CN114772267A

CN114772267A - Transfer manipulator

Info

Publication number: CN114772267A
Application number: CN202210551961.6A
Authority: CN
Inventors: 贺贝佳; 王晓丽
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-07-22

Abstract

The invention relates to the technical field of transfer equipment, in particular to a transfer manipulator which comprises a slide rail, wherein the left end and the right end of the bottom end surface of the slide rail are symmetrically and fixedly connected with a support frame, the inner surface of the slide rail is in sliding connection with a transmission block at a position close to the middle, the bottom end surface of the transmission block is fixedly connected with a hydraulic push rod, the bottom end of the hydraulic push rod is fixedly connected with a driving mechanism, a clamping component is arranged below the driving mechanism, the front side and the back side of the inner surface of the slide rail are symmetrically provided with a first sliding groove, the left side and the right side of the inner surface of the slide rail are rotatably connected with a screw rod through a bearing, and the left end of the screw rod penetrates through the slide rail, so that the device not only can clamp and fix round tubes with different diameters, but also has wide application range, strong practicability, more stable clamping effect, is not easy to fall off in the transportation process, and greatly improves the safety and stability of the transfer device, the safety of the working personnel is guaranteed.

Description

Transfer manipulator

Technical Field

The invention relates to the technical field of transfer equipment, in particular to a transfer manipulator.

Background

The transfer manipulator is controlled by a PLC, a touch screen and a servo motor, a frame type structure with small occupied space is adopted, the production capacity is high, the stacking mode can adopt the teaching as programming, a computer can store 100 sets of stacking schemes, and all home and abroad nameplate elements are adopted, so that the transfer manipulator is suitable for stacking and stacking operation of carton packaging products and heat shrinkable film products in the industries of electronics, food, beverages, cigarettes, wines and the like;

in daily life, the pipe is the building, the most common basic combined raw materials such as furniture, can be so that the pipe becomes the state that big or small length differs through device processing, in the pipe production process, processingequipment need be used, cutting device, transfer device etc, the completion is to the whole process flow of pipe, the pipe when transporting after processing is accomplished, need remove the pipe, if rely on the manual work to accomplish the operation of transporting, need consume a large amount of manpowers and time, low in production efficiency, transport the application of manipulator, great improvement the work efficiency who transports.

However, when the manipulator is transported to traditional pipe, its centre gripping arm often can only possess the best centre gripping effect to the pipe of a size, when transporting the pipe of other diameters size, the phenomenon of skidding often appears easily, takes place to drop in the in-process of transportation, can bring huge trouble for the user, has the potential safety hazard, and application scope is little, and the practicality is not strong, wholly remains to improve.

To this end, a transfer robot is proposed.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a transferring manipulator, which solves the problems that: the traditional transferring manipulator cannot effectively clamp and fix circular tubes with various sizes, and has the technical problems of small application range and poor practicability; the traditional transfer manipulator has poor clamping effect on the round pipe, is easy to slip and fall off in the transportation process, and brings economic loss to users;

in order to achieve the above purpose, the invention is realized by the following technical scheme:

the invention provides a transferring manipulator which comprises a sliding rail, wherein the left end and the right end of the bottom end surface of the sliding rail are symmetrically and fixedly connected with supporting frames, and the inner surface of the sliding rail, close to the middle, is connected with a transmission block in a sliding manner;

the bottom face fixedly connected with hydraulic rod of driving block, and hydraulic rod's bottom fixedly connected with actuating mechanism, actuating mechanism's below is provided with the centre gripping subassembly, centre gripping subassembly and actuating mechanism match work each other and can carry out the centre gripping transportation to the pipe of different diameters size, and the centre gripping can fasten more stably, and the security is high, and the practicality is strong.

Preferably, first sliding grooves are symmetrically formed in the front side and the rear side of the inner surface of the sliding rail, the left side and the right side of the inner surface of the sliding rail are rotatably connected with a screw rod through a bearing, the left end of the screw rod penetrates through the sliding rail, a first motor is fixedly connected to the left end face of the sliding rail, an output shaft of the first motor is fixedly connected with the screw rod, the screw rod is in spiral transmission connection with a transmission block, a plurality of groups of rollers are symmetrically and rotatably connected to the front side and the rear side of the position, corresponding to the first sliding grooves, of the outer surfaces of the front side and the rear side of the transmission block, and the rollers are mutually matched with the first sliding grooves and are in sliding connection.

Preferably, the driving mechanism comprises a fixed box, a partition plate, a threaded rod, a second motor and a push block;

the bottom fixedly connected with of hydraulic pressure push rod fixes the case, the internal surface of fixed case is close to the position fixedly connected with baffle of top, and the lower terminal surface central point of baffle puts and runs through the rotation through the bearing and be connected with the threaded rod, and the up end central point of baffle puts fixedly connected with motor two, and the output shaft top and the threaded rod fixed connection of motor two, the surface of threaded rod is close to the position screw drive of baffle below and is connected with the ejector pad, and the internal surface of ejector pad and fixed case matches each other and sliding connection.

Preferably, the front and rear central positions of the inner surface of the fixing box are symmetrically provided with limiting grooves, the limiting grooves are of a rectangular structure design, the inner surface of each limiting groove is connected with a sliding block in a sliding manner, and the other end face of each sliding block is fixedly connected with the pushing block.

Preferably, supporting blocks are fixedly connected to four corners of the bottom end face of the fixed box, the four supporting blocks are grouped in pairs, the position, close to the lower end, of each supporting block is connected with a rotating rod in a penetrating and rotating mode through a bearing, and three clamping assemblies are fixedly connected to the outer surface, close to the left rotating rod, of each supporting block in an equidistant mode;

and the middle positions of the outer surfaces of the left side and the right side of the push block are symmetrically hinged with a first connecting rod, the other end of the first connecting rod is hinged with a second connecting rod, and the other end of the second connecting rod is close to the left side and is fixedly connected with a clamping component at the middle position of the left side.

Preferably, be close to the right side two centre gripping subassemblies of both ends fixedly connected with around the bull stick, the quantity of centre gripping subassembly is five altogether centre gripping subassembly is about equidistance dislocation distribution, is close to the right side bottom and right side bull stick fixed connection of connecting rod two.

Preferably, the clamping assembly comprises a clamping block, a clamping groove and a fixing clamp;

the fixture block is fixedly connected with the rotating rod, a clamping groove is formed in the front end face of the fixture block, a fixing clamp is arranged inside the clamping groove, the fixing clamp and the clamping groove are both of T-shaped structural design, and the fixing clamp is fixedly connected with the fixture block through a bolt.

Preferably, the fixing clamp is of an arc-shaped structural design, the outer surface of one side, opposite to the fixing clamp, of the left side is fixedly connected with an anti-slip mat, and the anti-slip mat is made of rubber.

Preferably, the bottom end face of the push block is provided with a second sliding groove, the inner surface of the second sliding groove is connected with a limiting block in a sliding matching mode, the two sliding grooves are of T-shaped structural design, and a spring is arranged between the top end of the inner surface of the second sliding groove and the limiting block.

Preferably, the bottom end of the limiting block is fixedly connected with a resisting block, the bottom end face of the resisting block is designed to be of an arc-shaped structure, and the bottom end face of the resisting block is fixedly connected with a rubber gasket.

The invention has the following beneficial effects:

1. the driving mechanism is added in the device, so that the left and right fixing clamps can be driven to rotate oppositely, the round pipe positioned between the left and right fixing clamps is clamped and supported, and the left and right fixing clamps are distributed in a staggered mode at equal intervals, so that the round pipes with different diameters can be clamped and fixed compared with the existing transfer manipulator, and the device is more stable, wide in application range and strong in practicability;

2. through add the ejector pad in the device, support a series of structural component such as piece and spring, can drive and support the piece downstream and support to supporting to at the pipe up end, match each other with the below fixation clamp and press from both sides tight pipe, compare current transportation manipulator and further improved the centre gripping fastness to the pipe, be difficult for taking place to drop at the in-process of transportation, the security is high.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is an overall structural view of the present invention;

FIG. 2 is a sectional view of the slide rail and the driving block of the present invention;

FIG. 3 is a front cross-sectional view of the drive mechanism of the present invention;

FIG. 4 is a cross-sectional view A-A of FIG. 3 of the present invention;

FIG. 5 is a right side partial cross-sectional view of FIG. 3 of the present invention;

fig. 6 is an enlarged view of the invention at B in fig. 3.

Description of the reference numerals:

1. a slide rail; 11. a support frame; 12. a first sliding chute; 13. a screw rod; 14. a first motor; 15. a transmission block; 16. a hydraulic push rod; 2. a roller; 3. a drive mechanism; 31. a fixed box; 32. a partition plate; 33. a threaded rod; 34. a second motor; 35. pushing a block; 4. a limiting groove; 41. a slider; 51. a supporting block; 52. a rotating rod; 53. a second connecting rod; 54. a first connecting rod; 6. a clamping assembly; 61. a clamping block; 62. a card slot; 63. a fixing clip; 7. a non-slip mat; 8. a second chute; 81. a limiting block; 82. a spring; 83. and (6) butting against blocks.

Detailed Description

In order to make the objects, technical means and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but 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.

The embodiment of the invention provides a transfer manipulator, and solves the technical problems that the traditional transfer manipulator cannot effectively clamp and fix round pipes with various sizes, the application range is small, and the practicability is not strong; and the clamping effect of the traditional transferring manipulator to the round pipe is not good, the slipping phenomenon easily occurs in the transportation process, and the technical problem of economic loss brought to a user is solved.

In order to solve the technical problems, the technical scheme in the embodiment of the invention has the following general idea: the device is additionally provided with the driving mechanism, so that the left and right fixing clamps can be driven to rotate oppositely, the round pipe between the left and right fixing clamps is clamped and supported, and the left and right fixing clamps are distributed in a staggered mode at equal intervals, so that the round pipes with different diameters can be clamped and fixed by the transferring manipulator, and the transferring manipulator is more stable, wide in application range and strong in practicability; through add the ejector pad in the device, support a series of structural component such as piece and spring, can drive and support the piece downstream and support to supporting to at the pipe up end, match each other with the below fixation clamp and press from both sides tight pipe, compare current transportation manipulator and further improved the centre gripping fastness to the pipe, be difficult for taking place to drop at the in-process of transportation, the security is high.

As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a transfer manipulator, which includes a slide rail 1, wherein the left and right ends of the bottom end surface of the slide rail 1 are symmetrically and fixedly connected with a support frame 11, the inner surface of the slide rail 1 near the middle position is slidably connected with a transmission block 15, the bottom end surface of the transmission block 15 is fixedly connected with a hydraulic push rod 16, the bottom end of the hydraulic push rod 16 is fixedly connected with a driving mechanism 3, a clamping assembly 6 is arranged below the driving mechanism 3, the clamping assembly 6 and the driving mechanism 3 are matched with each other to perform clamping transportation on circular tubes with different diameters, clamping is more stable, safety is high, and practicability is high, sliding grooves 12 are symmetrically arranged on the front and back sides of the inner surface of the slide rail 1, the left and right sides of the inner surface of the slide rail 1 are rotatably connected with a lead screw 13 through a bearing, the left end of the lead screw 13 penetrates through the slide rail 1, and the left end face of the sliding rail 1 is fixedly connected with a first motor 14, an output shaft of the first motor 14 is fixedly connected with a screw rod 13, the screw rod 13 is in spiral transmission connection with a transmission block 15, the front and back outer surfaces of the front and back sides of the transmission block 15 are symmetrically connected with a plurality of groups of rollers 2 in a front and back rotation mode corresponding to the positions of the first sliding grooves 12, and the rollers 2 are matched with the first sliding grooves 12 and are in sliding connection.

By adopting the technical scheme, when the device works, the first motor 14 is controlled to work, the screw rod 13 is driven to rotate through the rotating shaft, the screw rod 13 is in spiral transmission connection with the transmission block 15, and the transmission block 15 is matched with the inner surface of the slide rail 1, the left and right movement of the transmission block 15 can be controlled by controlling the forward and backward rotation of the first motor 14, so that the hydraulic push rod 16 can be driven to move left and right, when the transmission block 15 moves left and right, the roller 2 can be driven to roll in the first chute 12, the sliding friction force of the transmission block 15 can be greatly reduced, the sliding is smoother, the service life of the sliding mechanism is prolonged, when the driving mechanism 3 and the clamping component 6 are driven to move to the position right above a clamped round pipe, the hydraulic push rod 16 can be controlled to extend, the driving mechanism 3 and the clamping component 6 can be controlled to synchronously move downwards, the round pipe can be clamped and fixed through the clamping component 6, control hydraulic push rod 16 shrink can mention the pipe, and control drive block 15 removes and can carry the pipe to the target position, and the device can carry out the centre gripping to the pipe of different diameters size fixed, and the centre gripping effect is safety and stability more, and the practicality is strong.

As an embodiment of the present invention, as shown in fig. 3 to 5, the driving mechanism 3 includes a fixed box 31, a partition plate 32, a threaded rod 33, a second motor 34, and a push block 35, the bottom end of the hydraulic push rod 16 is fixedly connected with the fixed box 31, the partition plate 32 is fixedly connected to a position close to the upper portion of the inner surface of the fixed box 31, the central position of the lower end surface of the partition plate 32 is rotatably connected to the threaded rod 33 through a bearing, the central position of the upper end surface of the partition plate 32 is fixedly connected with the second motor 34, the top end of the output shaft of the second motor 34 is fixedly connected to the threaded rod 33, the push block 35 is connected to a position close to the lower portion of the partition plate 32 on the outer surface of the threaded rod 33 in a screw transmission manner, the push block 35 is matched with the inner surface of the fixed box 31 and slidably connected thereto, the central positions of the front and rear sides of the inner surface of the fixed box 31 are symmetrically provided with limit grooves 4, and the limit grooves 4 are designed in a rectangular structure, the inner surface of the limiting groove 4 is connected with a sliding block 41 in a sliding manner, the other end surface of the sliding block 41 is fixedly connected with a push block 35, four corners of the bottom end surface of the fixed box 31 are fixedly connected with supporting blocks 51, the front and the back of the four supporting blocks 51 are in a group, the position of each group of the supporting blocks 51 close to the lower end is connected with a rotating rod 52 in a penetrating and rotating manner through a bearing, the outer surface of the rotating rod 52 close to the left side is fixedly connected with three clamping components 6 at equal intervals, the middle positions of the outer surfaces of the left and the right sides of the push block 35 are symmetrically hinged with a first connecting rod 54, the other end of the first connecting rod 54 is hinged with a second connecting rod 53, the other end of the second connecting rod 53 close to the left side is fixedly connected with the clamping component 6 at the middle position of the left side, the front and the back ends of the rotating rod 52 close to the right side are fixedly connected with two clamping components 6, the number of the clamping components 6 is five, and the five clamping components 6 are distributed at equal intervals in a left and right side in a staggered manner, the bottom end of the second connecting rod 53 close to the right side is fixedly connected with the right rotating rod 52.

By adopting the technical scheme, in the initial state, the clamping component 6 is in an open state, when the control driving mechanism 3 moves downwards and the clamping components 6 on the left side and the right side are positioned on two sides of the circular tube, the control motor II 34 works to drive the threaded rod 33 to rotate through the output shaft, the threaded rod 33 is in spiral transmission connection with the push block 35, and the push block 35 is in sliding connection with the limit groove 4 through the sliding block 41, so that the push block 35 is driven to move downwards along the limit groove 4, the push block 35 can be effectively prevented from rotating in the downward movement process under the action of the rectangular limit groove 4, and the connecting rod I54 on the left side and the connecting rod II 54 are further driven to move downwards, the connecting rod I54 is hinged with the connecting rod II 53, so that the top end of the connecting rod II 53 is driven to move towards the side far away from the push block 35, because the bottom end of the connecting rod II 53 on the left side is fixedly connected with the clamping component 6, and the rotating rod 52 are fixedly connected, then can drive left side centre gripping subassembly 6 and bull stick 52 and use bull stick 52 to do anticlockwise rotation as the center pin, and in the same way, when two 53 tops of right side connecting rod moved to keeping away from ejector pad 35 one side, because two 53 bottoms of right side connecting rod and bull stick 52 fixed connection, then can drive fixed connection's bull stick 52 with bull stick 52 and do clockwise rotation as the center pin, and then drive right side and bull stick 52 fixed connection's centre gripping subassembly 6 clockwise rotation, left and right sides centre gripping subassembly 6 moves in opposite directions, can press from both sides the pipe that is located between the left and right sides centre gripping subassembly 6 tightly, through the distribution of multiunit centre gripping subassembly 6 dislocation, the centre gripping stability of improvement centre gripping subassembly 6 that can be great, the possibility that the pipe drops in the transportation has been reduced greatly, through the reversal of control motor two 34, can control centre gripping subassembly 6 and loosen the pipe.

As an embodiment of the present invention, as shown in fig. 3, the clamping assembly 6 includes a clamping block 61, a clamping groove 62, and a fixing clamp 63, the clamping block 61 is fixedly connected to the rotating rod 52, the clamping groove 62 is formed on a front end surface of the clamping block 61, the fixing clamp 63 is disposed inside the clamping groove 62, both the clamping block and the fixing clamp are in a T-shaped structural design, the fixing clamp 63 is fixedly connected to the clamping block 61 through a bolt, both the fixing clamp 63 are in an arc-shaped structural design, the outer surface of one side of the left and right sides of the fixing clamp 63 opposite to each other is fixedly connected to an anti-skid pad 7, and the anti-skid pad 7 is made of rubber.

By adopting the technical scheme, the fixing clamp 63 is fixedly connected with the clamping block 61 through the bolt threads, so that the shape and the size of the fixing clamp 63 can be greatly convenient for a user to replace, thereby being capable of changing different clamps according to the shape of the clamped object, greatly improving the practicability of the device, having wide application range, and the rubber antiskid pad 7 is fixedly connected with the outer surface of the opposite side of the fixing clamp 63, so that the friction force of the contact surface of the rubber antiskid pad and the round pipe can be improved, the round pipe can be prevented from sliding off, the damage to the outer surface of the round pipe and the influence on the appearance of the round pipe can be reduced, and the fixing clip 63 and the locking groove 62 are designed to be engaged with each other in a T-shaped structure, so that when the fixing clip 63 clamps a heavy round pipe, can share for fixture block 61 with more power, reduce the bolt of thread tightening fixture block 61 and fixation clamp 63 and take place the probability of smooth silk, guarantee that centre gripping work's is stable goes on.

As an embodiment of the present invention, as shown in fig. 3 and fig. 6, a second sliding groove 8 is formed in the bottom end surface of the pushing block 35, a limiting block 81 is connected to the inner surface of the second sliding groove 8 in a sliding and matching manner, and both the two sliding grooves are designed in a T-shaped structure, a spring 82 is arranged between the top end of the inner surface of the second sliding groove 8 and the limiting block 81, a resisting block 83 is fixedly connected to the bottom end of the limiting block 81, the bottom end surface of the resisting block 83 is designed in an arc-shaped structure, and a rubber gasket is fixedly connected to the bottom end surface of the resisting block.

Through adopting the above technical scheme, when ejector pad 35 moves down, can drive the stopper 81 of two 8 inside of spouts and move down, thereby it moves down to drive and supports piece 83, slowly contact the up end of the pipe by the fixation clamp 63 centre gripping, when continuing the downstream, can extrude spring 82, make supporting piece 83 can be tight resist at the pipe up end, and support piece 83 bottom face for the arc structural design can be better with the laminating of pipe each other matching, with the common centre gripping pipe of below left and right sides fixation clamp 63 mutual matching, further improvement the fixed effect to the pipe, transportation safety and stability has been improved, and can reduce the collision with the pipe when supporting piece 83 moves down through setting up spring 82 greatly, the forming quality of pipe has been guaranteed.

The working principle is as follows: when the automatic pipe-moving device works, the first motor 14 is controlled to work, the screw rod 13 is driven to rotate through the rotating shaft, the screw rod 13 is in spiral transmission connection with the transmission block 15, the transmission block 15 is matched with the inner surface of the slide rail 1, the left and right movement of the transmission block 15 can be controlled through the forward and backward rotation of the first motor 14, when the transmission block 15 moves left and right, the roller 2 can be driven to roll in the first sliding groove 12, the sliding friction force of the transmission block 15 can be greatly reduced, the sliding is smoother, the service life of the sliding mechanism is prolonged, the transmission block 15 can drive the hydraulic push rod 16 to move left and right while sliding left and right, the driving mechanism 3 can be controlled to move up and down by controlling the extension and contraction of the hydraulic push rod 16, the driving mechanism 3 and the clamping component 6 are matched to work, the transportation of a round pipe can be realized, the carrying efficiency is greatly improved, and in an initial state, the clamping component 6 is in an open state, when a round pipe needs to be carried, the driving mechanism 3 and the clamping component 6 are controlled to move to the position right above the round pipe to be clamped, the hydraulic push rod 16 is controlled to extend, the driving mechanism 3 and the clamping component 6 can be controlled to synchronously move downwards, when the clamping components 6 on the left side and the right side are positioned on the two sides of the round pipe, the second motor 34 is controlled to work, the threaded rod 33 is driven to rotate through the output shaft, the threaded rod 33 is in spiral transmission connection with the push block 35, and the push block 35 is in sliding connection with the limiting groove 4 through the sliding block 41, the push block 35 is driven to move downwards along the limiting groove 4, the push block 35 can be effectively prevented from rotating in the process of moving downwards under the action of the rectangular limiting groove 4, the first connecting rod 54 on the left side and the right side can be driven to move downwards, and the first connecting rod 54 is hinged with the second connecting rod 53, the top end of the second connecting rod 53 can be driven to move towards the side far away from the push block 35, because the bottom end of the left connecting rod two 53 is fixedly connected with a group of clamping components 6, and the clamping components 6 are fixedly connected with the rotating rod 52, the left clamping components 6 and the rotating rod 52 can be driven to rotate anticlockwise around the rotating rod 52 as a central axis, similarly, when the top end of the right connecting rod two 53 moves to the side far away from the pushing block 35, the bottom end of the right connecting rod two 53 is fixedly connected with the rotating rod 52, the rotating rod 52 fixedly connected with the right connecting rod two can be driven to rotate clockwise around the rotating rod 52 as a central axis, so as to drive the clamping components 6 fixedly connected with the rotating rod 52 to rotate clockwise, the clamping components 6 on the left side and the right side move oppositely, a round pipe positioned between the clamping components 6 on the left side and the right side can be clamped, through the staggered distribution of a plurality of groups of clamping components 6, the clamping stability of the clamping components 6 can be greatly improved, the possibility of falling of the round pipe in the transportation process is greatly reduced, through controlling the motor two 34 to rotate reversely, the clamping assembly 6 can be controlled to loosen the round pipe, the fixing clamp 63 is fixedly connected with the clamping block 61 through the bolt threads, the shape and the size of the fixing clamp 63 can be greatly convenient for a user to replace, different clamps can be replaced according to the shape of a clamped object, the practicability of the device is greatly improved, the application range is wide, the rubber anti-slip pad 7 is fixedly connected to the outer surface of the opposite side of the fixing clamp 63, the friction force of the contact surface of the anti-slip pad and the round pipe can be improved, the round pipe can be prevented from slipping off, the damage to the outer surface of the round pipe can be reduced, the fixing clamp 63 and the clamping groove 62 are mutually clamped through a T-shaped structural design, when the fixing clamp 63 clamps a heavier round pipe, more force can be shared by the clamping block 61, the probability of thread-fixing the clamping block 61 and the clamping block 63 by the bolt is reduced, and the stable operation of clamping is ensured, when the pushing block 35 moves downwards, the limiting block 81 in the sliding groove II 8 can be driven to move downwards, so as to drive the abutting block 83 to move downwards, the abutting block is slowly contacted with the upper end surface of the round pipe clamped by the fixing clamp 63, when the pushing block continues to move downwards, the spring 82 can be extruded, so that the abutting block 83 can be tightly abutted against the upper end surface of the round pipe, the bottom end surface of the abutting block 83 is in an arc-shaped structural design and can be better matched and attached with the round pipe, the round pipe is clamped by the fixing clamps 63 on the left side and the right side below, the fixing effect on the round pipe is further improved, the collision between the abutting block 83 and the round pipe when the abutting block 83 moves downwards can be greatly reduced by arranging the spring 82, the forming quality of the round pipe is ensured, and meanwhile, when a power failure occurs, because the threaded rod 33 is in spiral transmission connection with the pushing block 35, the driving mechanism 3 can be automatically locked under the condition that the driving of the motor II 34 does not exist, greatly reduced the clamping device unstability that the power failure phenomenon caused and the risk that causes the pipe to drop, great improvement the device's safety and stability nature.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the spirit of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a transport manipulator, includes slide rail (1), its characterized in that: the left end and the right end of the bottom end face of the sliding rail (1) are symmetrically and fixedly connected with supporting frames (11), and the position, close to the middle, of the inner surface of the sliding rail (1) is connected with a transmission block (15) in a sliding mode;

the bottom face fixedly connected with hydraulic rod (16) of driving block (15), and the bottom fixedly connected with actuating mechanism (3) of hydraulic rod (16), the below of actuating mechanism (3) is provided with centre gripping subassembly (6), centre gripping subassembly (6) and actuating mechanism (3) are matchd work each other and can be carried out the centre gripping transportation to the pipe of different diameters size, and the centre gripping must fasten more stably, and the security is high, and the practicality is strong.

2. A transfer robot as claimed in claim 1, wherein: the utility model discloses a slide rail, including slide rail (1), the internal surface left and right sides of slide rail (1) have been seted up to bilateral symmetry, the internal surface left and right sides of slide rail (1) is rotated through the bearing and is connected with lead screw (13), slide rail (1) is run through to the left end of lead screw (13), and the left end face fixedly connected with motor (14) of slide rail (1), the output shaft and lead screw (13) fixed connection of motor (14), lead screw (13) are connected with transmission piece (15) screw drive, the symmetry rotates around the position that the both sides surface corresponds spout (12) around transmission piece (15) and is connected with a plurality of groups gyro wheel (2), and gyro wheel (2) and spout (12) match each other and sliding connection.

3. A transfer robot as claimed in claim 1, wherein: the driving mechanism (3) comprises a fixed box (31), a partition plate (32), a threaded rod (33), a second motor (34) and a push block (35);

the bottom fixedly connected with of hydraulic ram (16) is fixed case (31), the internal surface of fixed case (31) is close to position fixedly connected with baffle (32) of top, and the lower terminal surface central point of baffle (32) puts and runs through rotation through the bearing and is connected with threaded rod (33), and the up end central point of baffle (32) puts fixedly connected with motor two (34), and the output shaft top and threaded rod (33) fixed connection of motor two (34), the surface of threaded rod (33) is close to position screw drive of baffle (32) below and is connected with ejector pad (35), and the internal surface of ejector pad (35) and fixed case (31) matches each other and sliding connection.

4. A transfer robot as claimed in claim 3, wherein: spacing groove (4) have been seted up to both sides central point puts the symmetry around the internal surface of fixed case (31), and spacing groove (4) are rectangle structural design, the internal surface sliding connection of spacing groove (4) has slider (41), and another terminal surface and ejector pad (35) fixed connection of slider (41).

5. A transfer robot as claimed in claim 3, wherein: supporting blocks (51) are fixedly connected to four corners of the bottom end face of the fixed box (31), the four supporting blocks (51) are grouped in a front-back two-two mode, the position, close to the lower end, of each supporting block (51) is rotatably connected with a rotating rod (52) in a penetrating mode through a bearing, and the outer surface, close to the rotating rod (52) on the left side, of each supporting block is fixedly connected with three clamping assemblies (6) in an equidistant mode;

and the middle positions of the outer surfaces of the left side and the right side of the push block (35) are symmetrically hinged with a first connecting rod (54), the other end of the first connecting rod (54) is hinged with a second connecting rod (53), and the other end of the second connecting rod (53) close to the left side is fixedly connected with the clamping component (6) at the middle position of the left side.

6. A transfer robot as claimed in claim 5, wherein: be close to the right side two centre gripping subassemblies of both ends fixedly connected with (6) around bull stick (52), the quantity of centre gripping subassembly (6) is five altogether centre gripping subassembly (6) are about equidistance dislocation distribution, are close to the right side the bottom and the right side bull stick (52) fixed connection of connecting rod two (53).

7. A transfer robot as claimed in claim 5, wherein: the clamping assembly (6) comprises a clamping block (61), a clamping groove (62) and a fixing clamp (63);

the fixture block (61) is fixedly connected with the rotating rod (52), a clamping groove (62) is formed in the front end face of the fixture block (61), a fixing clamp (63) is arranged inside the clamping groove (62), the fixture block and the clamping groove are both of T-shaped structural design, and the fixing clamp (63) is fixedly connected with the fixture block (61) through a bolt.

8. A transfer robot as claimed in claim 7, wherein: the fixing clamp (63) is of an arc-shaped structural design, the outer surface of one side, opposite to the fixing clamp (63), of the left side and the right side is fixedly connected with the anti-slip mat (7), and the anti-slip mat (7) is made of rubber.

9. A transfer robot as claimed in claim 3, wherein: the bottom end face of the push block (35) is provided with a second sliding groove (8), the inner surface of the second sliding groove (8) is connected with a limiting block (81) in a sliding matching mode, the two sliding grooves are of T-shaped structural design, and a spring (82) is arranged between the top end of the inner surface of the second sliding groove (8) and the limiting block (81).

10. A transfer robot as claimed in claim 9, wherein: the bottom end of the limiting block (81) is fixedly connected with a resisting block (83), the bottom end face of the resisting block (83) is designed to be of an arc-shaped structure, and the bottom end face of the resisting block is fixedly connected with a rubber gasket.