CN117359669B - Manipulator for clamping and transporting steel pipes - Google Patents
Manipulator for clamping and transporting steel pipes Download PDFInfo
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- CN117359669B CN117359669B CN202311666012.3A CN202311666012A CN117359669B CN 117359669 B CN117359669 B CN 117359669B CN 202311666012 A CN202311666012 A CN 202311666012A CN 117359669 B CN117359669 B CN 117359669B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 34
- 239000010959 steel Substances 0.000 title claims abstract description 34
- 210000001503 joint Anatomy 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 9
- 230000000087 stabilizing effect Effects 0.000 claims description 9
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000010030 laminating Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 description 6
- 238000003032 molecular docking Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
Abstract
The invention relates to the technical field of manipulators, and discloses a manipulator for clamping and transferring steel pipes, which comprises a manipulator, wherein the manipulator is used for transferring and moving the pipes, and two end plates are arranged at the outer end of the manipulator; the steel pipe gripping device comprises a plurality of end plates, a plurality of positioning plates, a plurality of holding plates, a plurality of clamping plates and a clamping unit, wherein the two end plates are arranged on the two ends of the steel pipe gripping device, the two end plates are fixedly connected with the positioning plates, the positioning plates are fixedly arranged at the inner sides of the two end plates, at least one moving rod is inserted in the moving openings in a sliding mode, the positioning units are fixedly connected with the outer ends of the moving rods in a butt joint mode with the positioning plates, and the clamping plates are rotatably arranged at the other ends of the moving rods.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a manipulator for clamping and transferring steel pipes.
Background
A manipulator is an automatic or semi-automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed sequence.
When the conventional manipulator clamps, the conventional manipulator usually has the modes of adsorption, clamping, holding and the like to transport objects, and when the steel pipe is transported, the conventional adsorption is difficult to stably absorb due to the fact that the outer wall of the pipe is smooth, the pipe is easy to roll, the holding and the like are difficult to position and clamp, in order to facilitate clamping and transporting of a plurality of pipes at one time, the prior Chinese patent document CN202211077809.5 discloses a manipulator for transporting the pipes, the three pipes can be clamped through a designed clamping plate, and meanwhile, the prior Chinese patent document CN201810031808.4 discloses a pipe transporting manipulator, and a designed bracket and a fixing clamp are mutually attached to realize clamping of the plurality of pipes;
the equipment in above-mentioned two schemes can realize once only transporting many tubular products, but need the length of the more splint of corresponding design or extension bracket and fixation clamp, also can only the tubular product of centre gripping one deck, and tubular product centre gripping quantity is still limited, and transport in batches is being carried out to the tubular product, and efficiency is still too low, also can't satisfy the centre gripping transport of different size tubular products simultaneously, and the use restriction is more, and for this reason, we propose a manipulator for the transportation of steel pipe centre gripping.
Disclosure of Invention
The invention aims to provide a manipulator for clamping and transferring steel pipes, which solves the problem that the transfer efficiency is low because only one layer of pipe can be clamped during transferring the pipe in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions: the manipulator for clamping and transferring the steel pipe comprises a mechanical arm, wherein the mechanical arm is used for transferring and moving the pipe, and two end plates are arranged at the outer end of the mechanical arm; the pipe jacking device comprises two end plates, and is characterized by further comprising supporting units arranged at the bottoms of the two end plates, wherein the supporting units are used for supporting pipes, a moving opening is formed in each end plate, positioning plates are fixed on the inner sides of the two end plates, at least one moving rod is inserted in each moving opening in a sliding mode, the outer ends of the moving rods are fixedly provided with positioning units which are in butt joint with the positioning plates, the other ends of the moving rods are rotatably provided with clamping plates, the outer sides of the moving rods are fixedly provided with clamping units, and the clamping plates are driven by the clamping units to abut against the tops of the pipes; and the limiting unit is arranged on the clamping plate and used for limiting in the pipe clamping process.
Preferably, the shape of grip block is rectangle frame form, just spacing unit install in the frame of grip block, the one end of grip block with the movable rod rotates the butt joint, just the grip block tail end seted up with the smooth mouth of grip block butt joint, the rubber pad is installed to the bottom of grip block for improve the frictional force to the steel pipe centre gripping, rectangle frame shape for spacing unit installs in its inside, reduces the product size, and plays the guard effect to spacing unit.
Preferably, the clamping unit comprises a lug fixed on the outer side of the movable rod, the lug is positioned in the clamping plate and is butted with the limiting unit, a mounting frame is fixed on the lug, an electric push rod I is mounted on the mounting frame, the output end of the electric push rod I stretches into the tail end of the clamping plate and is fixed with a sliding column which is in sliding connection with the sliding opening, and the designed clamping unit meets the requirement of driving the clamping plate to rotate so as to clamp the pipe.
Preferably, the limiting unit comprises a limiting plate and a stabilizing sleeve fixed in the clamping plate, a long rod is inserted in the stabilizing sleeve in a sliding mode, the limiting plate is rotatably installed on the clamping plate through a rotating shaft, a connecting shaft is fixed at the top of the limiting plate, a connecting frame is fixed at one end of the long rod, an opening inserted with the connecting shaft is formed in the connecting frame, a fitting piece butted with the protruding block is installed at one end of the long rod away from the connecting frame, and the limiting unit has a limiting function and enables a pipe to be prevented from being separated along the outer end of the clamping plate during transportation.
Preferably, the laminating piece is including rotating the roller of installing at the stock outer end, the roller with the lug outside is laminated mutually, just the outside of stock is fixed with the butt plate, the stock outside cover have with the butt plate with the push spring that firm cover offseted, the upper end of lug is circular arc shape, and the roller moves up along the lug, and the roller is close to the movable rod, and the laminating piece of design makes the grip block when rotating, laminates along the lug for drive spacing unit and carry out the removal that corresponds, thereby drive the limiting plate that can correspond rotates, when the grip block pushes down, opens the limiting plate and carries out the spacing of tubular product, when opening, pack up the input of limiting plate be convenient for tubular product.
Preferably, the bottom of lug is fixed with the bottom plate, the bottom plate with grip block bottom looks adaptation for the grip block can laminate mutually with the bottom plate and hold in the palm when the downward sloping, improves its stability.
Preferably, the positioning unit comprises a butt joint frame fixed at the outer end of the movable rod, the butt joint frame is attached to the positioning plate, positioning holes are formed in the positioning plate, at least one positioning pin penetrating through the positioning holes is inserted on the butt joint frame in a threaded manner, and the designed positioning rod unit can be used for adjusting the position of the movable rod, so that the distance between adjacent movable rods is adjusted, and clamping of pipes with different sizes is met.
Preferably, the locating plate is equipped with two, and distributes in the removal mouth both sides, two the locating plate with the butt joint frame outside is laminated mutually, the locating pin is equipped with four, and two liang of distributions are in the butt joint frame both sides, design like this improves stability for the carriage release lever location is stable.
Preferably, the holding unit comprises a cross rod which is inserted at the bottoms of the two end plates in a sliding manner, two holding plates are rotatably arranged at two ends of the cross rod, two electric push rods II are fixed on the outer sides of the end plates through motor frames, opposite interfaces are arranged at the tail ends of the holding plates, the output ends of the electric push rods II penetrate through the opposite interfaces in a sliding manner, limiting end blocks which are propped against the tail ends of the holding plates are fixed at the output ends of the electric push rods II, the designed holding unit meets the holding of pipes, and the pipe is stably clamped by matching with the clamping plates.
Preferably, a plurality of rolling rods are rotatably arranged between the supporting plates, and when the supporting plates hold the pipe, one end of the supporting plates, which is far away from the cross rod, is higher than one end, which is close to the cross rod, of the supporting plates, and the outer ends of the supporting plates are slightly tilted, so that the pipe is more stable and cannot fall off outwards when being supported.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, by improving the existing manipulator, the layered grabbing of the steel pipes is realized under the action of the designed supporting unit, the plurality of clamping plates and the clamping unit, and the multi-layer pipe can be clamped at one time.
2. According to the pipe clamping device, the plurality of clamping plates are subjected to position adjustment on the end plate through the positioning unit, so that the clamping of pipes with different sizes is met, and pipes with various specifications can be stably transported when transported, and the operation is flexible and convenient.
Drawings
FIG. 1 is a schematic diagram of the overall multi-layer sequential clamping process of the steel pipe according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the present invention;
FIG. 3 is a schematic view of a single clamping plate and a clamping unit for clamping a pipe according to the present invention;
FIG. 4 is a schematic side view of the present invention holding different sized tubing;
FIG. 5 is a schematic side view of the sequential unloading of the multilayer tubing of the present invention;
FIG. 6 is a schematic view of the internal structure of the clamping plate of the present invention with portions in section;
FIG. 7 is a disassembled view of the clamping plate and the movable rod according to the present invention;
fig. 8 is a schematic view showing the state of the limiting unit under two steering angles of the clamping plate according to the present invention.
In the figure: 1. a mechanical arm; 2. an end plate; 3. a holding unit; 4. a moving port; 5. a positioning plate; 6. a moving rod; 7. a positioning unit; 8. a clamping plate; 9. a clamping unit; 10. a limit unit; 11. a sliding port; 12. a rubber pad; 13. a bump; 14. a mounting frame; 15. an electric push rod I; 16. a spool; 17. a limiting plate; 18. a stabilizing sleeve; 19. a long rod; 20. a connecting shaft; 21. a connection frame; 22. an opening; 23. a fitting member; 24. a roller; 25. a retaining plate; 26. pushing a spring; 27. a bottom plate; 28. a butt joint frame; 29. positioning holes; 30. a positioning pin; 31. a cross bar; 32. a holding plate; 33. an electric push rod II; 34. an interface; 35. limiting end blocks; 36. a rolling rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Referring to fig. 1-3, a manipulator for clamping and transferring a steel pipe in the drawings comprises a mechanical arm 1, wherein the mechanical arm is used for transferring and moving a pipe, and two end plates 2 are arranged at the outer end of the mechanical arm 1; the pipe jacking device comprises two end plates 2, and is characterized by further comprising a supporting unit 3 arranged at the bottoms of the two end plates 2, wherein the supporting unit 3 is used for supporting a pipe, a moving opening 4 is formed in the end plates 2, a positioning plate 5 is fixed at the inner sides of the two end plates 2, at least one moving rod 6 is inserted in the moving opening 4 in a sliding manner, a positioning unit 7 butted with the positioning plate 5 is fixed at the outer end of the moving rod 6, a clamping plate 8 is rotatably arranged at the other end of the moving rod, a clamping unit 9 is fixed at the outer side of the moving rod 6, and the clamping plate 8 is driven to prop against the top of the pipe through the clamping unit 9; and the limiting unit 10 is arranged on the clamping plate 8, and the limiting unit 10 is used for limiting in the pipe clamping process.
In this scheme, the arm 1 of design drives two end plates 2 and carries out the operation in a certain limit, realizes the transportation with the steel pipe, when the centre gripping steel pipe, holds the unit 3 through holding to holding the steel pipe of bottom, then the clamping unit 9 of top drives grip block 8 and rotates, carries out the centre gripping to the tubular product of bottom earlier, then put tubular product on grip block 8 of bottom, then rotate through grip block 8 of last layer, realizes the centre gripping to the tubular product of second floor, operates in proper order to can realize once only gripping multilayer tubular product, make tubular product transport quantity many, it is efficient.
Further, referring to fig. 6 and 7, the clamping plate 8 is rectangular and frame-shaped, the limiting unit 10 is mounted in the frame of the clamping plate 8, one end of the clamping plate 8 is in butt joint with the moving rod 6 in a rotating manner, a sliding opening 11 in butt joint with the clamping unit 9 is formed at the tail end of the clamping plate 8, and a rubber pad 12 is mounted at the bottom of the clamping plate 8 to improve the friction force for clamping the steel pipe.
Optimizing grip block 8, rubber pad 12 that the bottom was add can provide great frictional force, when offing tubular product centre gripping, can reduce the damage to tubular product and can also play the increase frictional force simultaneously and make the centre gripping more stable, and the grip block 8 of rectangle frame form simultaneously can be convenient for spacing unit 10's installation for whole part design is more reasonable.
Further, referring to fig. 6-8, the clamping unit 9 includes a protruding block 13 fixed on the outer side of the moving rod 6, the protruding block 13 is located in the clamping plate 8 and is in butt joint with the limiting unit 10, a mounting frame 14 is fixed on the protruding block 13, an electric push rod 15 is mounted on the mounting frame 14, and an output end of the electric push rod 15 extends into the tail end of the clamping plate 8 and is fixed with a sliding column 16 in sliding connection with the sliding opening 11.
Principle of rotation of the clamping plate 8 driven by the clamping unit 9: the clamping plate 8 is driven to correspondingly rotate along the moving rod 6 through the extension and retraction of the first electric push rod 15, and the tubular product is abutted and clamped or released by changing the rotation of the clamping plate 8.
Further, referring to fig. 6-8, the limiting unit 10 in the drawings includes a limiting plate 17 and a stabilizing sleeve 18 fixed in the clamping plate 8, a long rod 19 is slidably inserted in the stabilizing sleeve 18, the stabilizing sleeve 18 mainly plays a role in limiting the long rod 19, so that the long rod 19 can only be pulled and inserted, the limiting plate 17 is rotatably mounted on the clamping plate 8 through a rotating shaft, a connecting shaft 20 is fixed at the top of the limiting plate 17, a connecting frame 21 is fixed at one end of the long rod 19, an opening 22 inserted with the connecting shaft 20 is formed in the connecting frame 21, and a fitting piece 23 butted with the protruding block 13 is mounted at one end of the long rod 19 far away from the connecting frame 21;
wherein, laminating piece 23 is including rotating the roller 24 of installing at the outer end of stock 19, and the roller 24 outside is smooth surface, and simultaneously, roller 24 is laminated mutually with the lug 13 outside, and the outside of stock 19 is fixed with the butt plate 25, and the cover has the push spring 26 with butt plate 25 and firm cover 18 offset in the stock 19 outside, and the upper end of lug 13 is circular arc shape, and roller 24 moves up along lug 13, and roller 24 is close to movable rod 6.
The limiting unit 10 correspondingly changes the form along with the rotation of the clamping plate 8, when the outer end of the clamping plate 8 rotates upwards, at the moment, the clamping plate 8 is in an open state, the roller 24 moves upwards along the convex block 13 and gradually approaches the moving rod 6, the long rod 19 is driven to move towards the moving rod 6 under the action of the pushing spring 26, the connecting frame 21 is driven to move, the limiting plate 17 is driven to change from the upper area state of fig. 8 to the lower area state of fig. 8, the limiting plate 17 is opened, and at the moment, the pipe is conveniently thrown into the bottom of the clamping plate 8 in the open state;
then when the outer end of the clamping plate 8 is driven to rotate downwards by the clamping unit 9, at the moment, the clamping plate 8 can start to clamp and limit the pipe, the roller 24 moves downwards along the convex block 13 and is far away from the movable rod 6, the long rod 19 is outwards ejected, the limiting plate 17 is changed from the lower area state in fig. 8 to the upper area state in fig. 8, the limiting plate 17 limits the clamped pipe, and the pipe is prevented from falling off along the outward end of the clamping plate 8.
Further, referring to fig. 6-8, the positioning unit 7 includes a docking frame 28 fixed at the outer end of the moving rod 6, the docking frame 28 is attached to the positioning plate 5, a positioning hole 29 is formed on the positioning plate 5, at least one positioning pin 30 penetrating the positioning hole 29 is inserted on the docking frame 28 in a threaded manner, in order to improve the docking stability of the moving rod 6, two positioning plates 5 are designed to be distributed at two sides of the moving opening 4, two positioning plates 5 are attached to the outer side of the docking frame 28, four positioning pins 30 are designed to be distributed at two sides of the docking frame 28, and the stability of the moving rod 6 after being positioned is improved;
specifically, after the locating pin 30 is disassembled through rotation, a person can then lift and adjust the moving rod 6 along the moving opening 4, and after the moving rod is adjusted to a proper position, the four locating pins 30 are sequentially inserted, as in the last area in fig. 4, in order to meet the clamping of pipes with different sizes, the moving rod 6 is lifted and adjusted through disassembling the locating pin 30 firstly, so that the adjustment of the distance between the two clamping plates 8 is met, the moving rod is suitable for transporting pipes with different sizes in the same batch, and the transporting process is more flexible and convenient.
Further, referring to fig. 3-6, the holding unit 3 in the illustration includes a cross rod 31 slidably inserted into the bottoms of the two end plates 2, two holding plates 32 are rotatably installed at two ends of the two cross rods 31, a second electric push rod 33 is fixed on the outer sides of the two end plates 2 through a motor frame, an opposite interface 34 is provided at the tail end of the holding plate 32, an output end of the second electric push rod 33 slidably penetrates through the opposite interface 34, a limiting end block 35 propped against the tail end of the holding plate 32 is fixed at the output end of the second electric push rod 33, and angle adjustment of the holding plate 32 can be achieved by using the second electric push rod 33, so that the second electric push rod can rotate downwards to discharge the pipe at the bottommost layer.
According to the scheme, a process of clamping the steel pipes in batches is carried out;
firstly, personnel firstly adjust the distance between adjacent clamping plates 8 and the distance between the bottommost clamping plate 8 and the holding plate 32 according to the size of a steel pipe, after the adjustment, rotate and lift up a plurality of clamping plates 8 as a schematic diagram of a left area in fig. 1, then put the steel pipe on the holding plate 32 firstly, then sequentially rotate from bottom to top through the stretching out of an electric push rod 15 according to the action of the schematic diagram of three areas in fig. 1, realize the arrangement of a plurality of layers of pipes, and then correspondingly rotate to a destination through a mechanical arm 1;
after the transfer of the batch of pipes is completed, the second electric push rod 33 in the holding unit 3 is retracted, the holding plate 32 is opened downwards, the pipe at the bottommost layer is firstly discharged, then the plurality of holding plates 8 are retracted through the first electric push rod 15 from bottom to top, the pipes are sequentially rotated downwards, the pipe layers are sequentially discharged according to the mode shown in fig. 5, quick discharging is realized, the holding plate 32 and the plurality of holding plates 8 are reset, the pipe is transferred to the pipe to be grasped, the pipes can be grasped each time, the grasping quantity of the pipes is large, the transfer efficiency is high, meanwhile, the distance between the adjacent holding plates 8 can be adjusted according to the mode shown in fig. 4, the clamping transfer of the pipes with different sizes is satisfied, and the use is more flexible.
Example two
Referring to fig. 5-8, this embodiment is further described with respect to an example, which differs in that the implementation of the retainer plate 32 and the bump 13 is optimized.
Specifically, a plurality of rolling rods 36 are rotatably installed between the two supporting plates 32, and when the supporting plates 32 support the pipe, one end of the supporting plates 32 far away from the cross rod 31 is higher than one end close to the cross rod 31;
meanwhile, a bottom plate 27 is fixed at the bottom of the protruding block 13, and the bottom plate 27 is matched with the bottom of the clamping plate 8.
It should be noted that: in the steel pipe transferring process, one end of the holding plate 32 far away from the cross rod 31 is higher than one end close to the cross rod 31, so that the pipe cannot roll outwards easily, and the transferring stability is improved.
Meanwhile, it is worth noting that the bottom of the protruding block 13 is fixedly provided with the bottom plate 27, the bottom plate 27 is matched with the bottom of the clamping plate 8, when the clamping plate 8 rotates downwards, the clamping plate 8 can slowly approach the bottom plate 27, and finally the bottom plate 27 is just attached to the clamping plate 8, so that when the pipe is discharged, the rolling pipe is prevented from shaking the clamping plate 8, and the discharging stability is improved.
Example III
Referring to fig. 1-3, this embodiment is further described with respect to other examples, with the difference that the connection between the robot arm 1 and the end plate 2 is optimized.
Specifically, a manipulator is transported in steel pipe centre gripping, including arm 1, it is used for transporting of tubular product to remove, arm 1's outer end is fixed with the mainboard, installs two opposite cylinders of orientation on the mainboard, and the output of two cylinders is fixed with two end plates 2 respectively, through two cylinders, drives the interval between two end plates 2 and adjusts to more convenient snatching of tubular product of different length.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A manipulator for holding and transporting steel pipes, comprising:
the mechanical arm (1) is used for transferring and moving the steel pipes, and two end plates (2) are arranged at the outer end of the mechanical arm (1);
the method is characterized in that: further comprises:
the steel pipe supporting device comprises supporting units (3) arranged at the bottoms of two end plates (2), wherein the supporting units (3) are used for supporting steel pipes, a moving opening (4) is formed in each end plate (2), positioning plates (5) are fixed on the inner sides of the two end plates (2), at least one moving rod (6) is inserted in each moving opening (4) in a sliding mode, a positioning unit (7) butted with the corresponding positioning plate (5) is fixed at the outer end of each moving rod (6), a clamping plate (8) is rotatably arranged at the other end of each moving rod, a clamping unit (9) is fixed on the outer side of each moving rod (6), and the clamping plates (8) are driven to abut against the tops of the steel pipes through the corresponding clamping units (9);
the limiting unit (10) is arranged on the clamping plate (8), and the limiting unit (10) is used for limiting in the process of clamping the steel pipe;
the clamping plate (8) is rectangular in shape, the limiting unit (10) is arranged in the frame of the clamping plate (8), the clamping plate (8) is in rotary butt joint with the moving rod (6), a sliding port (11) in butt joint with the clamping unit (9) is formed at the tail end of the clamping plate (8), and a rubber pad (12) is arranged at the bottom of the clamping plate (8) and used for improving friction force for clamping a steel pipe;
the clamping unit (9) comprises a protruding block (13) fixed on the outer side of the movable rod (6), the protruding block (13) is positioned in the clamping plate (8) and is in butt joint with the limiting unit (10), a mounting frame (14) is fixed on the protruding block (13), an electric push rod I (15) is mounted on the mounting frame (14), and the output end of the electric push rod I (15) extends into the tail end of the clamping plate (8) and is fixed with a sliding column (16) in sliding connection with the sliding port (11);
the limiting unit (10) comprises a limiting plate (17) and a stabilizing sleeve (18) fixed in the clamping plate (8), a long rod (19) is inserted in the stabilizing sleeve (18) in a sliding mode, the limiting plate (17) is rotatably installed on the clamping plate (8) through a rotating shaft, a connecting shaft (20) is fixed at the top of the limiting plate (17), a connecting frame (21) is fixed at one end of the long rod (19), an opening (22) which is inserted with the connecting shaft (20) is formed in the connecting frame (21), and a fitting piece (23) which is in butt joint with the protruding block (13) is installed at one end, far away from the connecting frame (21), of the long rod (19);
the laminating piece (23) comprises a roller (24) rotatably arranged at the outer end of the long rod (19), the roller (24) is laminated with the outer side of the protruding block (13), a retaining plate (25) is fixed on the outer side of the long rod (19), a pushing spring (26) which is abutted against the retaining plate (25) and the stabilizing sleeve (18) is sleeved on the outer side of the long rod (19), the upper end of the protruding block (13) is in an arc shape, the roller (24) moves upwards along the protruding block (13), and the roller (24) is close to the moving rod (6);
the positioning unit (7) comprises a butt joint frame (28) fixed at the outer end of the movable rod (6), the butt joint frame (28) is attached to the positioning plate (5), a positioning hole (29) is formed in the positioning plate (5), and at least one positioning pin (30) penetrating through the positioning hole (29) is inserted on the butt joint frame (28) in a threaded manner;
the supporting unit (3) comprises a cross rod (31) which is inserted into the bottoms of two end plates (2) in a sliding mode, one end of each cross rod (31) is respectively and rotatably provided with a supporting plate (32), two outer sides of the end plates (2) are fixedly provided with two electric pushing rods (33) through motor frames, the tail ends of the supporting plates (32) are provided with opposite interfaces (34), the output ends of the two electric pushing rods (33) penetrate through the opposite interfaces (34) in a sliding mode, and the output ends of the two electric pushing rods (33) are fixedly provided with limiting end blocks (35) which are propped against the tail ends of the supporting plates (32).
2. A manipulator for gripping and transferring a steel pipe according to claim 1, wherein: the bottom of the lug (13) is fixedly provided with a bottom plate (27), and the bottom plate (27) is matched with the bottom of the clamping plate (8).
3. A manipulator for holding and transporting steel pipes as claimed in claim 2, wherein: the positioning plates (5) are arranged at two sides of the moving opening (4), the two positioning plates (5) are attached to the outer sides of the butt joint frame (28), and the four positioning pins (30) are arranged at two sides of the butt joint frame (28) in a two-to-two mode.
4. A manipulator for gripping and transferring a steel pipe according to claim 3, wherein: a plurality of rolling rods (36) are rotatably arranged between the two supporting plates (32), and when the steel pipes are supported by the supporting plates (32), one end, far away from the cross rod (31), of the supporting plates (32) is higher than one end, close to the cross rod (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311666012.3A CN117359669B (en) | 2023-12-07 | 2023-12-07 | Manipulator for clamping and transporting steel pipes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311666012.3A CN117359669B (en) | 2023-12-07 | 2023-12-07 | Manipulator for clamping and transporting steel pipes |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117359669A CN117359669A (en) | 2024-01-09 |
| CN117359669B true CN117359669B (en) | 2024-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311666012.3A Active CN117359669B (en) | 2023-12-07 | 2023-12-07 | Manipulator for clamping and transporting steel pipes |
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| CN111558480A (en) * | 2020-04-21 | 2020-08-21 | 广东华捷钢管实业有限公司 | Steel pipe hanger |
| CN217497848U (en) * | 2022-06-27 | 2022-09-27 | 蜂巢能源科技股份有限公司 | Battery core feeding and discharging mechanism |
| CN115431290A (en) * | 2022-09-05 | 2022-12-06 | 南通理工学院 | Manipulator for conveying pipes |
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2023
- 2023-12-07 CN CN202311666012.3A patent/CN117359669B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6135704A (en) * | 1997-11-04 | 2000-10-24 | Cascade Corporation | Layer-picking clamp supported on a forklift truck |
| CN109264441A (en) * | 2018-09-26 | 2019-01-25 | 北京威力清矿山控制技术有限公司 | Comb equipment |
| KR102104530B1 (en) * | 2020-01-08 | 2020-05-29 | 우성에스이 주식회사 | Sagger translocator in electriceramic products furnace |
| CN111558480A (en) * | 2020-04-21 | 2020-08-21 | 广东华捷钢管实业有限公司 | Steel pipe hanger |
| CN217497848U (en) * | 2022-06-27 | 2022-09-27 | 蜂巢能源科技股份有限公司 | Battery core feeding and discharging mechanism |
| CN115431290A (en) * | 2022-09-05 | 2022-12-06 | 南通理工学院 | Manipulator for conveying pipes |
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| CN117359669A (en) | 2024-01-09 |
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