CN117697716A - System and method for grabbing, positioning and storing straight pipes by mechanical arm - Google Patents
System and method for grabbing, positioning and storing straight pipes by mechanical arm Download PDFInfo
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- CN117697716A CN117697716A CN202311380100.7A CN202311380100A CN117697716A CN 117697716 A CN117697716 A CN 117697716A CN 202311380100 A CN202311380100 A CN 202311380100A CN 117697716 A CN117697716 A CN 117697716A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 238000009434 installation Methods 0.000 claims abstract description 11
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 7
- 239000010959 steel Substances 0.000 claims abstract description 7
- 239000003921 oil Substances 0.000 claims description 28
- 239000010720 hydraulic oil Substances 0.000 claims description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000013589 supplement Substances 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a mechanical arm grabbing, positioning and storing straight pipe system, which comprises a grouting straight pipe grabbing and lifting mechanical arm and a grouting straight pipe positioning and temporary storage mechanism, wherein the grouting straight pipe grabbing and lifting mechanical arm comprises a linear motion track, a horizontal turntable, a mechanical arm pitching mechanism, a telescopic mechanism and a mechanical straight pipe clamp, the grouting straight pipe positioning and temporary storage mechanism comprises a supporting bottom frame, a supporting upright post, a grouting straight pipe installation plate and a straight pipe limiting assembly, the grouting straight pipe installation plate is provided with an arc-shaped groove, and the mechanical arm grabbing, positioning and storing straight pipe method comprises the following steps: s1, grabbing, positioning and storing a straight pipe system by adopting the mechanical arm; s2, placing the steel wire rope on an arc-shaped groove; s3, the straight pipe limiting assembly butts against two ends of the grouting straight pipe left and right, and the grouting straight pipe has the advantages of structural ring buckling, reasonable design, strong flexibility, wide application range, simple structure, flexible omnibearing grabbing and lifting of the grouting straight pipe, structural ring buckling, safe transportation of the grouting straight pipe, high practical value and the like.
Description
Technical Field
The invention belongs to the technical field of placement of grouting straight pipes of tunnels, and particularly relates to a system and a method for grabbing, positioning and storing straight pipes by a mechanical arm.
Background
The current longitudinal grouting process of the tunnel adopts a whole grouting straight pipe with the length of 12m for grouting, but because the long pipe occupies excessive operation space, other operation periods are delayed, the whole grouting straight pipe is required to be split, but the current lack of a corresponding temporary storage device of the grouting pipeline leads to the incapability of carrying out the grouting straight pipe splitting process.
Disclosure of Invention
The invention aims to provide a system and a method for grabbing, positioning and storing a straight pipe by a mechanical arm, which are convenient and quick for storing a pipeline and solve the problem that the existing temporary storage device for a grouting pipeline is lacking, so that the disassembly procedure of the grouting straight pipe cannot be carried out.
The technical scheme adopted by the invention is as follows: the mechanical arm grabbing, positioning and straight pipe storing system comprises a grouting straight pipe grabbing and lifting mechanical arm and a grouting straight pipe positioning and temporary storage mechanism, wherein the grouting straight pipe grabbing and lifting mechanical arm comprises a linear motion track, a horizontal turntable sliding along the linear motion track, a mechanical arm pitching mechanism, a telescopic mechanism and a mechanical straight pipe clamp, the bottom end of the mechanical arm pitching mechanism is arranged on the horizontal turntable, the telescopic mechanism is connected with the top end of the mechanical arm pitching mechanism, and the mechanical straight pipe clamp is arranged at the front end of the telescopic mechanism, and is rotatably arranged at the front end of the telescopic mechanism through an omnibearing rotary seat; the grouting straight pipe positioning and temporary storage mechanism comprises a supporting underframe, four supporting columns which are symmetrically arranged at four corners of the top of the supporting underframe, grouting straight pipe placement plates which are arranged on the supporting columns around the supporting columns in a connecting mode, and straight pipe limiting components which are arranged below the grouting straight pipe placement plates in a left-right mirror symmetry mode, wherein the grouting straight pipe placement plates are provided with two or more arc-shaped grooves which are matched with the outer walls of the grouting straight pipes in an even number mode, so that grouting straight pipes with corresponding numbers can be placed, each two arc-shaped grooves are correspondingly provided with one straight pipe limiting component, and when the left and right parts of each grouting straight pipe are placed on the grouting straight pipe placement plates, the straight pipe limiting components can abut against the ends of the grouting straight pipes to limit.
As the optimization of the scheme, the straight pipe limiting assembly comprises limiting mounting plates arranged below two adjacent arc-shaped grooves, an oil cylinder mounting seat with a horizontal U-shaped opening outwards arranged below the limiting mounting plates, a hydraulic oil cylinder with a fixed end arranged on the oil cylinder mounting seat and a limiting baffle connected with the telescopic end of the hydraulic oil cylinder, wherein strip-shaped guide bosses are horizontally arranged on the inner walls of the side plates at the front side and the rear side of the oil cylinder mounting seat, and sliding grooves sliding along the strip-shaped guide bosses are arranged at the front side and the rear side of the inner side of the limiting baffle, so that the horizontal left-right movement of the limiting baffle is realized; the limiting baffle is of a U-shaped structure with an upward vertical opening, the front support plate and the rear support plate are respectively aligned with the two grouting straight pipe ends positioned on the adjacent arc grooves, and when the two ends of the grouting straight pipe are placed on the grouting straight pipe placement plate, the limiting baffle moves to prop against the end of the grouting straight pipe through the hydraulic oil cylinder, and the structure rings are buckled.
Further preferably, the fixed end and the telescopic end of the hydraulic oil cylinder are respectively connected with the oil cylinder mounting seat and the limit baffle plate through transverse pin shafts, so that the hydraulic oil cylinder is firmly fixed and stably connected; the supporting underframe is built by adopting I-steel to form a square frame structure, and reinforced I-steel is arranged in the frame, so that the base is stable, and the installation stability of the whole device is ensured; reinforcing rib plates are arranged at the front and rear sides of the left side and the right side of the grouting straight pipe installation plate at intervals, so that the stability of the structure is enhanced; the length of the strip-shaped guide boss is longer than that of the sliding groove, and the telescopic length of the hydraulic cylinder is smaller than that of the sliding groove, so that the problem that the U-shaped sliding groove completely slides out of the strip-shaped guide boss to cause the guide effect of the strip-shaped guide boss to fail is avoided; the inner side of the limit baffle is horizontally provided with a sliding groove mounting support plate for mounting the sliding groove, and the telescopic end of the hydraulic cylinder is connected with the sliding groove mounting support plate.
Further preferably, the mechanical arm pitching mechanism comprises a mounting base, a longitudinal driving oil cylinder, a pitching arm, a pitching long connecting rod, an arc pitching short connecting rod and a pitching jacking oil cylinder, wherein the mounting base is mounted at the top of the horizontal turntable, the bottom end of the longitudinal driving oil cylinder is hinged to the mounting base, the top end of the longitudinal driving oil cylinder is hinged to the upper portion of the pitching arm, the front side of the pitching arm is hinged to the rear end of the pitching long connecting rod, the middle front portion of the pitching long connecting rod is hinged to the arc pitching short connecting rod, the upper end and the lower end of the pitching jacking oil cylinder are respectively hinged to the front end of the telescopic mechanism and the front end of the pitching long connecting rod, the top ends of the pitching arm and the arc pitching short connecting rod are hinged to the bottom of the telescopic mechanism, when the longitudinal driving oil cylinder stretches, the pitching arm is driven to rotate around a bottom hinging point, the top end of the pitching arm drives the telescopic mechanism to do forward and backward translational motion, and when the pitching jacking oil cylinder stretches, the front end of the telescopic mechanism is driven to do pitching motion, and the telescopic mechanism is reasonable in design.
Still preferably, the telescopic mechanism comprises two sections of telescopic arms and a telescopic hydraulic cylinder for driving the two sections of telescopic arms to stretch out and draw back, the two sections of telescopic arms comprise basic arms and extension arms nested in the basic arms, the inner walls of the basic arms and the outer walls of the extension arms are respectively provided with sliding blocks sliding mutually, the fixed ends of the telescopic hydraulic cylinders are arranged on the basic arms, the telescopic ends of the telescopic hydraulic cylinders are fixedly arranged on the extension arms, and the telescopic hydraulic cylinders push the extension arms to extend out of the basic arms so as to realize extension, so that the telescopic mechanism has reasonable structural design; the installation brackets hinged with the pitching arms and the top ends of the arc pitching short connecting rods are symmetrically arranged on the left side and the right side of the bottom of the basic arm, and the design structure is reasonable.
Still preferably, the omnibearing rotary seat comprises a rotary mounting bracket, a clamping position adjusting rotary disk and a clamping angle adjusting rotary disk which are all arranged on the rotary mounting bracket, wherein the rotary mounting bracket is of an L-shaped structure as a whole, the top end of a vertical end is arc-shaped and is connected with the clamping position adjusting rotary disk, and the horizontal end is connected with the top of the clamping angle adjusting rotary disk, so that the installation is firm, the 360-degree rotation in the vertical and horizontal directions is ensured, and the flexibility is strong; the clamping position adjusting rotating disc and the clamping angle adjusting rotating disc are respectively provided with a driving motor for providing rotating power, and the clamping position adjusting rotating disc and the clamping angle adjusting rotating disc are both provided with worm and gear mechanisms, so that time and labor are saved.
Still preferably, the mechanical straight pipe clamp comprises a clamp mounting main frame arranged at the bottom of the clamping angle adjusting rotary disk, a unilateral clamping seat which is arranged on the clamp mounting main frame in a left-right symmetrical way and a clamping hydraulic cylinder which drives the unilateral clamping seat to approach or be far away from each other, wherein a linkage clamping piece is symmetrically arranged at the front and back of a telescopic end of the clamping hydraulic cylinder, 4 straight connecting plates are adopted for the linkage clamping piece to be hinged in sequence to form a W-shaped structure, a bottom turning hinge point is hinged with the top of the unilateral clamping seat corresponding to the left side and the right side, a top left end point and a top right end point are hinged with the clamp mounting main frame, a reinforcing connecting plate which is parallel to the left side connecting plate and the right side connecting plate of the linkage clamping piece is hinged between the clamp mounting main frame and the unilateral clamping seat, when the clamping hydraulic cylinder stretches, the left side clamping seat and the right side clamping seat are driven to approach or be far away by the connecting plate, the component conception is ingenious, and the grouting straight pipe can be driven to be grabbed by simple stretching of the clamping hydraulic cylinder, and the design is exquisite; the clamp mounting main frame is characterized in that vertical support plates are symmetrically arranged at the left and right sides of the bottom of the clamp mounting main frame and used for being hinged with left and right end points of the top of the linkage clamping piece and the top end of the reinforcing connecting plate, and the clamp mounting main frame is reasonable in structural design and convenient for hinged mounting of the linkage clamping piece.
Further preferably, the linear motion track comprises a base, a sliding rail which is symmetrically arranged on the base left and right, a horizontal sliding table which moves along the sliding rail and a speed reducer motor which drives the horizontal sliding table to move, wherein the speed reducer motor drives the horizontal sliding table to move by adopting a screw rod transmission mechanism, and the structure is stable; the horizontal turntable is arranged on the horizontal sliding table, adopts a worm and gear mechanism and is provided with a plunger motor for driving rotation, and the structural design is reasonable.
The scheme also provides a method for grabbing, positioning and storing the straight pipe by the mechanical arm, which comprises the following steps:
step S1, adopting the mechanical arm grabbing, positioning and storing straight pipe system, firstly adjusting the clamping height and the angle of a mechanical straight pipe clamp in a grouting straight pipe grabbing and lifting mechanical arm, and grabbing and lifting the grouting straight pipe which is split into sections;
s2, sequentially passing through a linear motion track, a horizontal turntable, a mechanical arm pitching mechanism, a telescopic mechanism, a mechanical straight pipe clamp, and the position and the grabbing angle of an omnibearing rotary seat, so that the front end and the rear end of the grouting straight pipe are placed on arc grooves corresponding to a grouting straight pipe positioning and temporary storage mechanism;
s3, the straight pipe limiting assembly butts against two ends of the grouting straight pipe left and right to finish limiting.
The invention has the beneficial effects that:
(1) Compared with the existing storage device lacking in grouting disassembly and assembly and temporary storage, the temporary storage device is designed to automatically prop against grouting straight pipes to limit through the front and back, two adjacent grouting straight pipes are blocked through the movable limiting baffle in the straight pipe limiting assembly, the structure is simplified, the grouting straight pipes on two arc-shaped grooves can be controlled by the straight pipe limiting assembly, the limiting baffle is driven to move through the hydraulic cylinder, and the structure is buckled ring by ring, so that the design is reasonable.
(2) The grouting straight pipe arranging plate is provided with two or more arc-shaped grooves, the even number of the arc-shaped grooves is matched with the outer wall of the grouting straight pipe, and the grouting straight pipe with the even number of the arc-shaped grooves can be accommodated, so that the width of the temporary storage device can be flexibly selected according to the width of an operation space on site and the required installation number of the grouting straight pipe, the flexibility is strong, and the application range is wide.
(3) Compared with the prior art that equipment for grabbing and lifting the sectional longitudinal grouting short pipe is lacking, the follow-up sectional grouting short pipe assembly cannot be carried out, the grouting straight pipe grabbing and lifting mechanical arm is adopted in the scheme to flexibly and omnidirectionally grab and lift the grouting straight pipe, the safe transportation of the grouting straight pipe is guaranteed, and the practical value is high.
(4) The mechanical straight pipe clamp is rotatably arranged at the front end of the telescopic mechanism through the omnibearing rotary seat, so that omnibearing rotation is realized, grabbing at any angle is guaranteed, the limitation of the placing angle of the grouting straight pipe is avoided, the design is ingenious, the pitching mechanism of the mechanical arm is guaranteed not to be influenced by the placing height of the grouting straight pipe, the height variation of the grouting straight pipe is flexible and convenient when the grouting straight pipe is grabbed and lifted, the horizontal transportation of the grouting straight pipe is guaranteed through the linear motion track, each mechanism supplements each other, the grabbing and lifting transportation flexibility of the grouting straight pipe is jointly improved, and the structure is annular and annular.
In conclusion, the grouting straight pipe has the advantages of structural ring buckling, reasonable design, strong flexibility, wide application range, simple structure, flexible omnibearing grabbing and lifting, structural ring buckling, safe transportation of the grouting straight pipe, high practical value and the like.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of a linear motion path.
Fig. 3 is a schematic view of a horizontal turntable structure with a mounting base mounted thereto.
Fig. 4 is a schematic structural view of a mechanical arm pitching mechanism.
Fig. 5 is a schematic structural view of the telescopic mechanism.
Fig. 6 is a schematic structural view of the omni-directional rotating base.
Fig. 7 is a schematic structural view of a mechanical straight tube clamp.
Fig. 8 is a diagram of a movement process of the grouting pipeline grabbing and lifting mechanical arm.
Fig. 9 is a second diagram of the motion process of the grouting pipeline grabbing and lifting mechanical arm.
Fig. 10 is a third diagram of the movement process of the grouting pipeline grabbing and lifting mechanical arm.
Fig. 11 is a schematic structural view of a grouting straight pipe positioning and temporary storage mechanism (with two arc grooves).
Fig. 12 is a schematic structural view of a straight tube stop assembly.
Fig. 13 is a schematic structural view of a system for gripping, positioning and storing straight pipes by a mechanical arm (with four arc-shaped grooves).
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
referring to fig. 1-13, a system for grabbing, positioning and storing a straight pipe by using a mechanical arm is composed of a grouting straight pipe grabbing and lifting mechanical arm b and a grouting straight pipe positioning and temporary storage mechanism c.
The grouting straight pipe grabbing and lifting mechanical arm b consists of a linear motion track b1, a horizontal rotary table b2 sliding along the linear motion track b1, a mechanical arm pitching mechanism b3 with the bottom end installed on the horizontal rotary table b2, a telescopic mechanism b4 connected with the top end of the mechanical arm pitching mechanism b3 and a mechanical straight pipe clamp b5 installed at the front end of the telescopic mechanism b 4.
The linear motion track b1 is composed of a base b11, a sliding rail b12 which is arranged on the base b11 in a bilateral symmetry manner, a horizontal sliding table b13 which moves along the sliding rail b12 and a speed reducer motor b14 which drives the horizontal sliding table b13 to move.
The speed reducer motor b14 drives the horizontal sliding table b13 to move by adopting a screw rod transmission mechanism.
The horizontal turntable b2 is mounted on the horizontal slide table b 13.
The horizontal turntable b2 adopts a worm gear mechanism and is equipped with a plunger motor for driving rotation.
The mechanical arm pitching mechanism b3 consists of a mounting base b35, a longitudinal driving oil cylinder b31, a pitching arm b32, a pitching long connecting rod b33, an arc pitching short connecting rod b34 and a pitching jacking oil cylinder b 36.
The mounting base b35 is mounted on top of the horizontal turntable b 2.
The bottom end of the longitudinal driving oil cylinder b31 is hinged on the mounting base b35, and the top end is hinged with the upper part of the pitching arm b 32.
The front side of the pitching arm b32 is hinged with the rear end of the pitching long connecting rod b 33.
The middle front part of the pitching long link b33 is hinged with the arc-shaped pitching short link b 34.
The upper and lower ends of the pitching lifting cylinder b36 are respectively hinged with the front end of the telescopic mechanism b4 and the front end of the pitching long connecting rod b 33.
The top ends of the pitching arm b32 and the arc pitching short connecting rod b34 are hinged with the bottom of the telescopic mechanism b 4.
When the longitudinal driving oil cylinder b31 stretches out and draws back, the pitching arm b32 is driven to rotate around the bottom hinging point, the top end of the pitching arm b32 drives the telescopic mechanism b4 to do forward and backward translational motion, and when the pitching jacking oil cylinder b36 stretches out and draws back, the front end of the telescopic mechanism b4 can be driven to do pitching motion.
The telescopic mechanism b4 consists of two telescopic arms and a telescopic hydraulic cylinder b41 for driving the two telescopic arms to stretch and retract.
The two-section telescopic arm consists of a basic arm b42 and an extension arm b43 nested in the basic arm b 42.
The inner wall of the basic arm b42 and the outer wall of the extension arm b43 are respectively provided with a sliding block which slides mutually, the fixed end of the telescopic hydraulic cylinder b41 is arranged on the basic arm b42, and the telescopic end is fixedly arranged on the extension arm b 43.
The left side and the right side of the bottom of the basic arm b42 are symmetrically provided with mounting brackets b44 hinged with the top ends of the pitching arm b32 and the arc pitching short connecting rod b 34.
The mechanical straight pipe clamp b5 is rotatably arranged at the front end of the telescopic mechanism b4 through the omnibearing rotary seat b 6.
The omnibearing rotary seat b6 consists of a rotary mounting bracket b63, a clamping position adjusting rotary disk b61 and a clamping angle adjusting rotary disk b62 which are all arranged on the rotary mounting bracket b 63.
The whole rotary mounting bracket b63 is of an L-shaped structure, the top end of the vertical end is arc-shaped and is connected with the clamping position adjusting rotary disk b61, and the horizontal end is connected with the top of the clamping angle adjusting rotary disk b 62.
The gripping position adjusting rotary disk b61 and the gripping angle adjusting rotary disk b62 are each provided with a drive motor b64 that provides rotary power.
The clamping position adjusting rotary disk b61 and the clamping angle adjusting rotary disk b62 are both worm and gear mechanisms.
The mechanical straight pipe clamp b5 consists of a clamp mounting main frame b51 arranged at the bottom of the clamping angle adjusting rotary disk b62, a unilateral clamping seat b52 which is arranged on the clamp mounting main frame b51 in a downward direction in bilateral symmetry, and a clamping hydraulic cylinder b53 which drives the unilateral clamping seat b52 to approach or separate.
The telescopic end of the clamping hydraulic cylinder b53 is provided with a linkage clamping piece b54 symmetrically in the front-back direction.
The linkage clamping piece b54 adopts b4 straight strip-shaped connecting plates to be hinged in sequence to form a W-shaped structure, the bottom turning hinge point is hinged with the top of the unilateral clamping seat b52 corresponding to the left and right, and the top left and right endpoints are hinged with the clamp installation main frame b 51.
A reinforcing connecting plate b55 parallel to the connecting plates at the left side and the right side of the linkage clamping piece b54 is hinged between the clamp mounting main frame b51 and the unilateral clamping seat b 52.
When the clamping hydraulic cylinder b53 stretches, the left and right unilateral clamping seat b52 is driven to be far away from or close to each other through the connecting plate.
The bottom of the clamp installation main frame b51 is provided with vertical support plates b511 symmetrically in a left-right manner and used for being hinged with the left end point and the right end point of the top of the linkage clamping piece b54 and the top end of the reinforcing connecting plate b55.
The longitudinal position of the whole mechanical arm pitching mechanism b3 is adjusted through the linear motion track b1, then the pitching angle of the telescopic mechanism b4 is adjusted through the mechanical arm pitching mechanism b3, and the position of the mechanical straight pipe clamp b5 is adjusted through the telescopic of the telescopic mechanism b4, so that the mechanical straight pipe clamp can be aligned with a grouting straight pipe to be grabbed.
The mechanical straight pipe clamp b5 can rotate in all directions through the all-round rotating seat b6, so that the grouting straight pipes are accurately aligned and grabbed, and the placing position and angle of the grouting straight pipes can be flexibly adjusted after grabbed, so that the grouting straight pipes can be smoothly placed into next process equipment.
The grouting straight pipe positioning and temporary storage mechanism c consists of a supporting bottom frame c1, four supporting upright posts c2 symmetrically positioned at four corners of the top of the supporting bottom frame c1, grouting straight pipe placement plates c3 connected with the front and rear supporting upright posts c2 and straight pipe limiting assemblies c4 installed below the grouting straight pipe placement plates c3 in a left-right mirror symmetry mode.
When the left and right parts of the grouting straight pipe A are placed on the grouting straight pipe placement plate c3, the straight pipe limiting component c4 can abut against the end head of the grouting straight pipe A to limit.
The supporting bottom frame c1 is preferably constructed by adopting I-steel to form a square frame structure, and reinforcing I-steel is arranged in the frame.
The grouting straight pipe placement plate c3 is provided with two or more arc-shaped grooves c31, the even number of which is matched with the outer wall of the grouting straight pipe A, so that the grouting straight pipes A with the corresponding number can be placed.
Reinforcing rib plates c32 are arranged at intervals in the front-back direction on the left side and the right side of the grouting straight pipe placement plate c 3.
Every two arc-shaped grooves c31 are correspondingly provided with a straight pipe limiting component c4.
The straight pipe limiting assembly c4 consists of a limiting mounting plate c44 arranged below two adjacent arc grooves c31, an oil cylinder mounting seat c41 with a horizontal U-shaped opening arranged below the limiting mounting plate c44 outwards, a hydraulic oil cylinder c42 with a fixed end arranged on the oil cylinder mounting seat c41 and a limiting baffle c43 connected with the telescopic end of the hydraulic oil cylinder c 42.
The inner walls of the side plates on the front side and the rear side of the oil cylinder mounting seat c41 are horizontally provided with strip-shaped guide bosses c411.
The fixed end and the telescopic end of the hydraulic cylinder c42 are respectively connected with a cylinder mounting seat c41 and a limit baffle c43 through a transverse pin shaft c 421.
The limit baffle c43 is of a U-shaped structure with an upward vertical opening, and the front support plate and the rear support plate are respectively aligned with the end parts of the two grouting straight pipes A positioned on the adjacent arc grooves c 31.
The inner side of the limit baffle c43 is provided with a sliding groove c431 sliding along the bar-shaped guide boss c411 back and forth, thereby realizing horizontal left and right movement of the limit baffle c 43.
The inner side of the limit baffle c43 is horizontally provided with a sliding groove mounting support plate c432 for mounting the sliding groove c431, and the telescopic end of the hydraulic cylinder c42 is connected with the sliding groove mounting support plate c 432.
The length of the strip-shaped guide boss c411 is longer than that of the sliding groove c431, and the telescopic length of the hydraulic cylinder c42 is smaller than that of the sliding groove c 431.
When both ends of the grouting straight pipe A are placed on the grouting straight pipe placing plate c3, the limiting baffle c43 moves to prop against the end head of the grouting straight pipe A through the hydraulic cylinder c 42.
Firstly, designing corresponding arc grooves according to the on-site operation space width and the required installation number of grouting straight pipes.
Firstly, the grouting straight pipe A is grabbed and placed on the arc-shaped groove c31 through a mechanical arm, then the hydraulic cylinder c42 is started to shrink, and the limiting baffle c43 inwards abuts against two ends of the grouting straight pipe A, so that the grouting straight pipe is limited.
A method for grabbing, positioning and storing straight pipes by a mechanical arm comprises the following specific steps:
step S1, the mechanical arm grabbing, positioning and storing straight pipe system is adopted, the grabbing height and the angle of a mechanical straight pipe clamp b5 in the grouting straight pipe grabbing and lifting mechanical arm b are adjusted, and the grouting straight pipe A which is split into sections is grabbed and lifted.
Step S2, sequentially passing through the linear motion track b1, the horizontal turntable b2, the mechanical arm pitching mechanism b3, the telescopic mechanism b4, the mechanical straight pipe adjusting clamp b5, the position and the grabbing angle of the omnibearing rotary seat b6, and enabling the front end and the rear end of the grouting straight pipe A to be placed on an arc-shaped groove c31 corresponding to the grouting straight pipe positioning temporary storage mechanism c.
And S3, the straight pipe limiting assembly c4 butts against the two ends of the grouting straight pipe A left and right to finish limiting.
Claims (9)
1. A mechanical arm grabbing, positioning and storing straight pipe system is characterized in that: the grouting straight pipe grabbing and lifting mechanical arm comprises a grouting straight pipe grabbing and lifting mechanical arm (b) and a grouting straight pipe positioning and temporary storage mechanism (c), wherein the grouting straight pipe grabbing and lifting mechanical arm (b) comprises a linear motion track (b 1), a horizontal rotary table (b 2) sliding along the linear motion track (b 1), a mechanical arm pitching mechanism (b 3) with the bottom end installed on the horizontal rotary table (b 2), a telescopic mechanism (b 4) connected with the top end of the mechanical arm pitching mechanism (b 3) and a mechanical straight pipe clamp (b 5) installed at the front end of the telescopic mechanism (b 4), and the mechanical straight pipe clamp (b 5) is rotatably installed at the front end of the telescopic mechanism (b 4) through an omnibearing rotary seat (b 6); the grouting straight pipe positioning and temporary storage mechanism (c) comprises a supporting base frame (c 1), four supporting columns (c 2) symmetrically arranged at four corners of the top of the supporting base frame (c 1), grouting straight pipe positioning plates (c 3) connected with the supporting columns (c 2) and straight pipe limiting assemblies (c 4) arranged below the grouting straight pipe positioning plates (c 3) in a mirror symmetry mode, the grouting straight pipe positioning plates (c 3) are provided with two or more arc-shaped grooves (c 31) which are even in number and fit with the outer wall of the grouting straight pipe (A), so that grouting straight pipes (A) with corresponding numbers can be arranged, one straight pipe limiting assembly (c 4) is correspondingly arranged in each two arc-shaped grooves (c 31), and when two ends of each grouting straight pipe (A) are arranged on the grouting straight pipe positioning plates (c 3), the straight pipe limiting assemblies (c 4) can abut against the end heads of the grouting straight pipes (A) to limit.
2. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 1, wherein: the straight pipe limiting assembly (c 4) comprises limiting mounting plates (c 44) arranged below two adjacent arc-shaped grooves (c 31), an oil cylinder mounting seat (c 41) with a horizontal U-shaped opening outwards arranged below the limiting mounting plates (c 44), a hydraulic oil cylinder (c 42) with a fixed end arranged on the oil cylinder mounting seat (c 41) and limiting baffle plates (c 43) connected with telescopic ends of the hydraulic oil cylinder (c 42), strip-shaped guide bosses (c 411) are horizontally arranged on inner walls of side plates on the front side and the rear side of the oil cylinder mounting seat (c 41), and sliding grooves (c 431) sliding along the strip-shaped guide bosses (c 411) are arranged on the front side and the rear side of the inner side of the limiting baffle plates (c 43), so that horizontal left-right movement of the limiting baffle plates (c 43) is realized; the limiting baffle (c 43) is of a U-shaped structure with an upward vertical opening, the front support plate and the rear support plate are respectively aligned with the end parts of two grouting straight pipes (A) positioned on the adjacent arc grooves (c 31), and when the left and right parts of the grouting straight pipes (A) are placed on the grouting straight pipe placement plate (c 3), the limiting baffle (c 43) moves to prop against the end heads of the grouting straight pipes (A) through the hydraulic oil cylinders (c 42).
3. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 1, wherein: the fixed end and the telescopic end of the hydraulic cylinder (c 42) are respectively connected with the cylinder mounting seat (c 41) and the limiting baffle (c 43) through transverse pin shafts (c 421), the supporting underframe (c 1) adopts I-steel to build a square frame structure, reinforced I-steel is arranged in the frame, reinforcing rib plates (c 32) are arranged at the front and back sides of the grouting straight pipe mounting plate (c 3) at intervals, the length of the strip-shaped guide boss (c 411) is longer than that of the sliding groove (c 431), the telescopic length of the hydraulic cylinder (c 42) is smaller than that of the sliding groove (c 431), a sliding groove mounting support plate (c 432) for mounting the sliding groove (c 431) is horizontally arranged on the inner side of the limiting baffle (c 43), and the telescopic end of the hydraulic cylinder (c 42) is connected with the sliding groove mounting support plate (c 432).
4. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 1, wherein: the mechanical arm pitching mechanism (b 3) comprises a mounting base (b 35), a longitudinal driving oil cylinder (b 31), a pitching arm (b 32), a pitching long connecting rod (b 33), an arc pitching short connecting rod (b 34) and a pitching jacking oil cylinder (b 36), wherein the mounting base (b 35) is mounted at the top of a horizontal rotary table (b 2), the bottom end of the longitudinal driving oil cylinder (b 31) is hinged to the mounting base (b 35), the top end of the longitudinal driving oil cylinder is hinged to the upper part of the pitching arm (b 32), the front side of the pitching arm (b 32) is hinged to the rear end of the pitching long connecting rod (b 33), the middle front part of the pitching long connecting rod (b 33) is hinged to the arc pitching short connecting rod (b 34), the upper end and the lower end of the pitching jacking oil cylinder (b 36) are hinged to the front end of the telescopic mechanism (b 4), the top ends of the pitching arm (b 32) and the arc pitching short connecting rod (b 34) are hinged to the bottom of the telescopic mechanism (b 4), and when the longitudinal driving oil cylinder (b 31) is hinged to the bottom of the telescopic mechanism (b 32), the pitching arm (b 32) is driven to move around the telescopic point of the telescopic mechanism (b 4) to move horizontally, and the pitching long connecting rod (b 32) is driven to move around the telescopic top end of the telescopic mechanism (b 4).
5. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 4, wherein: the telescopic mechanism (b 4) comprises two telescopic arms and a telescopic hydraulic cylinder (b 41) for driving the two telescopic arms to stretch out and draw back, the two telescopic arms comprise a basic arm (b 42) and an extension arm (b 43) nested in the basic arm (b 42), sliding blocks which slide mutually are arranged on the inner wall of the basic arm (b 42) and the outer wall of the extension arm (b 43), and the fixed end of the telescopic hydraulic cylinder (b 41) is arranged on the basic arm (b 42) and the telescopic end is fixedly arranged on the extension arm (b 43); and mounting brackets (b 44) hinged with the top ends of the pitching arms (b 32) and the arc pitching short connecting rods (b 34) are symmetrically arranged on the left side and the right side of the bottom of the basic arm (b 42). .
6. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 4, wherein: the omnibearing rotary seat (b 6) comprises a rotary mounting bracket (b 63), a clamping position adjusting rotary disk (b 61) and a clamping angle adjusting rotary disk (b 62) which are all arranged on the rotary mounting bracket (b 63), the rotary mounting bracket (b 63) is of an L-shaped structure as a whole, the top end of a vertical end is arc-shaped and is connected with the clamping position adjusting rotary disk (b 61), and the horizontal end is connected with the top of the clamping angle adjusting rotary disk (b 62); the clamping position adjusting rotary disc (b 61) and the clamping angle adjusting rotary disc (b 62) are respectively provided with a driving motor (b 64) for providing rotary power, and the clamping position adjusting rotary disc (b 61) and the clamping angle adjusting rotary disc (b 62) are respectively provided with a worm and gear mechanism.
7. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 4, wherein: the mechanical straight pipe clamp (b 5) comprises a clamp mounting main frame (b 51) arranged at the bottom of a clamping angle adjusting rotating disc (b 62), a unilateral clamping seat (b 52) which is arranged on the clamp mounting main frame (b 51) in a downward direction in a bilateral symmetry manner, and a clamping hydraulic cylinder (b 53) which drives the unilateral clamping seat (b 52) to be close to or far away from, wherein a linkage clamping piece (b 54) is symmetrically arranged at the front and back of a telescopic end of the clamping hydraulic cylinder (b 53), the linkage clamping piece (b 54) adopts a b4 straight strip-shaped connecting plate to be hinged in sequence to form a W-shaped structure, a bottom turning hinge point is hinged with the top of the unilateral clamping seat (b 52) corresponding to the left side and the right side, a top left end point and a right end point are hinged with the clamp mounting main frame (b 51), a reinforcing connecting plate (b 55) which is parallel to the unilateral clamping piece (b 54) is hinged between the clamp mounting main frame (b 51) and the unilateral clamping seat (b 52), and when the clamping hydraulic cylinder (b 53) stretches, the left side and the unilateral clamping seat (b 52) are driven to be far away from or close to; the bottom of the clamp installation main frame (b 51) is symmetrically provided with vertical support plates (b 511) in a left-right mode, and the vertical support plates are used for being hinged with the left-right end points of the top of the linkage clamping piece (b 54) and the top ends of the reinforcing connecting plates (b 55).
8. The system for gripping, positioning and storing a straight pipe by using a mechanical arm according to claim 4, wherein: the linear motion track (b 1) comprises a base (b 11), a sliding rail (b 12) symmetrically arranged on the base (b 11), a horizontal sliding table (b 13) moving along the sliding rail (b 12) and a speed reducer motor (b 14) driving the horizontal sliding table (b 13) to move, wherein the speed reducer motor (b 14) drives the horizontal sliding table (b 13) to move by adopting a screw rod transmission mechanism; the horizontal turntable (b 2) is arranged on the horizontal sliding table (b 13), and the horizontal turntable (b 2) adopts a worm gear mechanism and is provided with a plunger motor for driving rotation.
9. The method for grabbing, positioning and storing the straight pipe by using the mechanical arm is characterized by comprising the following steps of:
step S1, adopting the mechanical arm grabbing, positioning and storing straight pipe system as claimed in any one of claims 1-8, firstly adjusting the clamping height and the angle of a mechanical straight pipe clamp (b 5) in a grouting straight pipe grabbing and lifting mechanical arm (b), and grabbing and lifting the grouting straight pipe (A) which is split into sections;
s2, sequentially passing through a linear motion track (b 1), a horizontal turntable (b 2), a mechanical arm pitching mechanism (b 3), a telescopic mechanism (b 4), an adjusting mechanical straight pipe clamp (b 5) and an omnibearing rotary seat (b 6) to enable the front end and the rear end of a grouting straight pipe (A) to be placed on an arc-shaped groove (c 31) corresponding to a grouting straight pipe positioning and temporary storage mechanism (c);
s3, the straight pipe limiting assembly (c 4) butts against the two ends of the grouting straight pipe (A) left and right to finish limiting.
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| CN114589674A (en) * | 2020-12-04 | 2022-06-07 | 国网智能科技股份有限公司 | File robot, automatic file management and control system and method |
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| CN102490171A (en) * | 2011-11-22 | 2012-06-13 | 中国人民解放军总装备部军械技术研究所 | Robot for disposing dangerous goods and ammunition |
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