CN111390954B - Auxiliary device for rotatable pipe carrying manipulator - Google Patents
Auxiliary device for rotatable pipe carrying manipulator Download PDFInfo
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- CN111390954B CN111390954B CN202010213132.8A CN202010213132A CN111390954B CN 111390954 B CN111390954 B CN 111390954B CN 202010213132 A CN202010213132 A CN 202010213132A CN 111390954 B CN111390954 B CN 111390954B
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- movably connected
- shaft
- outer side
- rod
- input shaft
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of building equipment and discloses a rotatable auxiliary device for a pipe carrying manipulator, which comprises a shell, wherein the interior of the shell is movably connected with a first input shaft, the outer side of the first input shaft is movably connected with a swinging rod, the outer side of the first input shaft is movably connected with a fixed frame, one end of the moving rod, which is far away from a square sliding block, is movably connected with a short rod, the outer side of the fixed pin is movably connected with a planetary gear, and the outer side of the planetary gear is movably connected with a gear ring. This rotatable auxiliary device for tubular product transport manipulator is connected with first input shaft through the shell, has solved the structure complicacy, the problem of operation difficulty, save time, increase efficiency, degree of automation has very big improvement, through the first fixed axle of the outside fixedly connected with of shell, first fixed axle is connected with first connecting axle, great reduction the intensity of artifical work, and factor of safety is high, is fit for small-size machinery, has solved the not high problem of practicality simultaneously.
Description
Technical Field
The invention relates to the technical field of building equipment, in particular to an auxiliary device for a rotatable pipe carrying manipulator.
Background
Along with the development of economy in China, the building industry in China also realizes rapid development, related building equipment also realizes high-degree automation, and a manipulator appears after the industrial revolution, is an automatic operation device which is used for grabbing and carrying objects or operating tools based on imitating a human arm, and can finish heavy work or replace human work in a harmful environment.
The machinery is widely applied to departments such as machine manufacturing, metallurgy, electronics, light industry and atomic energy, the mechanical arm is various and is generally hung at one end of a rope, the position of the mechanical arm is changed through the movement of the rope, but the mechanical arm is only suitable for machinery such as a large crane, the structure is complex, the operation is difficult, the small machinery is difficult to complete rotatable clamping operation, and the practicability is not high.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides the auxiliary device for the rotatable pipe carrying manipulator, which has the advantages of simple structure, convenience in operation, suitability for small machinery and high practicability, and solves the problems of complex structure, difficulty in operation, unsuitability for small machinery and low practicability.
(II) technical scheme
In order to realize the purposes of simple structure, convenient operation, suitability for small machinery and high practicability, the invention provides the following technical scheme: an auxiliary device for a rotatable pipe carrying manipulator comprises a shell, wherein a first input shaft is movably connected inside the shell, a swinging rod is movably connected to the outer side of the first input shaft, an arc-shaped sliding block is movably connected to one side, away from the first input shaft, of the swinging rod, an arc-shaped slide way is movably connected to the outer side of the arc-shaped sliding block, a connecting rod is fixedly connected to the outer side of the arc-shaped slide way, a square sliding block is movably connected to one end of the connecting rod, a linear slide way is movably connected to the outer side of the square sliding block, a moving rod is movably connected to one end of the square sliding block, a fixed frame is movably connected to the outer side of the moving rod, a short rod is movably connected to one end, away from the moving rod, of the short rod is movably connected to a mechanical rod, a, a fixed rod is movably connected at one end of the rotating rod far away from the mechanical rod, a first fixed shaft is fixedly connected at the outer side of the shell, a first connecting shaft is movably connected at one end of the first fixed shaft, a shaft sleeve is movably connected at one end of the first connecting shaft far away from the first fixed shaft, a second input shaft is movably connected at the inner side of the shaft sleeve, a sleeve gear is movably connected at the inner side of the second input shaft, a second fixed shaft is fixedly connected at the outer side of the shell, a second connecting shaft is movably connected at one end of the second fixed shaft, a cross shaft is movably connected at the outer side of the second connecting shaft, a fixed pin is movably connected at the inner side of the cross shaft, a swinging shaft is movably connected at one end of the fixed pin, a third input shaft is movably connected at one end of the swinging shaft far away from the fixed pin, the outer side of the planet gear is movably connected with a gear ring, and the outer side of the shell is fixedly connected with a rack.
Preferably, the motion pole, quarter butt, mechanical lever, transport piece, dwang, dead lever all are provided with two, about the axis symmetric distribution of motion pole.
Preferably, the first fixing shaft, the first connecting shaft and the shaft sleeve are arranged in two numbers and are symmetrically distributed about the central line of the shell.
Preferably, the sleeving gear is movably connected with the rack.
Preferably, the second fixed shaft and the second connecting shaft are arranged in two numbers and are symmetrically distributed about the center line of the shell.
Preferably, the fixed pin, the swing shaft, the third input shaft and the input gear are all provided with two, and the two input gears are movably connected with the auxiliary gear.
Preferably, the number of the planet gears and the number of the gear rings are two, and the planet gears and the gear rings are symmetrically distributed around the center line of the circle centers of the two gear rings.
Preferably, the first input shaft, the second input shaft and the third input shaft are movably connected with motors.
(III) advantageous effects
Compared with the prior art, the invention provides an auxiliary device for a rotatable pipe carrying manipulator, which has the following beneficial effects:
1. the auxiliary device for the rotatable pipe carrying manipulator is connected with a first input shaft through a shell, the first input shaft is connected with a swinging rod, one side of the swinging rod, which is far away from the first input shaft, is connected with an arc-shaped sliding block, the arc-shaped sliding block is connected with an arc-shaped slideway, the outer side of the arc-shaped slideway is fixedly connected with a connecting rod, the connecting rod is connected with a square sliding block, the square sliding block is connected with a linear slideway, the square sliding block is connected with a moving rod, the moving rod is connected with a fixed frame, the moving rod, which is far away from the square sliding block, is connected with a short rod, the short rod, which is far away from the moving rod, is connected with a mechanical rod, one end of the mechanical rod is fixedly connected with a carrying block, the mechanical rod, which is far away, the automatic lifting device is only suitable for machines such as large cranes and the like, has the problems of complex structure and difficult operation, saves time, increases efficiency and greatly improves the automation degree.
2. The auxiliary device for the rotatable pipe carrying manipulator is characterized in that a first fixing shaft is fixedly connected to the outer side of a shell, the first fixing shaft is connected with a first connecting shaft, the first connecting shaft is far away from the first fixing shaft and is connected with a shaft sleeve, the inner side of the shaft sleeve is connected with a second input shaft, the second input shaft is connected with a sleeving gear, the sleeving gear is connected with a rack, the second fixing shaft is fixedly connected to the outer side of the shell, the second connecting shaft is connected with a second connecting shaft, the second connecting shaft is connected with a cross shaft, the cross shaft is connected with a fixing pin, the fixing pin is connected with a swinging shaft, the swinging shaft is far away from the fixing pin and is connected with a third input shaft, the third input shaft is connected with an input gear, the input gear is connected with an auxiliary gear, the fixing pin is connected, the manpower demand has been reduced, great reduction the intensity of hand labor, and factor of safety is high, is fit for small-size machinery, and the practicality has had the promotion of very big obvious degree to small-size machinery, has solved small-size machinery and has been difficult to accomplish the rotatable clamp of clamp and get the problem of operation, has solved the not high problem of practicality simultaneously.
Drawings
FIG. 1 is a schematic cross-sectional front view of the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is a schematic front view of the present invention;
FIG. 4 is a schematic view of a planetary gear configuration of the present invention;
FIG. 5 is a cross-axis schematic view of the present invention;
FIG. 6 is a schematic view of the input gear of the present invention;
fig. 7 is a schematic view of the structure of the swing shaft of the present invention.
In the figure: 1. a housing; 2. a first input shaft; 3. a swing lever; 4. an arc-shaped sliding block; 5. an arc-shaped slideway; 6. a connecting rod; 7. a square slider; 8. a linear slideway; 9. a motion bar; 10. a fixed mount; 11. a short bar; 12. a mechanical lever; 13. a carrying block; 14. rotating the rod; 15. fixing the rod; 16. a first fixed shaft; 17. a first connecting shaft; 18. a shaft sleeve; 19. a second input shaft; 20. sleeving a gear; 21. a second fixed shaft; 22. a second connecting shaft; 23. a horizontal axis; 24. a fixing pin; 25. a swing shaft; 26. a third input shaft; 27. an input gear; 28. an auxiliary gear; 29. a planetary gear; 30. a ring gear; 31. a rack.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-7, an auxiliary device for a rotatable pipe handling robot comprises a housing 1, a first input shaft 2 is movably connected inside the housing 1, the first input shaft 2 is connected with a motor to drive power output, a swing rod 3 is movably connected to the outer side of the first input shaft 2 to drive a connecting rod 6 to move, an arc-shaped slider 4 is movably connected to one side of the swing rod 3 away from the first input shaft 2, an arc-shaped slideway 5 is movably connected to the outer side of the arc-shaped slider 4, the connecting rod 6 is fixedly connected to the outer side of the arc-shaped slideway 5, a square slider 7 is movably connected to one end of the connecting rod 6, a linear slideway 8 is movably connected to the outer side of the square slider 7, a moving rod 9 is movably connected to one end of the square slider 7, a fixed frame 10 is movably connected to the outer side of the moving rod 9, a short rod, one end swing joint that motion pole 9 was kept away from to quarter butt 11 has mechanical pole 12, the one end fixedly connected with transport piece 13 of mechanical pole 12, the one end swing joint that transport piece 13 was kept away from to mechanical pole 12 has dwang 14, the one end swing joint that mechanical pole 12 was kept away from to dwang 14 has dead lever 15, motion pole 9, quarter butt 11, mechanical pole 12, transport piece 13, dwang 14, dead lever 15 all are provided with two, about the axis symmetric distribution of motion pole 9, can press from both sides and get tubular product, accomplish the tubular product transport.
A first fixed shaft 16 is fixedly connected to the outer side of the shell 1, a first connecting shaft 17 is movably connected to one end of the first fixed shaft 16, a shaft sleeve 18 is movably connected to one end of the first connecting shaft 17, which is far away from the first fixed shaft 16, the first connecting shaft 17 and the shaft sleeve 18 are respectively provided with two parts which are symmetrically distributed about the central line of the shell 1, a second input shaft 19 is movably connected to the inner side of the shaft sleeve 18, the second input shaft 19 is movably connected with a motor, a sleeving gear 20 is movably connected to the inner part of the second input shaft 19, the sleeving gear 20 is movably connected with a rack 31, a second fixed shaft 21 is fixedly connected to the outer side of the shell 1, a second connecting shaft 22 is movably connected to one end of the second fixed shaft 21, two parts are respectively provided on the second fixed shaft 21 and the second connecting shaft 22 and are symmetrically distributed about the central, the inner part of the transverse shaft 23 is movably connected with a fixed pin 24, one end of the fixed pin 24 is movably connected with a swing shaft 25, one end of the swing shaft 25, which is far away from the fixed pin 24, is movably connected with a third input shaft 26, the third input shaft 26 is movably connected with a motor, the outer side of the third input shaft 26 is movably connected with an input gear 27, the outer side of the input gear 27 is movably connected with an auxiliary gear 28, the fixed pin 24, the swing shaft 25, the third input shaft 26 and the input gear 27 are respectively provided with two, the two input gears 27 are respectively movably connected with the auxiliary gear 28, the outer side of the fixed pin 24 is movably connected with a planetary gear 29, the outer side of the planetary gear 29 is movably connected with a gear ring 30, the planetary gear 29 and the gear ring 30 are respectively provided with two, the central lines of the two gear rings 30.
The working principle is that the shell 1 is connected with a first input shaft 2, the first input shaft 2 is connected with a motor, the motor is started to rotate forwards, the first input shaft 2 rotates clockwise, the first input shaft 2 is connected with a swinging rod 3, the swinging rod 3 swings clockwise by the first input shaft 2, one side of the swinging rod 3 away from the first input shaft 2 is connected with an arc-shaped sliding block 4, the arc-shaped sliding block 4 is connected with an arc-shaped slideway 5, the arc-shaped sliding block 4 reciprocates up and down in the arc-shaped slideway 5 by the swinging rod 3, the outer side of the arc-shaped slideway 5 is fixedly connected with a connecting rod 6, the connecting rod 6 reciprocates left and right by the arc-shaped sliding block 4, the connecting rod 6 is connected with a square sliding block 7, the square sliding block 7 is connected with a linear slideway 8, the square sliding block 7 reciprocates left and right in the linear slideway 8 by, the fixed frame 10 is kept still, the square slider 7 enables the motion rod 9 to reciprocate left and right on a horizontal shaft, the motion rod 9 is far away from the square slider 7 and is connected with the short rod 11, the short rod 11 is far away from the motion rod 9 and is connected with the mechanical rod 12, the motion rod 9 reciprocates and enables the short rod 11 to swing, the short rod 11 swings and enables the mechanical rod 12 to swing, one end of the mechanical rod 12 is fixedly connected with the carrying block 13, the mechanical rod 12 enables the carrying block 13 to open and close in a reciprocating mode, the mechanical rod 12 is far away from the carrying block 13 and is connected with the rotating rod 14, the short rod 11 rotates and enables the rotating rod 14 to rotate, the rotating rod 14 and the carrying block 13 keep the same rotating amplitude, the rotating rod 14 is far away from the mechanical rod 12 and is connected with the fixed rod 15, the opening and closing of the carrying block 13 are stabilized, the motion rod 9, the short.
The second input shaft 19 is connected with a motor, the motor is started to rotate forwards, the second input shaft 19 rotates clockwise in the Y-axis direction, the second input shaft 19 is connected with a sleeving gear 20, the second input shaft 19 enables the sleeving gear 20 to rotate clockwise in the Y-axis direction, the sleeving gear 20 is connected with a rack 31, the inner side of the shaft sleeve 18 is connected with the second input shaft 19, the second input shaft 19 is meshed with the rack 31 to drive the shaft sleeve 18 to rotate clockwise in the X-axis direction, the outer side of the shell 1 is fixedly connected with a first fixed shaft 16, the first fixed shaft 16 is connected with a first connecting shaft 17, the first connecting shaft 17 is far away from the first fixed shaft 16 and is connected with the shaft sleeve 18, the first fixed shaft 16, the first connecting shaft 17 and the shaft sleeve 18 are symmetrically distributed about the central line of the shell 1, the shaft sleeve 18 drives the first fixed shaft 16 to rotate clockwise in the X-axis direction to enable the, when the manipulator moves to the right, the motor can be turned off to stop moving.
The third input shaft 26 is connected with a motor, the motor is started to rotate forwards, the third input shaft 26 rotates clockwise, the third input shaft 26 is connected with an input gear 27, the third input shaft 26 drives the input gear 27 to rotate clockwise, the input gear 27 is connected with an auxiliary gear 28, the input gear 27 drives the auxiliary gear 28 to rotate clockwise, the swinging shaft 25 is connected with the third input shaft 26 far away from the fixed pin 24, the third input shaft 26 drives the swinging shaft 25 to rotate clockwise, the fixed pin 24 is connected with the swinging shaft 25, the swinging shaft 25 enables the fixed pin 24 to swing clockwise, the fixed pin 24 is connected with a planetary gear 29, the planetary gear 29 is connected with a gear ring 30, the fixed pin 24 enables the planetary gear 29 to be meshed clockwise in the gear ring 30, the transverse shaft 23 is connected with the fixed pin 24, the fixed pin 24 enables the transverse shaft 23 to move upwards, the second connecting shaft 22 is connected with the, the second fixing shaft 21 is connected with a second connecting shaft 22, the second connecting shaft 22 drives the second fixing shaft 21 to move upwards, and the second fixing shaft 21 is fixedly connected to the outer side of the shell 1, so that the manipulator moves upwards to a proper position, can stop moving, continues moving and can move downwards.
In summary, the auxiliary device for the rotatable pipe conveying manipulator is characterized in that a first input shaft 2 is connected through a shell 1, a swing rod 3 is connected to the first input shaft 2, an arc-shaped sliding block 4 is connected to one side of the swing rod 3 away from the first input shaft 2, the arc-shaped sliding block 4 is connected with an arc-shaped slideway 5, a connecting rod 6 is fixedly connected to the outer side of the arc-shaped slideway 5, the connecting rod 6 is connected with a square sliding block 7, the square sliding block 7 is connected with a linear slideway 8, the square sliding block 7 is connected with a moving rod 9, the moving rod 9 is connected with a fixing frame 10, the moving rod 9 away from the square sliding block 7 is connected with a short rod 11, the short rod 11 away from the moving rod 9 is connected with a mechanical rod 12, one end of the mechanical rod 12 is fixedly connected with a conveying block 13, the mechanical, the manipulator lifting mechanism has the advantages of being convenient to operate, solving the problems that the manipulator is lifted at one end of the rope, the position of the manipulator is changed by the movement of the rope, the manipulator lifting mechanism is only suitable for machines such as large cranes, the structure is complex, the operation is difficult, the time is saved, the efficiency is increased, and the automation degree is greatly improved.
The auxiliary device for the rotatable pipe conveying manipulator is characterized in that a first fixed shaft 16 is fixedly connected to the outer side of a shell 1, a first connecting shaft 17 is connected to the first fixed shaft 16, a shaft sleeve 18 is connected to the first connecting shaft 17 far away from the first fixed shaft 16, a second input shaft 19 is connected to the inner side of the shaft sleeve 18, a sleeving gear 20 is connected to the second input shaft 19, the sleeving gear 20 is connected with a rack 31, a second fixed shaft 21 is fixedly connected to the outer side of the shell 1, a second connecting shaft 22 is connected to the second fixed shaft 21, a transverse shaft 23 is connected to the second connecting shaft 22, a fixing pin 24 is connected to the transverse shaft 23, a swinging shaft 25 is connected to the fixing pin 24, a third input shaft 26 is connected to the swinging shaft 25 far away from the fixing pin 24, an input gear 27 is connected to the third input shaft 26, an auxiliary gear 28 is connected to the, the outside fixedly connected with rack 31 of shell 1, simple structure is compact, and handling efficiency is high, has reduced the manpower demand, great reduction the intensity of artifical work, and factor of safety is high, is fit for small-size machinery, and the practicality has had the promotion of very big obvious degree to small-size machinery, has solved small-size machinery and has been difficult to accomplish the rotatable problem of pressing from both sides the operation of getting, has solved the not high problem of practicality simultaneously.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a rotatable tubular product transport auxiliary device for manipulator, includes shell (1), its characterized in that: the inner part of the shell (1) is movably connected with a first input shaft (2), the outer side of the first input shaft (2) is movably connected with a swing rod (3), one side, far away from the first input shaft (2), of the swing rod (3) is movably connected with an arc-shaped sliding block (4), the outer side of the arc-shaped sliding block (4) is movably connected with an arc-shaped sliding way (5), the outer side of the arc-shaped sliding way (5) is fixedly connected with a connecting rod (6), one end of the connecting rod (6) is movably connected with a square sliding block (7), the outer side of the square sliding block (7) is movably connected with a linear sliding way (8), one end of the square sliding block (7) is movably connected with a moving rod (9), the outer side of the moving rod (9) is movably connected with a fixed frame (10), one end, far away from the square sliding block (7), of the moving rod (9) is, one end of the mechanical rod (12) is fixedly connected with a carrying block (13), one end of the mechanical rod (12) far away from the carrying block (13) is movably connected with a rotating rod (14), one end of the rotating rod (14) far away from the mechanical rod (12) is movably connected with a fixed rod (15), the outer side of the shell (1) is fixedly connected with a first fixed shaft (16), one end of the first fixed shaft (16) is movably connected with a first connecting shaft (17), one end of the first connecting shaft (17) far away from the first fixed shaft (16) is movably connected with a shaft sleeve (18), the inner side of the shaft sleeve (18) is movably connected with a second input shaft (19), the inner part of the second input shaft (19) is movably connected with a socket gear (20), the outer side of the shell (1) is fixedly connected with a second fixed shaft (21), one end of the second fixed shaft (21) is movably connected with a second connecting shaft (22), the, the inner portion of the transverse shaft (23) is movably connected with a fixing pin (24), one end of the fixing pin (24) is movably connected with a swing shaft (25), one end, far away from the fixing pin (24), of the swing shaft (25) is movably connected with a third input shaft (26), the outer side of the third input shaft (26) is movably connected with an input gear (27), the outer side of the input gear (27) is movably connected with an auxiliary gear (28), the outer side of the fixing pin (24) is movably connected with a planetary gear (29), the outer side of the planetary gear (29) is movably connected with a gear ring (30), and the outer side of the shell (1) is fixedly connected with a.
2. The rotatable pipe handling robot as recited in claim 1, further comprising: the short rods (11), the mechanical rods (12), the carrying blocks (13), the rotating rods (14) and the fixing rods (15) are all arranged in two and are symmetrically distributed about the axis of the moving rod (9).
3. The rotatable pipe handling robot as recited in claim 1, further comprising: the first fixing shaft (16), the first connecting shaft (17) and the shaft sleeve (18) are arranged in two numbers and are symmetrically distributed about the central line of the shell (1).
4. The rotatable pipe handling robot as recited in claim 1, further comprising: the sleeving gear (20) is movably connected with the rack (31).
5. The rotatable pipe handling robot as recited in claim 1, further comprising: the number of the second fixing shafts (21) and the number of the second connecting shafts (22) are two, and the two second fixing shafts and the two second connecting shafts are symmetrically distributed about the center line of the shell (1).
6. The rotatable pipe handling robot as recited in claim 1, further comprising: the fixing pin (24), the swinging shaft (25), the third input shaft (26) and the input gear (27) are all provided with two, and the two input gears (27) are movably connected with the auxiliary gear (28).
7. The rotatable pipe handling robot as recited in claim 1, further comprising: the planetary gears (29) and the gear rings (30) are arranged in two numbers and are symmetrically distributed around the center line of the circle centers of the two gear rings (30).
8. The rotatable pipe handling robot as recited in claim 1, further comprising: the first input shaft (2), the second input shaft (19) and the third input shaft (26) are movably connected with motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010213132.8A CN111390954B (en) | 2020-03-24 | 2020-03-24 | Auxiliary device for rotatable pipe carrying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010213132.8A CN111390954B (en) | 2020-03-24 | 2020-03-24 | Auxiliary device for rotatable pipe carrying manipulator |
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| CN111390954A CN111390954A (en) | 2020-07-10 |
| CN111390954B true CN111390954B (en) | 2021-07-09 |
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| CN112390001A (en) * | 2020-10-09 | 2021-02-23 | 王纲岭 | Novel gripper integrated with grabbing and delivering |
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| CN206580247U (en) * | 2017-03-10 | 2017-10-24 | 黄河科技学院 | The high horizontal rotation manipulator of degree of stability |
| CN206614539U (en) * | 2017-04-11 | 2017-11-07 | 常州信息职业技术学院 | A kind of new mechanical arm |
| KR101951704B1 (en) * | 2017-06-09 | 2019-02-25 | 코로아이(주) | Double grip method for scrap and press-molded press pforging robot |
| CN108297071A (en) * | 2018-02-11 | 2018-07-20 | 长春工程学院 | A kind of machine-building auxiliary mechanical arm |
| CN208150246U (en) * | 2018-04-20 | 2018-11-27 | 陈阿梅 | A kind of articles from the storeroom handler |
| CN108789465A (en) * | 2018-06-15 | 2018-11-13 | 芜湖易迅生产力促进中心有限责任公司 | A kind of robot mechanical arm gripping body |
| CN210081768U (en) * | 2019-04-23 | 2020-02-18 | 江苏秦郡环保科技有限公司 | Mechanical arm for waste detection |
| CN210132502U (en) * | 2019-05-28 | 2020-03-10 | 洛阳久盛冶金材料加工有限公司 | Clamping pliers for grabbing cylindrical object |
| CN110281229A (en) * | 2019-07-27 | 2019-09-27 | 南京昱晟机器人科技有限公司 | A kind of industrial robot and its application method with processing composite fixture |
| CN110682321B (en) * | 2019-09-10 | 2021-01-22 | 安徽工程大学 | Flexible manipulator and grabbing operation method thereof |
| CN110625602A (en) * | 2019-09-11 | 2019-12-31 | 白保平 | Multi-joint industrial machine claw |
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