CN113734776A

CN113734776A - Pipeline grabbing robot and grabbing method thereof

Info

Publication number: CN113734776A
Application number: CN202110937896.6A
Authority: CN
Inventors: 朱桂华; 焦辰睿
Original assignee: Nanjing Zhongyin Kegui Network Technology Co ltd
Current assignee: Nanjing Zhongyin Kegui Network Technology Co ltd
Priority date: 2021-08-16
Filing date: 2021-08-16
Publication date: 2021-12-03

Abstract

The invention relates to a pipeline grabbing robot and a grabbing method thereof. Through installing support regulation structure, subassembly mounting structure, slide adjusting structure, adjustable structure and snatching the structure, snatch the structure through being provided with two, can snatch at two points, avoid the single-point to snatch and cause the unstability, simultaneously through installing adjustable structure, can fix and remove according to the demand. With support adjustment structure sliding connection, be used for driving the whole subassembly mounting structure that carries out lateral displacement of subassembly, with subassembly mounting structure sliding connection, be used for carrying out the slide adjusting structure of adjusting the position of snatching, and with slide adjusting structure's output spiro union, be used for snatching the structure of snatching to the work piece.

Description

Pipeline grabbing robot and grabbing method thereof

Technical Field

The invention relates to the technical field of pipeline grabbing robots, in particular to a pipeline grabbing robot and a grabbing method thereof.

Background

When a round pipe workpiece is conveyed and processed, the round pipe workpiece needs to be transferred from one production line to another production line, and because the round pipe is large in size and long in length, the round pipe workpiece needs to be grabbed and transferred from one production line to another production line;

the existing grabbing structure adopts a single grabbing structure to grab a workpiece, when the center of gravity of the workpiece is unstable in the grabbing process, the workpiece is shifted to one side to cause impact, the outer surface of the workpiece is damaged, and the transfer stability is influenced;

simultaneously in the grabbing process, the structure of the workpiece is uncertain, and the workpiece can not be properly adjusted according to actual requirements, so that the pipeline grabbing robot is required to meet the requirements.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a pipeline snatchs robot, solves current structure of snatching and adopts single structure of snatching to carry out snatching of work piece, snatchs the in-process and work piece focus unstability, causes the work piece toward one side skew, causes the striking, causes the damage to the work piece surface, influences the stability's of shifting problem.

The second purpose is that the structure of the workpiece is uncertain in the grabbing process, and the workpiece can not be properly adjusted according to actual requirements.

In order to achieve the purpose, the invention provides the following technical scheme:

pipeline snatchs robot includes: the support is adjusted the structure, with support adjust structure sliding connection, be used for driving the whole subassembly mounting structure that carries out lateral displacement of subassembly, with subassembly mounting structure sliding connection, be used for carrying out the slide adjusting structure of adjusting the position of snatching, and with the output spiro union of slide adjusting structure, be used for snatching the structure of snatching to the work piece.

Through installing the support adjustment structure, the support adjustment structure can carry out the regulation of height according to transport structure's height, can cooperate with transport structure, drives through the unit mount structure simultaneously and snatchs the subassembly and snatch on a conveyer belt to another conveyer belt after the work piece, snatch the work piece through snatching the structure, the regulation performance of guarantee structure that can be better, the practicality is higher.

According to an aspect of an embodiment of the present application, the support adjusting structure includes: the flexible subassembly that highly adjusts for to snatching, with flexible subassembly is fixed, be used for supporting sliding adjusting structure, provide the orbital support crossbearer that slides, be provided with two sets ofly, with support crossbearer and flexible subassembly welding, be used for carrying on the spacing of unit mount, and with spacing rotate the connection, be used for promoting the power that supports the crossbearer, strengthen the slant flexible subassembly of bearing capacity.

Through installing flexible subassembly, can ensure flexible performance of adjusting, spacing and the cooperation of the flexible subassembly of slant support the support intensity of crossbearer through flexible promotion, avoid because the bearing capacity is too big, cause the support crossbearer center to sink, influence the stability that wholly snatchs the structure, influence the stability that the structure adjusted the removal simultaneously.

According to an aspect of an embodiment of the present application, the support adjustment structure further includes: the embedding support the upper end of crossbearer, be used for driving the subassembly mounting structure and carry out gliding slip subassembly, and with the output spiro union of flexible subassembly, can fix a position or remove adjustable structure according to actual need.

Through installing the stability of guarantee slide adjusting that sliding assembly can be better, remove adjustable structure and can carry out the regulation of position or fix a position according to actual need, guarantee the accurate stability of location.

According to an aspect of an embodiment of the present application, the component mounting structure includes: set up to rectangle, inside seted up the working chamber, be used for driving the subassembly and slide and snatch the position and carry out the sliding erection frame who adjusts, and set up in sliding erection frame both sides inner wall, be used for providing the slip track, promote the sliding tray who adjusts slip stability.

Through installing the sliding installation frame, when can ensure the unit mount performance, promote the flexibility of displacement, structural performance is more stable, through being provided with the sliding tray, can ensure the stability and the flexibility that the subassembly removed.

According to an aspect of an embodiment of the present application, the slide adjusting structure includes: the sliding support frame is arranged in a transverse bar shape and used for providing mounting supporting force for the lower end assembly, the sliding block is fixed on the sliding support frame, slides in the sliding groove and ensures the adjusting performance, and the connecting frame is in threaded connection with the sliding support frame and used for driving the grabbing assembly to move up and down.

Through installing the slip support frame, can ensure gliding stability and flexibility, the sliding block slides in the inside of sliding tray, snatchs the regulation of structure position, and the link has scalability, can stretch out and draw back as required and highly adjust snatching, and structural performance is simple perfect more, and the practicality is higher.

According to an aspect of an embodiment of the present application, the adjustable structure includes: the supporting and positioning cover is arranged in a working cavity which is arranged inside the supporting and positioning cover and provides a required containing cavity for the work of the component, the connecting and fixing seat is connected with the supporting and positioning cover in a screwed mode, the telescopic rod is connected with the fixing seat in a screwed mode and used for moving the component to perform height adjustment, and the moving wheel is connected with the output end of the telescopic rod in a screwed mode and used for adjusting the grabbing position of the supporting and adjusting structure.

Through installing the telescopic link and removing the wheel, remove the wheel through the flexible drive of telescopic link and contact with ground, can carry out position control when removing in needs, remove the regulation through removing the wheel, when needs fix a position, remove the wheel through the shrink and make support position cover and ground contact, ensure the stability of support.

According to an aspect of an embodiment of the present application, the grasping configuration includes: the positioning fixing plate, with the positioning fixing plate slides, is used for driving the unilateral slip regulating block who snatchs the subassembly displacement, and with the slip regulating block rotates through the pivot to be connected, is used for carrying out the claw of snatching that fixes to the work piece.

The displacement through the slip regulating block drives and snatchs the claw and carry out the displacement, can snatch the regulation that carries out between the position of external diameter as required, and it is more nimble to adjust, uses more convenient saving trouble, and the practicality is higher.

According to an aspect of an embodiment of the present application, the grasping configuration further includes: with grab the inboard exposed core of claw and paste the contact pad piece of being connected, being used for guaranteeing the stability ability that the work piece snatched, imbed inside the claw, rather than rotate and be connected, be used for driving the work piece and carry out the pivoted rotation regulating spindle, and with the fixed plate spiro union of location, be used for carrying out the detection scanning piece that detects to work piece outside surface.

Can ensure the stability of snatching through installing contact pad, avoid direct and workpiece surface contact to cause the fish tail, drive the work piece through the rotation of rotating the regulating spindle and carry out certain rotation, can cooperate the detection structure to detect, scan the detection that can be better to the work piece through detecting the scanning piece.

The grabbing method of the pipeline grabbing robot is characterized by comprising the following steps of:

s1, mounting the support adjusting structure at a position where carrying and grabbing are needed, and starting to use after the mounting is finished;

s2, conveying the workpiece on a conveying structure at the lower end, adjusting the position of the component mounting structure, and grabbing the workpiece by a grabbing claw after the adjustment is finished;

s3, adjusting the distance between the grabbing claws by adjusting the sliding adjusting block to grab, and adjusting the grabbing angle by the rotating shaft;

and S4, after the grabbing is finished, the transverse adjustment of the component mounting structure is carried out, so that the workpieces are transferred from one transfer mechanism to the other transfer mechanism.

Compared with the prior art, the invention has the beneficial effects that:

through installing support regulation structure, subassembly mounting structure, slide adjusting structure, adjustable structure and snatching the structure, snatch the structure through being provided with two, can snatch at two points, avoid the single-point to snatch and cause the unstability, simultaneously through installing adjustable structure, can fix and remove according to the demand, solved the problem that the aforesaid was proposed.

Drawings

Fig. 1 is a perspective view of the pipe gripping robot of the present invention.

Fig. 2 is a perspective view of the support adjustment structure of the present invention.

Fig. 3 is a perspective view of the component mounting structure of the present invention.

Fig. 4 is a cross-sectional view of an adjustable structure of the present invention.

Fig. 5 is a perspective view of the grasping configuration of the present invention.

In the figure: the device comprises a supporting and adjusting structure 1, a telescopic assembly 101, a supporting transverse frame 102, an oblique telescopic assembly 103, a limiting frame 104, a sliding assembly 105, an assembly mounting structure 2, a sliding mounting frame 201, a sliding groove 202, a sliding adjusting structure 3, a sliding support frame 301, a sliding block 302, a connecting frame 303, an adjustable structure 5, a supporting and positioning cover 501, a working cavity 502, a connecting and fixing seat 503, a telescopic rod 504, a moving wheel 505, a grabbing structure 6, a positioning and fixing plate 601, a sliding adjusting block 602, a rotating shaft 603, a grabbing claw 604, a contact gasket 605, a rotating adjusting shaft 606 and a detection scanning block 607.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

The applicant thinks that, snatch the structure in market, when snatching the pipe, single claw of snatching can cause snatch not stable enough, snatchs the holistic structure of structure great simultaneously, and the position control performance is convenient inadequately, and the stability of snatching and the detection performance to the work piece of work piece itself is not comprehensive enough.

For this reason, the applicant designs pipeline grabbing robot, supports regulation structure, subassembly mounting structure, slip regulation structure, adjustable structure and snatchs the structure, snatchs the structure through being provided with two, can snatch at two points, avoids the single-point to snatch and causes the unstability, simultaneously through installing adjustable structure, can fix and remove according to the demand.

In practical application, as shown in fig. 1 to 5, the pipeline grasping robot according to the present invention includes a support adjusting structure 1, a component mounting structure 2, a sliding adjusting structure 3, an adjustable structure 5, and a grasping structure 6, wherein the support adjusting structure 1 includes two telescopic components 101, a support cross frame 102, an oblique telescopic component 103, a limiting frame 104, and a sliding component 105, the number of the telescopic components 101 is two, the support cross frame 102 is mounted between the two telescopic components 101, the support cross frame 102 and the telescopic components 101 are fixed by bolts, the inner sides of the support cross frame 102 and the telescopic components 101 are both mounted with the limiting frame 104, the telescopic components 103 are mounted between the two limiting frames 104, the telescopic components 103 are rotatably connected with the limiting frames 104, and the sliding component 105 is mounted at a middle position above the support cross frame 102.

Under actual conditions, when the height of the conveying belt for conveying the workpiece is fixed, the height of the whole work is adjusted by adjusting the height of the telescopic assembly 101, and the height can be adjusted according to actual needs to achieve the best grabbing effect.

In practical application, as shown in fig. 1 to 5, the assembly mounting structure 2 includes a sliding mounting frame 201 and sliding grooves 202, the sliding mounting frame 201 is slidably connected with the supporting cross frame 102, the sliding grooves 202 are respectively arranged on two sides of the inner wall of the sliding mounting frame 201, the assembly is more stable in matching and sliding, and the assembly cannot be easily misplaced.

In practical application, as shown in fig. 1 to 5, the sliding adjusting structure 3 includes a sliding support frame 301, sliding blocks 302 and a connecting frame 303, the sliding blocks 302 are mounted on both sides of the sliding support frame 301, the sliding blocks 302 are slidably connected with the sliding grooves 202 to drive the two grabbing structures 6 to adjust the distance, so as to adjust the distance according to the stress center of a workpiece, thereby ensuring the grabbing stability, the connecting frame 303 is mounted below the sliding support frame 301, the connecting frame 303 is fixedly connected with the grabbing structures 6, and the connecting frame 303 has elasticity, so that the height can be adjusted according to the grabbing requirements, so as to achieve a predetermined grabbing effect.

In practical application, as shown in fig. 1 to 5, the adjustable structure 5 includes a supporting and positioning cover 501, a working cavity 502, a connecting fixing seat 503, an expansion link 504 and a moving wheel 505, the working cavity 502 is disposed inside the supporting and positioning cover 501, the connecting fixing seat 503 is disposed inside the supporting and positioning cover 501, the expansion link 504 is disposed below the connecting fixing seat 503, the expansion link 504 is connected with the connecting fixing seat 503 through a bolt, the moving wheel 505 is disposed below the expansion link 504, and the moving wheel 505 is driven to expand and contract by expansion and contraction of the expansion link 504, so as to adjust a position or fix the position.

In actual conditions, when the position of snatching needs to be adjusted, the flexible wheel 505 that drives through telescopic link 504 begins to stretch out and draw back for remove wheel 505 and ground contact, remove simultaneously wheel 505 and have the removal performance, move according to the demand adjust can, remove the back of accomplishing, telescopic link 504 begins the shrink, the shrink of telescopic link 504 makes and removes wheel 505 and gets into inside working chamber 502, supports the lower terminal surface and the ground contact of position cover 501 simultaneously, accomplishes fixed action.

In practical applications of the pipe gripping robot according to the present invention, as shown in fig. 1 to 5, the gripping structure 6 includes: a positioning fixing plate 601, a sliding adjusting block 602, a rotating shaft 603, a grabbing claw 604, a contact pad 605, a rotating adjusting shaft 606, a detection scanning block 607, sliding adjusting blocks 602 are arranged at both sides of the lower part of the positioning fixing plate 601, the sliding adjusting block 602 is connected with the positioning fixing plate 601 in a sliding way, the grabbing claw 604 is arranged at the lower part of the sliding adjusting block 602, the grabbing claw 604 is rotatably connected with the sliding adjusting block 602 through a rotating shaft 603, a contact gasket 605 is arranged on the inner side of the grabbing claw 604, the contact gasket 605 is connected with the grabbing claw 604 in a sticking way, a plurality of rotating adjusting shafts 606 are arranged above the inner side of the grabbing claw 604, the rotating adjusting shafts 606 are rotatably connected with the grabbing claw 604 and can rotate and adjust after a workpiece is clamped inside, a detection scanning block 607 is arranged in the middle position below the positioning fixing plate 601, the outer surface of the workpiece is inspected by inspection scan block 607 to confirm the effect of the machining.

s1, the supporting and adjusting structure is installed at a position needing to be carried and grabbed, the supporting and adjusting structure can be used after being installed, when the grabbed position needs to be adjusted, the movable wheel 505 is driven to stretch by stretching of the telescopic rod 504, the movable wheel 505 is enabled to be in contact with the ground, meanwhile, the movable wheel 505 has movable performance, the movable adjustment can be carried out according to requirements, after the movement is completed, the telescopic rod 504 begins to shrink, the movable wheel 505 enters the working cavity 502 due to the shrinkage of the telescopic rod 504, meanwhile, the lower end face of the supporting and positioning cover 501 is enabled to be in contact with the ground, and the fixing action is completed;

s2, conveying the workpiece on a conveying structure at the lower end, firstly adjusting the sliding mounting rack 201 according to the length and the position of the workpiece, vertically aligning the sliding mounting rack 201 with the workpiece at the lower end, and then adjusting the distance between the two sliding adjusting structures 3 according to the length of the workpiece to achieve the grabbing stability;

s3, the grabbing structure 6 is driven to move towards the workpiece through the extension and contraction of the connecting frame 303, the distance between the grabbing claws is adjusted through the sliding adjusting block 602 to perform grabbing actions, the grabbing angle is adjusted through the rotating shaft to adjust the distance between the grabbing claws 604, and the rotating shaft 603 is driven to adjust the angle of the grabbing claws 604 to complete the grabbing actions;

and S4, after the grabbing is finished, the sliding mounting frame 201 is transversely adjusted, so that the workpieces are conveyed from one conveying mechanism to the other conveying mechanism.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. Pipeline snatchs robot, its characterized in that includes:

supporting the adjusting structure;

the component mounting structure is connected with the support adjusting structure in a sliding manner and is used for driving the component to integrally perform transverse displacement;

the sliding adjusting structure is connected with the component mounting structure in a sliding mode and used for adjusting the grabbing position;

and the two grabbing structures are arranged and are in threaded connection with the output end of the sliding adjusting structure to grab the workpiece.

2. The pipe gripping robot of claim 1, wherein: the support adjustment structure includes:

the telescopic assembly is used for adjusting the grabbing height;

the supporting transverse frame is fixed with the telescopic assembly and used for supporting the sliding adjusting structure and providing a sliding track;

the two groups of limiting frames are arranged, are welded with the supporting transverse frame and the telescopic assembly and are used for limiting assembly installation;

the oblique telescopic assembly is rotatably connected with the limiting frame and used for improving the supporting force of the supporting cross frame and strengthening the bearing force.

3. The pipe gripping robot of claim 2, wherein: the support adjustment structure further includes:

the sliding assembly is embedded into the upper end of the supporting transverse frame and is used for driving the assembly mounting structure to slide;

the adjustable structure is in threaded connection with the output end of the telescopic assembly and can be positioned or moved according to actual needs.

4. The pipe gripping robot of claim 1, wherein: the component mounting structure includes:

the sliding mounting rack is rectangular, a working cavity is formed in the sliding mounting rack, and the sliding mounting rack is used for driving the component to slide to adjust the grabbing position;

the sliding groove is arranged on the inner walls of two sides of the sliding installation frame and used for providing a sliding track and improving and adjusting sliding stability.

5. The pipe gripping robot of claim 1, wherein: the slide adjusting structure includes:

the sliding support frame is arranged into a transverse strip shape and is used for providing mounting support force for the lower assembly;

the sliding block is fixed with the sliding support frame, slides in the sliding groove and ensures the adjusting performance;

the connecting frame is in threaded connection with the sliding support frame and is used for driving the grabbing component to move up and down.

6. The pipe gripping robot of claim 3, wherein: the adjustable structure comprises:

supporting the positioning cover;

the working cavity is arranged in the supporting and positioning cover and provides a cavity required by the work of the component;

the connecting fixing seat is in threaded connection with the supporting positioning cover;

the telescopic rod is in threaded connection with the connecting fixing seat and is used for adjusting the height of the moving assembly;

and the movable wheel is in threaded connection with the output end of the telescopic rod and is used for adjusting the grabbing position of the supporting and adjusting structure.

7. The pipe gripping robot of claim 1, wherein: the grasping structure includes:

positioning the fixing plate;

the sliding adjusting block slides with the positioning fixing plate and is used for driving the unilateral grabbing component to move;

and the grabbing claw is rotationally connected with the sliding adjusting block through a rotating shaft and is used for fixing the workpiece.

8. The pipe gripping robot of claim 7, wherein: the grasping structure further includes:

the contact gasket is connected with the clamping end on the inner side of the grabbing claw in a sticking way and used for ensuring the grabbing stability of the workpiece;

the rotary adjusting shaft is embedded into the grabbing claw, is in rotary connection with the grabbing claw and is used for driving the workpiece to rotate;

and the detection scanning block is in threaded connection with the positioning fixing plate and is used for detecting the outer side surface of the workpiece.

9. The gripping method of the pipe gripping robot according to any one of claims 1 to 8, comprising the steps of: