CN111069957B - Material clamping robot for three-way pipe joint - Google Patents
Material clamping robot for three-way pipe joint Download PDFInfo
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- CN111069957B CN111069957B CN201911335775.3A CN201911335775A CN111069957B CN 111069957 B CN111069957 B CN 111069957B CN 201911335775 A CN201911335775 A CN 201911335775A CN 111069957 B CN111069957 B CN 111069957B
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- driving
- hole
- pipe joint
- fixed
- way pipe
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- 239000000463 material Substances 0.000 title claims abstract description 21
- 210000000078 claw Anatomy 0.000 claims abstract description 8
- 230000000149 penetrating effect Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a material clamping robot of a three-way pipe joint, which comprises a robot body and a material clamping mechanism, wherein the material clamping mechanism comprises a base, a driving hole and two rectangular holes are formed in the base, a driving nut is hinged in the driving hole, the driving nut is screwed in the middle of a screw rod, a guide push-pull rod is fixed at the lower end of the screw rod, the guide push-pull rod is inserted and sleeved in a guide through hole of an end cover, and the end cover is fixed on the driving hole; the lower end of the guide push-pull rod is hinged with the lower ends of the two first driving arms, the upper end of each first driving arm is hinged with the lower end of the corresponding second driving arm, and the second driving arms are inserted and sleeved in the rectangular holes; the lower end of the second driving arm is fixed with a pulling claw. The three-way pipe joint clamping device can automatically clamp the three-way pipe joint through the matching of the robot and the material clamping mechanism and convey the three-way pipe joint to corresponding equipment such as a lathe for processing, so that the processing efficiency of the three-way pipe joint can be effectively improved, and the labor intensity of workers is reduced.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a material clamping robot for a three-way pipe joint.
Background
As is known to all, when a water pipe for conveying tap water in a city needs to be divided or combined, the water pipe generally needs to be connected with other water pipes through a three-way pipe joint or other types of pipe joints, and because the urban water consumption is large, the pipe diameter of the conveyed water pipe is also large, and the volume and the mass of the three-way pipe joint matched with the water pipe are also large. When the connector needs to be machined in a factory, the connector needs to be manually placed on equipment such as a lathe for machining, and due to the fact that the connector is large in mass, efficiency of manual loading and unloading is low, and labor intensity is high.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a clamping robot for a three-way pipe joint, which can automatically clamp the three-way pipe joint and convey the three-way pipe joint to a corresponding lathe and other equipment for processing through the matching of the robot and a clamping mechanism, so that the processing efficiency of the three-way pipe joint can be effectively improved, and the labor intensity of workers is reduced.
The scheme for solving the technical problems is as follows:
a material clamping robot for a three-way pipe joint comprises a robot body and a material clamping mechanism for clamping the three-way pipe joint, wherein the material clamping mechanism comprises a base connected with the robot body, a driving hole with an opening at the lower side and two rectangular holes are formed in the base, and the two rectangular holes are bilaterally symmetrical about the central axis of the driving hole and are arranged in a V shape; a driving nut is hinged in the driving hole and provided with a driving mechanism for driving the driving nut to rotate forwards or backwards; the driving nut is in threaded connection with the middle of the screw rod, a guide push-pull rod is fixed at the lower end of the screw rod, the guide push-pull rod is inserted and sleeved in a guide through hole of the end cover, and the end cover is fixed on the end face of the lower side orifice of the driving hole; the lower end of the guide push-pull rod is hinged with the lower ends of the two first driving arms, the upper end of each first driving arm is hinged with the lower end of the corresponding second driving arm, and the second driving arms are inserted and sleeved in the rectangular holes; and a pull claw arranged in an L shape is fixed on the outer wall of the lower end of the second driving arm.
A worm gear groove penetrating through the driving hole is formed on the base;
the driving mechanism comprises a worm wheel fixed on the outer wall of the driving nut, the worm wheel is inserted in a worm wheel groove in a sleeved mode, the outer side portion, extending out of the base, of the worm wheel is meshed with a worm, two ends of the worm are hinged to hinged seats, the hinged seats are fixed on the base, a motor is fixed on one of the hinged seats, and a motor shaft of the motor is hinged to one end of the worm.
Step cylinders which are arranged in small size in sequence from top to bottom are formed on the outer wall of the driving nut; two ends of the step cylinder are respectively fixed with a bearing, and the inner ring of the bearing is fixed in the driving hole.
The driving hole is in a step hole shape, the outer ring of the bearing at the upper side is pressed against the step surface of the driving hole, and a disc spring is clamped between the outer ring of the bearing at the lower side and the end cover.
And a threaded hole is formed in the inner wall of the lower end of the driving hole, and the end cover is screwed on the threaded hole.
The upper end part of the second driving arm is in a rectangular shape, and a plurality of rows of hemispherical bulges are fixed on the outer walls of the four sides of the second driving arm; the hemispherical protrusions press against the inner wall of the rectangular hole.
The invention has the following outstanding effects: compared with the prior art, the three-way pipe joint can be automatically clamped and conveyed to corresponding equipment such as a lathe and the like for processing through the matching of the robot and the material clamping mechanism, the processing efficiency of the three-way pipe joint can be effectively improved, and the labor intensity of workers is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a cross-sectional view of FIG. 2 taken about B-B;
fig. 4 is a cross-sectional view of fig. 2 taken about C-C.
Detailed Description
In an embodiment, as shown in fig. 1 to 4, a material clamping robot for a three-way pipe joint comprises a robot body 1 and a material clamping mechanism 2 for clamping a three-way pipe joint 9, wherein the material clamping mechanism 2 comprises a base 21 connected with the robot body 1, the base 21 is formed with a driving hole 211 with an opening at the lower side and two rectangular holes 212, and the two rectangular holes 212 are bilaterally symmetrical about the central axis of the driving hole 211 and are arranged in a V shape; a driving nut 22 is hinged in the driving hole 211, and the driving nut 22 is provided with a driving mechanism 3 for driving the driving nut to rotate forwards or backwards; the driving nut 22 is screwed in the middle of the screw rod 23, the lower end of the screw rod 23 is fixed with a guide push-pull rod 24, the guide push-pull rod 24 is inserted in a guide through hole 251 of the end cover 25, and the end cover 25 is fixed on the end face of the lower side hole opening of the driving hole 211; the lower end of the guide push-pull rod 24 is hinged with the lower ends of two first driving arms 26, the upper end of each first driving arm 26 is hinged with the lower end of a corresponding second driving arm 27, and the second driving arms 27 are inserted in the rectangular holes 212; a pull claw 28 arranged in an L shape is fixed on the outer wall of the lower end of the second driving arm 27.
More specifically, a worm groove 213 is formed on the base 21 and penetrates through the driving hole 211;
the driving mechanism 3 comprises a worm wheel 31 fixed on the outer wall of the driving nut 22, the worm wheel 31 is inserted in a worm wheel groove 213, the worm wheel 31 extends out of the outer part of the base 21 and is engaged with a worm 32, two ends of the worm 32 are hinged on hinge seats 33, the hinge seats 33 are fixed on the base 21, a motor 34 is fixed on one hinge seat 33, and a motor shaft of the motor 34 is hinged with one end of the worm 32.
Furthermore, the outer wall of the driving nut 22 is formed with stepped cylinders which are sequentially arranged from top to bottom in a small size; two ends of the stepped cylinder 22 are respectively fixed with a bearing 41, and the inner ring of the bearing 41 is fixed in the driving hole 211.
More specifically, the driving hole 211 is a stepped hole, the outer ring of the upper bearing 41 is pressed against the stepped surface of the driving hole 211, and the disc spring 42 is sandwiched between the outer ring of the lower bearing 41 and the end cover 25.
Further, a screw hole 214 is formed on the inner wall of the lower end of the driving hole 211, and the end cap 25 is screwed to the screw hole 214.
Furthermore, the upper end portion of the second driving arm 27 is rectangular, and a plurality of rows of hemispherical protrusions 43 are fixed on the outer walls of four sides of the second driving arm 27; the hemispherical protrusion 43 presses against the inner wall of the rectangular hole 212.
The working principle is as follows: conveying the three-way pipe joints to be processed to the lower part of the material clamping mechanism in sequence one by one through a previous process; the robot body 1 can drive the feeding mechanism to translate, rotate or rotate; when the three-way pipe joint needs to be clamped, the robot body 1 drives the two pulling claws 28 of the clamping mechanism 2 to extend into the three-way pipe joint 9, then the motor 34 starts to drive the worm 32 to rotate, the worm drives the worm wheel 31 to rotate, the worm wheel 31 drives the driving nut 22 to rotate, the driving nut 22 drives the screw rod 23 to move upwards, the screw rod 23 drives the guide push-pull rod 24 to move upwards, the guide push-pull rod 24 drives the two second driving arms to slide along the rectangular hole 212 through the two first driving arms 26, the two second driving arms move upwards and outwards so as to drive the two pulling claws 28 to move away from each other, the transverse plate at the lower end of the pulling claw 28 moves outwards and extends into the other holes of the three-way pipe joint, then the robot body 1 drives the clamping mechanism 2 to carry out a series of translation, rotation and rotation to convey the three-way pipe joint to a corresponding lathe and other equipment for processing, the motor rotates, thereby the pulling claw 28 is separated from the tee pipe joint, and the feeding and the blanking of the tee pipe joint are realized efficiently.
Finally, the above embodiments are only for illustrating the present invention and not for limiting the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, so that all equivalent technical solutions also belong to the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (5)
1. The utility model provides a three way pipe joint's double-layered material robot, includes robot body (1) and presss from both sides material mechanism (2) that are used for pressing from both sides to get three way pipe joint (9), its characterized in that: the clamping mechanism (2) comprises a base (21) connected with the robot body (1), the base (21) is provided with a driving hole (211) with an opening at the lower side and two rectangular holes (212), and the two rectangular holes (212) are arranged in a V shape and are bilaterally symmetrical around the central axis of the driving hole (211); a driving nut (22) is hinged in the driving hole (211), and the driving nut (22) is provided with a driving mechanism (3) for driving the driving nut to rotate forwards or backwards; the driving nut (22) is in threaded connection with the middle of the screw rod (23), a guide push-pull rod (24) is fixed at the lower end of the screw rod (23), the guide push-pull rod (24) is inserted and sleeved in a guide through hole (251) of the end cover (25), and the end cover (25) is fixed on the end face of the lower side orifice of the driving hole (211); the lower end of the guide push-pull rod (24) is hinged with the lower ends of two first driving arms (26), the upper end of each first driving arm (26) is hinged with the lower end of a corresponding second driving arm (27), and the second driving arms (27) are inserted in the rectangular holes (212); a pull claw (28) which is arranged in an L shape is fixed on the outer wall of the lower end of the second driving arm (27);
the upper end part of the second driving arm (27) is in a rectangular shape, and a plurality of rows of hemispherical bulges (43) are fixed on the outer walls of the four sides of the second driving arm (27); the hemispherical protrusion (43) presses against the inner wall of the rectangular hole (212).
2. The material clamping robot of the tee joint pipe joint as claimed in claim 1, wherein: a worm gear groove (213) penetrating through the driving hole (211) is formed on the base (21);
the driving mechanism (3) comprises a worm wheel (31) fixed on the outer wall of a driving nut (22), the worm wheel (31) is inserted in a worm wheel groove (213), the outer side part of the worm wheel (31) extending out of the base (21) is meshed with a worm (32), two ends of the worm (32) are hinged to a hinged seat (33), the hinged seat (33) is fixed on the base (21), a motor (34) is fixed on one hinged seat (33), and a motor shaft of the motor (34) is hinged to one end of the worm (32).
3. The material clamping robot of the tee joint pipe joint as claimed in claim 1, wherein: step cylinders which are arranged in small size in sequence from top to bottom are formed on the outer wall of the driving nut (22); two ends of the step column body are respectively fixed with a bearing (41), and the inner ring of the bearing (41) is fixed in the driving hole (211).
4. The material clamping robot of the three-way pipe joint as claimed in claim 3, wherein: the driving hole (211) is in a step hole shape, the outer ring of the bearing (41) on the upper side is pressed against the step surface of the driving hole (211), and a disc spring (42) is clamped between the outer ring of the bearing (41) on the lower side and the end cover (25).
5. The material clamping robot of the three-way pipe joint as claimed in claim 1 or 4, wherein: and a threaded hole (214) is formed in the inner wall of the lower end of the driving hole (211), and the end cover (25) is screwed on the threaded hole (214).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911335775.3A CN111069957B (en) | 2019-12-23 | 2019-12-23 | Material clamping robot for three-way pipe joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911335775.3A CN111069957B (en) | 2019-12-23 | 2019-12-23 | Material clamping robot for three-way pipe joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111069957A CN111069957A (en) | 2020-04-28 |
| CN111069957B true CN111069957B (en) | 2021-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911335775.3A Expired - Fee Related CN111069957B (en) | 2019-12-23 | 2019-12-23 | Material clamping robot for three-way pipe joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111069957B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU603558A1 (en) * | 1974-10-21 | 1978-03-27 | Специальное Конструкторское Бюро Прецизионных Станков | Transfer device to automatic machine tool |
| CN201253848Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN204382277U (en) * | 2014-12-10 | 2015-06-10 | 惠州市杰普特电子技术有限公司 | Manipulator |
| CN205704241U (en) * | 2016-04-07 | 2016-11-23 | 山东胜利石油装备产业技术研究院 | A kind of tubing string catching robot |
| CN206216714U (en) * | 2016-12-06 | 2017-06-06 | 山东科技大学 | A kind of small-sized inner bearing type Pneumatic manipulator |
| CN206703053U (en) * | 2016-12-22 | 2017-12-05 | 济南大学 | A kind of joint of robot system |
| CN207087870U (en) * | 2017-10-20 | 2018-03-13 | 深圳市代田机电技术有限公司 | Six-joint robot joint arrangement |
| CN108792043A (en) * | 2018-05-02 | 2018-11-13 | 阜阳盛东智能制造技术研发有限公司 | A kind of manipulator for upper strap automatically |
| CN109093639A (en) * | 2018-09-20 | 2018-12-28 | 许昌中锋智能装备有限公司 | A kind of gripper of industrial robot for cylinder production |
| CN209648754U (en) * | 2019-03-13 | 2019-11-19 | 张诤宇 | A kind of mechanical arm clamp structure |
-
2019
- 2019-12-23 CN CN201911335775.3A patent/CN111069957B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU603558A1 (en) * | 1974-10-21 | 1978-03-27 | Специальное Конструкторское Бюро Прецизионных Станков | Transfer device to automatic machine tool |
| CN201253848Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
| CN204382277U (en) * | 2014-12-10 | 2015-06-10 | 惠州市杰普特电子技术有限公司 | Manipulator |
| CN205704241U (en) * | 2016-04-07 | 2016-11-23 | 山东胜利石油装备产业技术研究院 | A kind of tubing string catching robot |
| CN206216714U (en) * | 2016-12-06 | 2017-06-06 | 山东科技大学 | A kind of small-sized inner bearing type Pneumatic manipulator |
| CN206703053U (en) * | 2016-12-22 | 2017-12-05 | 济南大学 | A kind of joint of robot system |
| CN207087870U (en) * | 2017-10-20 | 2018-03-13 | 深圳市代田机电技术有限公司 | Six-joint robot joint arrangement |
| CN108792043A (en) * | 2018-05-02 | 2018-11-13 | 阜阳盛东智能制造技术研发有限公司 | A kind of manipulator for upper strap automatically |
| CN109093639A (en) * | 2018-09-20 | 2018-12-28 | 许昌中锋智能装备有限公司 | A kind of gripper of industrial robot for cylinder production |
| CN209648754U (en) * | 2019-03-13 | 2019-11-19 | 张诤宇 | A kind of mechanical arm clamp structure |
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| Publication number | Publication date |
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| CN111069957A (en) | 2020-04-28 |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20210301 Address after: 518000 area B, 4th floor, building C1, Jiangshi community, Gongming street, Guangming New District, Shenzhen City, Guangdong Province Applicant after: Shenzhen mingzhan Precision Technology Co.,Ltd. Address before: 1306, Huakai vitality center, Hongfu community, Nancheng street, Dongguan City, Guangdong Province Applicant before: Dongguan Lanqi Information Technology Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210319 |
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| CF01 | Termination of patent right due to non-payment of annual fee |