CN115215105A

CN115215105A - Metal pipe clamping and conveying manipulator

Info

Publication number: CN115215105A
Application number: CN202210925422.4A
Authority: CN
Inventors: 杨志鹏; 徐龙剑; 何立飞
Original assignee: Jiangsu Golden Cat Robot Technology Co ltd
Current assignee: Jiangsu Golden Cat Robot Technology Co ltd
Priority date: 2022-08-03
Filing date: 2022-08-03
Publication date: 2022-10-21

Abstract

The invention relates to the technical field of conveying manipulators, in particular to a metal pipe clamping and conveying manipulator which comprises a storage structure, an opening and closing structure, a fixing structure, a feeding structure, a positioning structure and a guiding structure, wherein the storage structure is arranged on the storage structure; the metal pipes are pushed to fall into the storage structure one by one through the feeding structure for stacking, so that the movement mechanism is effectively prevented from frequently moving, the energy is saved, and the operation efficiency is improved; the guide structure is arranged to facilitate the guiding and positioning of the metal pipe, so that the metal pipe can enter the storage structure more stably; the arrangement of the positioning structure is convenient for enabling the end part of the metal pipe to be flush when the metal pipe inclines towards the positioning structure, so that the stacking effect of the metal pipe is better; the opening and closing structure is convenient for discharging after the stacking of the metal pipes is finished, and meanwhile, the fixing structure is convenient to drive to not clamp the metal pipes, so that the discharging of the metal pipes finished by stacking is more convenient.

Description

Metal pipe clamping and conveying manipulator

Technical Field

The invention relates to the technical field of conveying manipulators, in particular to a metal pipe clamping and conveying manipulator.

Background

When the metal pipe is conveyed to a designated position through the conveying belt after being cut and machined, the metal pipe is clamped through the mechanical arm, the metal pipe is stacked on the stacking rack through the mechanical arm, then the stacked metal pipe is packaged and conveyed, the mechanical arm mainly comprises an executing mechanism, a driving mechanism and a control system, the hand is a part used for grasping a workpiece (or a tool), and the moving mechanism enables the hand to complete various rotating (swinging), moving or compound movements to achieve specified actions and change the position and the posture of the grasped workpiece.

However, the hands of the conventional manipulator mostly adopt simple clamps to clamp metal pipes, a motion mechanism is required to frequently drive the hands to move to the position of the stacking rack to stack the metal pipes one by one, the operation frequency of the motion mechanism is high, the energy consumption is high, and the stacking rack is arranged on one side of the conveying belt, so that the occupied space in the horizontal direction is large.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a metal pipe clamping and conveying manipulator.

The technical scheme adopted by the invention for solving the technical problems is as follows: a metal pipe clamping and conveying manipulator comprises a storage structure, wherein a feeding structure used for pushing a metal pipe to be fed is arranged on the storage structure, a guide structure used for guiding the metal pipe is arranged on the storage structure, and a positioning structure used for positioning the metal pipe is arranged at the end part of the storage structure; the storage structure is provided with an opening and closing structure for controlling the unloading of the stacked metal pipes, and the opening and closing structure drives a fixing structure on the storage structure to fix the metal pipes;

the storage structure comprises a connecting frame, one end of the connecting frame is connected to a moving mechanism of the manipulator, the other end of the connecting frame is fixed to a fixing frame, two guide frames which are L-shaped structures are fixed to two ends of the fixing frame, a storage frame which is used for storing metal pipes and is of a U-shaped structure is arranged at the bottom end of each guide frame, a vertical upward guide groove is formed between each guide frame and the corresponding storage frame in a surrounding mode, and a guide plate is fixed to the bottom end of each storage frame.

Specifically, the fixing frame is of a U-shaped structure, and the guide plate is of an L-shaped structure.

Specifically, the feeding structure includes the second pneumatic cylinder, be fixed with the second pneumatic cylinder on the fixed frame, the second pneumatic cylinder drive is two push pedal between the guide frame slides, the bottom thickness of push pedal is greater than top thickness.

Specifically, be fixed with the second guide bar that the cross-section is T shape structure on the push pedal, sliding connection between second guide bar and the fixed frame.

Specifically, one side of storage frame towards the guide way is equipped with two guide rolls that rotate the connection, the winding has the conveyer belt on the guide roll, the equidistance is equipped with both sides and is curved locating piece on the conveyer belt.

Specifically, location structure includes the slide bar, and it is equipped with the slide bar to slide on one of them storage frame, the one end of slide bar is fixed with the locating plate, threaded connection between the other end of slide bar and the lead screw, rotate between lead screw and the storage frame and be connected.

Specifically, a third guide rod is fixed on the positioning plate, and the third guide rod is connected with the storage frame in a sliding mode.

Specifically, it includes the drive shaft, two to open and close the structure rotate between the guide frame and be equipped with the drive shaft, be fixed with the protection casing in the drive shaft, be fixed with the connecting block in the drive shaft, rotate between connecting block and the first pneumatic cylinder and be connected, rotate between first pneumatic cylinder and the fixed frame and be connected.

Specifically, the protection casing is U-shaped in the vertical direction, be equipped with first recess on the protection casing, be equipped with the second recess in the push pedal.

The fixing structure comprises a pressing plate, a pressing plate and a mounting plate are arranged on the guide frame in a sliding mode, the mounting plate is connected between the pressing plate, a first guide rod is fixed on the guide frame, the pressing plate is connected with the first guide rod of the T-shaped structure in a sliding mode, a rack is fixed on the pressing plate, a guide shaft is arranged on the guide frame in a rotating mode, a gear on the guide shaft is meshed with a gear on the driving shaft, and the gear on the guide shaft is meshed with the rack.

The beneficial effects of the invention are:

(1) According to the metal pipe clamping and conveying manipulator, the feeding structure for pushing the metal pipes to be fed is arranged on the storage structure, so that the metal pipes are pushed to fall into the storage structure one by one through the feeding structure to be stacked after the storage structure is lifted to the top end of the conveying belt for conveying the metal pipes through the moving mechanism of the manipulator, frequent movement of the moving mechanism is effectively prevented, energy is saved, and the operation efficiency is improved.

(2) According to the metal pipe clamping and conveying manipulator, the storage structure is provided with the guide structure for guiding the metal pipe, the guide structure is convenient to guide and position the metal pipe, and the metal pipe can enter the storage structure more stably.

(3) According to the metal pipe clamping and conveying manipulator disclosed by the invention, the end part of the storage structure is provided with the positioning structure for positioning the metal pipe, and the positioning structure is arranged so that the end part of the metal pipe is flush when the metal pipe inclines towards the positioning structure, so that the stacking effect of the metal pipe is better.

(4) According to the metal pipe clamping and conveying manipulator, the storage structure is provided with the opening and closing structure for controlling the metal pipe after stacking to be discharged, the opening and closing structure drives the fixing structure on the storage structure to fix the metal pipe, the opening and closing structure is convenient for discharging after stacking of the metal pipe is completed, and meanwhile, the fixing structure is convenient to drive to not clamp the metal pipe, so that the metal pipe after stacking is more convenient to discharge.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic overall structure diagram of a metal pipe clamping and conveying robot according to a preferred embodiment of the present invention;

FIG. 2 is an enlarged view of the part A shown in FIG. 1;

FIG. 3 is a schematic view of the connection structure of the fixing frame and the feeding structure of the present invention;

FIG. 4 is an enlarged view of the part B shown in FIG. 3;

FIG. 5 is a schematic view of a connection structure between a storage frame and a positioning structure according to the present invention;

FIG. 6 is a schematic view of a connection structure of the guide frame and the fixing structure according to the present invention;

FIG. 7 is an enlarged view of the structure of the portion C shown in FIG. 6;

fig. 8 is an enlarged view of the structure of the portion D shown in fig. 6.

In the figure: 1. a storage structure; 101. a storage frame; 102. a guide frame; 103. a connecting frame; 104. a fixing frame; 105. a guide groove; 106. a guide plate; 2. an opening and closing structure; 201. a first hydraulic cylinder; 202. a protective cover; 203. a first groove; 204. connecting blocks; 205. a drive shaft; 3. a fixed structure; 301. pressing a plate; 302. mounting a plate; 303. a first guide bar; 304. a rack; 305. a gear; 306. a guide shaft; 4. a feed structure; 401. pushing a plate; 402. a second groove; 403. a second guide bar; 404. a second hydraulic cylinder; 5. a positioning structure; 501. positioning a plate; 502. a third guide bar; 503. a screw rod; 504. a slide bar; 6. a guide structure; 601. positioning blocks; 602. a guide roller; 603. and (7) a conveying belt.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 8, the metal pipe clamping and conveying manipulator comprises a storage structure 1, wherein a feeding structure 4 for pushing a metal pipe to be fed is arranged on the storage structure 1, a guiding structure 6 for guiding the metal pipe is arranged on the storage structure 1, and a positioning structure 5 for positioning the metal pipe is arranged at an end of the storage structure 1; the storage structure 1 is provided with an opening and closing structure 2 for controlling the discharge of the stacked metal pipes, and the opening and closing structure 2 drives a fixing structure 3 on the storage structure 1 to fix the metal pipes;

the storage structure 1 comprises a connecting frame 103, one end of the connecting frame 103 is connected to a movement mechanism of a manipulator, the other end of the connecting frame 103 is fixed to a fixed frame 104, two guide frames 102 which are L-shaped structures are fixed to two ends of the fixed frame 104, a storage frame 101 which is used for storing metal pipes and is U-shaped is arranged at the bottom end of each guide frame 102, a vertically upward guide groove 105 is defined between each guide frame 102 and each storage frame 101, and a guide plate 106 is fixed to the bottom end of each storage frame 101;

the feeding structure 4 comprises a second hydraulic cylinder 404, the second hydraulic cylinder 404 is fixed on the fixing frame 104, the second hydraulic cylinder 404 drives a push plate 401 between the two guide frames 102 to slide, and the thickness of the bottom end of the push plate 401 is greater than that of the top end; a second guide rod 403 with a T-shaped section is fixed on the push plate 401, and the second guide rod 403 is connected with the fixed frame 104 in a sliding manner;

the moving mechanism through the manipulator drives the connecting frame 103, so that the guide plate 106 and the push plate 401 are positioned at the top end of the metal pipe conveying belt, the conveying belt drives the metal pipe to be positioned in the guide groove 105 between the guide plate 106 and the push plate 401, then the second hydraulic cylinder 404 extends to drive the push plate 401 to slide rightwards, because the thickness of the bottom end of the push plate 401 is greater than that of the top end, and then the push plate 401 pushes the metal pipe to rotate in the guide groove 105 when sliding rightwards, the metal pipe rolls on the inclined plane of the push plate 401, then the metal pipe drops to the storage frame 101 from the top end of the guide groove 105, the frequent movement of the moving mechanism is effectively prevented, the energy is saved, the operation efficiency is improved, the push plate 401 drives the second guide rod 403 to slide with the fixed frame 104 when sliding, and the push plate 401 slides more stably.

Specifically, fixed frame 104 is the U-shaped structure, is convenient for store metal tubular product, deflector 106 is the L-shaped structure, makes the installation more convenient between deflector 106 and the storage frame 101.

Specifically, one side of the storage frame 101 facing the guide groove 105 is provided with two guide rollers 602 which are rotatably connected, a conveying belt 603 is wound on the guide rollers 602, and positioning blocks 601 with two arc-shaped sides are equidistantly arranged on the conveying belt 603; when push pedal 401 promoted metal tubular product and rose rotation in guide way 105, can contact locating piece 601, locating piece 601 both sides are the arc, increase and metal tubular product's area of contact, metal tubular product promotes locating piece 601, make locating piece 601 drive conveyer belt 603, make guide roll 602 rotate, the setting of locating piece 601 prevents the inhomogeneous perk of metal tubular product both ends weight, improved the quality of feeding greatly, reduced the frictional force between metal tubular product and the storage frame 101 lateral wall simultaneously.

Specifically, the positioning structure 5 includes sliding rods 504, one of the storage frames 101 is slidably provided with the sliding rod 504, one end of the sliding rod 504 is fixed with a positioning plate 501, the other end of the sliding rod 504 is in threaded connection with a lead screw 503, the lead screw 503 is rotatably connected with the storage frame 101, a third guide rod 502 is fixed on the positioning plate 501, and the third guide rod 502 is slidably connected with the storage frame 101; when the metal tubular product in storage frame 101 is enough, second hydraulic cylinder 404 extends drive push pedal 401 and slides right, make push pedal 401 contradict to many metal tubular products, make the metal tubular product on top contradict with clamp plate 301, it is more convenient to make the binding, motion drives storage frame 101 towards the slope of locating plate 501 direction, make the tip of metal tubular product all align with locating plate 501, and then make the pile up neatly effect of metal tubular product better, rotatable lead screw 503 simultaneously, make to slide between lead screw 503 screw drive slide bar 504 and the storage frame 101, make to slide between third guide bar 502 and the storage frame 101, be convenient for adjust the distance of locating plate 501 apart from between the storage frame 101, adapt to the metal tubular product of different length.

Specifically, the opening and closing structure 2 comprises a driving shaft 205, the driving shaft 205 is rotatably arranged between the two guide frames 102, a protective cover 202 is fixed on the driving shaft 205, a connecting block 204 is fixed on the driving shaft 205, the connecting block 204 is rotatably connected with a first hydraulic cylinder 201, and the first hydraulic cylinder 201 is rotatably connected with a fixed frame 104; the moving mechanism moves the storage frame 101 to an appointed position, meanwhile, the storage frame 101 inclines towards the direction of the protective cover 202, the first hydraulic cylinder 201 contracts, the first hydraulic cylinder 201 rotates with the fixed frame 104, the first hydraulic cylinder 201 rotates with the connecting block 204, the connecting block 204 is driven to rotate anticlockwise, the connecting block 204 drives the driving shaft 205 to rotate, the driving shaft 205 drives the protective cover 202 to rotate, the metal pipe is not shielded, and then the metal pipe subjected to stacking is dropped to a forklift or the appointed position.

Specifically, the protective cover 202 is U-shaped in the vertical direction, a first groove 203 is formed in the protective cover 202, and a second groove 402 is formed in the push plate 401; and (3) penetrating the packing belt through the first groove 203 and the second groove 402 to bind the metal pipe.

Specifically, the fixing structure 3 includes a pressing plate 301, the pressing plate 301 is slidably disposed on the guide frame 102, a mounting plate 302 is connected between the two pressing plates 301, a first guide rod 303 is fixed on the guide frame 102, the pressing plate 301 is slidably connected with the first guide rod 303 of the T-shaped structure, a rack 304 is fixed on the pressing plate 301, a guide shaft 306 is rotatably disposed on the guide frame 102, a gear 305 on the guide shaft 306 is engaged with a gear 305 on the drive shaft 205, and the gear 305 on the guide shaft 306 is engaged with the rack 304; meanwhile, when the driving shaft 205 rotates anticlockwise, the gear 305 on the driving shaft 205 drives the gear 305 on the guide shaft 306 to rotate, the gear 305 on the guide shaft 306 drives the rack 304 to slide upwards, the rack 304 drives the pressing plate 301 to move upwards, the distance between the pressing plate 301 and the metal pipe is increased, the metal pipe after stacking is unloaded, and meanwhile, the pressing plate 301 slides between the first guide rod 303 of the T-shaped structure, so that the sliding is more stable, and the pressing plate 301 is prevented from slipping.

When the device is used, firstly, the connecting frame 103 is driven by the movement mechanism of the manipulator, the guide plate 106 and the push plate 401 are positioned at the top end of the metal pipe conveying belt, the conveying belt drives the metal pipe to be positioned in the guide groove 105 between the guide plate 106 and the push plate 401, then the second hydraulic cylinder 404 extends to drive the push plate 401 to slide rightwards, and as the thickness of the bottom end of the push plate 401 is larger than that of the top end, the metal pipe is pushed to rotate in the guide groove 105 when the push plate 401 slides rightwards, the metal pipe rolls on the inclined plane of the push plate 401, and then the metal pipe falls into the storage frame 101 from the top end of the guide groove 105, so that the movement mechanism is effectively prevented from frequently moving, energy is saved, and the operation efficiency is improved, the second guide rod 403 and the fixed frame 104 are driven to slide when the push plate 401 slides, and the push plate 401 slides more stably;

when the push plate 401 pushes the metal pipe to ascend and rotate in the guide groove 105, the metal pipe can contact the positioning block 601, two sides of the positioning block 601 are arc-shaped, the contact area of the positioning block 601 and the metal pipe is increased, the metal pipe pushes the positioning block 601, the positioning block 601 drives the conveying belt 603, the guide roller 602 rotates, the positioning block 601 prevents the weight of two ends of the metal pipe from being uneven and tilted, the feeding quality is greatly improved, and meanwhile, the friction force between the metal pipe and the outer side wall of the storage frame 101 is reduced;

when enough metal pipes are arranged in the storage frame 101, the second hydraulic cylinder 404 extends to drive the push plate 401 to slide rightwards, so that the push plate 401 abuts against a plurality of metal pipes, the metal pipes at the top end abut against the press plate 301, binding is more convenient, the movement mechanism drives the storage frame 101 to incline towards the direction of the positioning plate 501, the end portions of the metal pipes are aligned with the positioning plate 501, the stacking effect of the metal pipes is further better, meanwhile, the lead screw 503 can be rotated, the lead screw 503 can drive the sliding rod 504 and the storage frame 101 to slide in a threaded manner, the third guide rod 502 and the storage frame 101 to slide in a threaded manner, the distance between the positioning plate 501 and the storage frame 101 can be conveniently adjusted, and the metal pipes with different lengths can be adapted; then, the packing belt penetrates through the first groove 203 and the second groove 402 to bind the metal pipe;

then, the moving mechanism moves the storage frame 101 to a specified position, meanwhile, the storage frame 101 is inclined towards the protective cover 202, the first hydraulic cylinder 201 is contracted, the first hydraulic cylinder 201 and the fixed frame 104 rotate, the first hydraulic cylinder 201 and the connecting block 204 rotate to further drive the connecting block 204 to rotate anticlockwise, the connecting block 204 drives the driving shaft 205 to rotate, the driving shaft 205 drives the protective cover 202 to rotate, the metal pipe is not shielded, and the metal pipe subjected to stacking falls onto a forklift or the specified position;

meanwhile, when the driving shaft 205 rotates anticlockwise, the gear 305 on the driving shaft 205 drives the gear 305 on the guide shaft 306 to rotate, the gear 305 on the guide shaft 306 drives the rack 304 to slide upwards, the rack 304 drives the pressing plate 301 to move upwards, the distance between the pressing plate 301 and the metal pipe is increased, the metal pipe after stacking is unloaded, and meanwhile, the pressing plate 301 slides between the first guide rod 303 of the T-shaped structure, so that the sliding is more stable, and the pressing plate 301 is prevented from slipping.

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.

Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.

Claims

1. The metal pipe clamping and conveying manipulator is characterized by comprising a storage structure (1), wherein a feeding structure (4) for pushing a metal pipe to be fed is arranged on the storage structure (1), a guide structure (6) for guiding the metal pipe is arranged on the storage structure (1), and a positioning structure (5) for positioning the metal pipe is arranged at the end part of the storage structure (1); the storage structure (1) is provided with an opening and closing structure (2) for controlling the discharge of the stacked metal pipes, and the opening and closing structure (2) drives a fixing structure (3) on the storage structure (1) to fix the metal pipes;

storage structure (1) is including connection frame (103), the one end of connection frame (103) is connected in the moving mechanism of manipulator, the other end of connection frame (103) is fixed in fixed frame (104), the both ends of fixed frame (104) are fixed with two guide frame (102) that are L shape structure, the bottom of guide frame (102) is equipped with storage frame (101) that are used for storing metal tubular product, U-shaped structure, enclose into vertical ascending guide way (105) between guide frame (102) and storage frame (101), the bottom mounting of storage frame (101) has deflector (106).

2. The metal pipe clamping and conveying manipulator as claimed in claim 1, wherein: the fixing frame (104) is of a U-shaped structure, and the guide plate (106) is of an L-shaped structure.

3. The metal pipe clamping and conveying manipulator as claimed in claim 1, wherein: the feeding structure (4) comprises a second hydraulic cylinder (404), the second hydraulic cylinder (404) is fixed on the fixing frame (104), the second hydraulic cylinder (404) drives two push plates (401) between the guide frames (102) to slide, and the thickness of the bottom ends of the push plates (401) is larger than that of the top ends of the push plates (401).

4. The metal pipe clamping and conveying manipulator as claimed in claim 3, wherein: a second guide rod (403) with a T-shaped section is fixed on the push plate (401), and the second guide rod (403) is connected with the fixed frame (104) in a sliding manner.

5. The metal pipe clamping and conveying manipulator as claimed in claim 1, wherein: one side of storage frame (101) towards guide way (105) is equipped with two guide rolls (602) of rotating the connection, the winding has conveyer belt (603) on guide roll (602), conveyer belt (603) equidistance is equipped with both sides and is curved locating piece (601).

6. The metal pipe clamping and conveying manipulator as claimed in claim 1, wherein: location structure (5) include slide bar (504), and one of them storage frame (101) is gone up the slip and is equipped with slide bar (504), the one end of slide bar (504) is fixed with locating plate (501), threaded connection between the other end of slide bar (504) and lead screw (503), rotate between lead screw (503) and the storage frame (101) and be connected.

7. The metal pipe clamping and conveying manipulator as claimed in claim 6, wherein: and a third guide rod (502) is fixed on the positioning plate (501), and the third guide rod (502) is connected with the storage frame (101) in a sliding manner.

8. The metal pipe clamping and conveying manipulator as claimed in claim 3, wherein: open and close structure (2) and include drive shaft (205), two it is equipped with drive shaft (205) to rotate between guide frame (102), be fixed with protection casing (202) on drive shaft (205), be fixed with connecting block (204) on drive shaft (205), rotate between connecting block (204) and first pneumatic cylinder (201) and be connected, rotate between first pneumatic cylinder (201) and the fixed frame (104) and be connected.

9. The metal pipe clamping and conveying manipulator as claimed in claim 8, wherein: the protective cover is U-shaped in the vertical direction of the protective cover (202), a first groove (203) is formed in the protective cover (202), and a second groove (402) is formed in the push plate (401).

10. The metal pipe clamping and conveying manipulator as claimed in claim 8, wherein: fixed knot constructs (3) including clamp plate (301), it is equipped with clamp plate (301) to slide on guide frame (102), two be connected with mounting panel (302) between clamp plate (301), be fixed with first guide bar (303) on guide frame (102), sliding connection between clamp plate (301) and the first guide bar (303) of T shape structure, be fixed with rack (304) on clamp plate (301), it is equipped with guiding axle (306) to rotate on guide frame (102), gear (305) on guiding axle (306) and gear (305) meshing on drive shaft (205), gear (305) and rack (304) meshing on guiding axle (306).