pitching driving piece (31) is hinged with the rotating fluted disc (23), the other end of the pitching driving piece is hinged with the pitching plate (32), and when the pitching driving piece (31) works, the pitching plate (32) is driven to perform pitching rotation along the pitching hinged support (33) to adjust the pitching angle.
5. The multi-degree-of-freedom-degree-adjustable pipe conveying clamping device according to claim 4, wherein the clamping assembly (4) comprises a clamping driving piece (41) and a clamping bent arm (42) which are symmetrically arranged on two sides of the pitching plate (32), one end of the clamping bent arm (42) is hinged to the tail end of the pitching plate (32), one end of the clamping driving piece (41) is hinged to the pitching plate (32), the other end of the clamping driving piece (41) is hinged to a bent part of the clamping bent arm (42), and when the clamping driving piece (41) works, the two symmetrically arranged clamping bent arms (42) are driven to open and close to regulate the opening degree between the clamping bent arms (42).
6. The multi-degree-of-freedom adjustable pipe conveying clamping device as recited in claim 5, wherein the movable clamping head (5) is hinged to the end of the clamping bent arm (42), and the side of the movable clamping head (5) opposite to the workpiece to be clamped is arc-shaped, so that two ends of the movable clamping head (5) are in point contact with the workpiece to be clamped and form a triangular stress distribution with the hinged point.
7. The multiple-degree-of-freedom-adjustment pipe conveying and clamping device as claimed in claim 5, further comprising a moving mechanism connected with the base (1), wherein the moving mechanism drives the base (1) to move horizontally.
8. A multi-degree-of-freedom-adjusted pipe conveying clamping method is characterized by being achieved by the multi-degree-of-freedom-adjusted pipe conveying clamping device in claim 1, circumferential rotation components (2) are used for circumferential adjustment on a base (1) along circumferential rotation motion, pitching angle adjustment is completed by a pitching angle adjusting component (3), clamping opening degree of a clamping component (4) is adjusted, multi-dimensional adjustment is conducted on a clamping workpiece of a movable clamping head (5), and then three points with triangular clamping stress are dispersed through free adjustment of the movable clamping head (5), so that multi-degree-of-freedom adjustment of pipe conveying clamping is completed.
9. The multiple-degree-of-freedom-adjusted pipe conveying and clamping method according to claim 8, wherein the pitch angle adjustment performed by the pitch angle adjustment assembly (3) is specifically: the pitching driving piece (31) is used for linear telescopic motion to drive the pitching plate (32) to perform pitching rotation along the pitching hinged support (33), and the adjustment range of the pitching angle is-60 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911338860.5A CN110962154A (en) | 2019-12-23 | 2019-12-23 | Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911338860.5A CN110962154A (en) | 2019-12-23 | 2019-12-23 | Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method |
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| CN110962154A true CN110962154A (en) | 2020-04-07 |
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| CN201911338860.5A Pending CN110962154A (en) | 2019-12-23 | 2019-12-23 | Multi-degree-of-freedom-adjustment pipeline carrying and clamping device and method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276146A (en) * | 2021-06-17 | 2021-08-20 | 瑞安市中凯自动化科技有限公司 | Flexible manipulator for electro-hydraulic hammer |
| CN113650047A (en) * | 2021-09-09 | 2021-11-16 | 昆山孚思格机电科技有限公司 | Clamping jaw for clamping hot coil spring |
| CN114439738A (en) * | 2021-12-22 | 2022-05-06 | 安徽创伟液压智能制造有限公司 | Operation panel that hydraulic pump detected |
| CN120237076A (en) * | 2025-05-29 | 2025-07-01 | 成都思越智能装备股份有限公司 | Wafer handling end effector posture adjustment mechanism, handling system and handling method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113276146A (en) * | 2021-06-17 | 2021-08-20 | 瑞安市中凯自动化科技有限公司 | Flexible manipulator for electro-hydraulic hammer |
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| CN120237076A (en) * | 2025-05-29 | 2025-07-01 | 成都思越智能装备股份有限公司 | Wafer handling end effector posture adjustment mechanism, handling system and handling method |
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Application publication date: 20200407 |