CN210525122U - Snatch manipulator that size mixes pipe - Google Patents
Snatch manipulator that size mixes pipe Download PDFInfo
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- CN210525122U CN210525122U CN201921141558.6U CN201921141558U CN210525122U CN 210525122 U CN210525122 U CN 210525122U CN 201921141558 U CN201921141558 U CN 201921141558U CN 210525122 U CN210525122 U CN 210525122U
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- claw
- arm
- fixedly connected
- manipulator
- hydraulic cylinder
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- 210000000078 claw Anatomy 0.000 claims abstract description 78
- 238000009434 installation Methods 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 abstract description 21
- 239000010959 steel Substances 0.000 abstract description 21
- 230000009471 action Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Abstract
The utility model discloses a snatch manipulator of size mixed pipe relates to mechanical technical field, including the installation piece, the equal fixedly connected with outer side support in bottom both ends of installation piece, outer side support has the one end of adjustment arm through outside round pin axle swing joint, the bottom fixedly connected with inboard support of installation piece, inboard support has the one end of claw arm through inboard round pin axle swing joint, the top fixedly connected with adjusting lever of adjustment arm, the bottom fixedly connected with gripper of claw arm. The utility model discloses a set up upper portion pneumatic cylinder and lower part pneumatic cylinder, the opening size of regulation claw arm that can be convenient under the combined action of upper portion pneumatic cylinder and lower part pneumatic cylinder, can make opening and the closure that the regulation claw arm is nimble, through setting up the adjustment arm, can adjust the opening size of claw arm in advance, after the length of upper portion pneumatic cylinder is fixed, the claw arm just can snatch the steel pipe of fixed range through the regulation of lower part pneumatic cylinder.
Description
Technical Field
The utility model relates to the technical field of machinery, specifically be a snatch manipulator that size mixes pipe.
Background
A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an actuating mechanism, a driving mechanism and a control system. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate under harmful environment to protect personal safety, so it is widely used in the departments of mechanical manufacturing, metallurgy, electronics, light industry and atomic energy, and with the continuous development of automation technology, more and more industries realize automatic production. Robots are an important component for achieving automated production. In steel pipe processing enterprises, oil mining industries and other manufacturing enterprises, robots are often used, and mechanical claws are important components of the robots. Semi-automatic manipulators are quite common in steel pipe factories, but the semi-automatic manipulators need to be manually opened by a user every time the semi-automatic manipulators are used, and then can clamp steel pipes; when loosening the steel pipe, also need the user to select to open it just can become flexible the steel pipe, it is comparatively troublesome, and this kind of manipulator is comparatively heavy, and the operation is comparatively wasted time and energy.
At present, the manipulator operation that is used for the steel pipe to snatch is hard, and the diameter range that manipulator claw can snatch the steel pipe is narrower when using, can not adapt to the demand of major diameter and minor diameter simultaneously, can not satisfy the demand in current market, is unfavorable for the using widely who snatchs steel pipe manipulator.
Therefore, it is necessary to provide a manipulator for gripping round tubes of different sizes to solve the above problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a snatch manipulator that size mixes pipe to the current manipulator operation of snatching the steel pipe that proposes among the above-mentioned background art is hard, snatchs the little problem of steel pipe diameter scope.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:
a manipulator for grabbing round pipes with different sizes comprises an installation block, wherein a pin shaft hole is fixedly connected to the top of the installation block, both ends of the bottom of the installation block are fixedly connected with an outer side support, the outer side support is movably connected with one end of an adjusting arm through an outer side pin shaft, the bottom of the installation block is fixedly connected with an inner side support, the inner side support is movably connected with one end of a claw arm through an inner side pin shaft, an adjusting rod is fixedly connected to the top of the adjusting arm, the bottom of the adjusting arm is movably connected with the other end of the claw arm, the bottom of the claw arm is fixedly connected with a mechanical claw, and a rubber pad is fixedly connected to the inner side of the mechanical;
one side surface of the outer side support is fixedly connected with an upper hydraulic cylinder, one end of the upper hydraulic cylinder is movably connected with an upper hydraulic arm, and the top of the upper hydraulic arm is movably connected with an adjusting rod through an upper pin shaft;
one end of the adjusting arm is fixedly connected with a lower hydraulic cylinder, one end of the lower hydraulic cylinder is movably connected with a lower hydraulic arm, the lower hydraulic arm is movably connected with a connecting frame through a lower pin shaft, and the connecting frame is fixedly connected to the outer side of the mechanical claw;
one end of the adjusting arm is fixedly connected with a right single claw or a left single claw through a connecting frame.
Optionally, the number of the connecting frames is two, and the two connecting frames are respectively and fixedly connected to the bottoms of the left and right adjusting arms.
Optionally, the left single claw and the right single claw are multiple, multiple left single claws and right single claws are distributed on the left connecting frame and the right connecting frame at equal intervals, and multiple left single claws and right single claws are mutually crossed.
Optionally, the number of the rubber pads is multiple, the rubber pads are respectively fixed on the inner sides of the mechanical claws, and the number of the rubber pads is equal to that of the mechanical claws and is matched with that of the mechanical claws.
Optionally, the number of the adjusting arms and the number of the claw arms are two, and the heights of the two adjusting arms are smaller than the heights of the two claw arms.
Optionally, the bottom surface of the gripper is at a ninety degree angle to the outside surface of the gripper arms, and the maximum angle at which the gripper arms are open is ninety degrees.
Optionally, the upper hydraulic cylinder and the lower hydraulic cylinder both have a plurality of hydraulic rods, and the longest length of the upper hydraulic cylinder is greater than the longest length of the lower hydraulic cylinder.
The utility model discloses a technological effect and advantage:
1. the utility model discloses a set up upper portion pneumatic cylinder and lower part pneumatic cylinder, the opening size of regulation claw arm that can be convenient under the combined action of upper portion pneumatic cylinder and lower part pneumatic cylinder, can make opening and the closure that the regulation claw arm is nimble, guaranteed the convenient performance of manipulation of manipulator, not only improved holistic stability, also improved work efficiency.
2. The utility model discloses a set up the adjustment arm, can adjust the opening size of claw arm in advance, after the length of upper portion pneumatic cylinder is fixed, the steel pipe of fixed range is snatched just can only through the regulation of lower part pneumatic cylinder to the claw arm, and when the diameter of the steel pipe that needs snatch changed, only need shorten the length of upper portion pneumatic cylinder can.
Drawings
FIG. 1 is a schematic front view of the structure of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is an enlarged schematic view of the structure at B in FIG. 1 according to the present invention;
fig. 4 is a schematic view of the structure of the present invention.
In the figure: 1. a gripper; 2. a rubber pad; 3. a claw arm; 4. an adjusting arm; 5. an inner side pin shaft; 6. an outer pin shaft; 7. an adjusting lever; 8. an outer bracket; 9. an inboard bracket; 10. mounting blocks; 11. a pin shaft hole; 12. an upper hydraulic cylinder; 13. an upper hydraulic arm; 14. an upper pin shaft; 15. a connecting frame; 16. a lower pin shaft; 17. a lower hydraulic arm; 18. a lower hydraulic cylinder; 19. a single claw on the right side; 20. left single-paw.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In addition, in the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The utility model provides a manipulator for grabbing round tubes with mixed sizes as shown in figures 1-4, which comprises an installation block 10, as shown in figure 1, the top of the installation block 10 is fixedly connected with a pin shaft hole 11, both ends of the bottom of the installation block 10 are fixedly connected with an outer bracket 8, the outer bracket 8 is movably connected with one end of an adjusting arm 4 through an outer pin shaft 6, the bottom of the installation block 10 is fixedly connected with an inner bracket 9, the inner bracket 9 is movably connected with one end of a claw arm 3 through an inner pin shaft 5, the opening size of the claw arm 3 can be adjusted in advance by arranging the adjusting arm 4, the top of the adjusting arm 4 is fixedly connected with an adjusting rod 7, the bottom of the adjusting arm 4 is movably connected with the other end of the claw arm 3, the included angle between the bottom surface of the mechanical claw 1 and the outer surface of the claw arm 3 is ninety degrees, the maximum opening angle of the claw arm 3 is ninety degrees, the bottom of the claw arm, the two adjusting arms 4 and the two claw arms 3 are arranged, the height of the two adjusting arms 4 is smaller than that of the two claw arms 3, the inner side surface of the mechanical claw 1 is fixedly connected with a plurality of rubber pads 2, the plurality of rubber pads 2 are respectively fixed on the inner side of the mechanical claw 1, and the number of the rubber pads 2 is equal to that of the mechanical claw 1 and is matched with that of the mechanical claw 1;
as shown in fig. 2, an upper hydraulic cylinder 12 is fixedly connected to one side surface of the outer bracket 8, an upper hydraulic arm 13 is movably connected to one end of the upper hydraulic cylinder 12, after the length of the upper hydraulic cylinder 12 is fixed, the claw arm 3 can only grab a steel pipe in a fixed range through adjustment of a lower hydraulic cylinder 18, when the diameter of the steel pipe to be grabbed is changed, only the length of the upper hydraulic cylinder 12 needs to be shortened, and the top of the upper hydraulic arm 13 is movably connected with the adjusting rod 7 through an upper pin shaft 14;
as shown in fig. 3, a lower hydraulic cylinder 18 is fixedly connected to one end of the adjusting arm 4, the upper hydraulic cylinder 12 and the lower hydraulic cylinder 18 each have a plurality of hydraulic rods, the longest length of the upper hydraulic cylinder 12 is greater than the longest length of the lower hydraulic cylinder 18, by arranging the upper hydraulic cylinder 12 and the lower hydraulic cylinder 18, the opening size of the claw arm 3 can be conveniently adjusted, under the combined action of the upper hydraulic cylinder 12 and the lower hydraulic cylinder 18, the adjusting claw arm 3 can be flexibly opened and closed, the performance of convenient operation of a manipulator is ensured, the overall stability is improved, and the working efficiency is also improved;
as shown in fig. 4, one end of the adjusting arm 4 is fixedly connected with a right single claw 19 or a left single claw 20 through the connecting frame 15, the left single claw 20 and the right single claw 19 are respectively provided in plurality, the left single claw 20 and the right single claw 19 are distributed on the left connecting frame 15 and the right connecting frame 15 at equal intervals, and the left single claw 20 and the right single claw 19 are mutually crossed.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
This practical theory of operation: the during operation, whole equipment passes through the round pin shaft hole 11 and connects on the arm, when pressing from both sides the steel pipe, at first the length that upper portion pneumatic cylinder 12 stretches out is adjusted, make the position change of adjustment arm 4, let the open distance of gripper 1 be greater than the diameter of the steel pipe that needs snatch, then lie in the steel pipe between two gripper 1 through removing the arm, through the extension length of adjustment lower part pneumatic cylinder 18, shorten the distance between two gripper 1, can confirm when rubber pad 2 between steel pipe and two gripper 1 extrudees each other that the steel pipe is pressed from both sides the jail, this moment alright change the position of steel pipe with removing the gripper.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.
Claims (7)
1. The utility model provides a snatch manipulator that size mixes pipe, includes installation piece (10), its characterized in that: the top of the mounting block (10) is fixedly connected with a pin shaft hole (11), both ends of the bottom of the mounting block (10) are fixedly connected with an outer side support (8), the outer side support (8) is movably connected with one end of an adjusting arm (4) through an outer side pin shaft (6), the bottom of the mounting block (10) is fixedly connected with an inner side support (9), the inner side support (9) is movably connected with one end of a claw arm (3) through an inner side pin shaft (5), the top of the adjusting arm (4) is fixedly connected with an adjusting rod (7), the bottom of the adjusting arm (4) is movably connected with the other end of the claw arm (3), the bottom of the claw arm (3) is fixedly connected with a mechanical claw (1), and the inner side of the mechanical claw (1) is fixedly connected with a rubber pad (2);
an upper hydraulic cylinder (12) is fixedly connected to one side face of the outer side support (8), one end of the upper hydraulic cylinder (12) is movably connected with an upper hydraulic arm (13), and the top of the upper hydraulic arm (13) is movably connected with the adjusting rod (7) through an upper pin shaft (14);
one end of the adjusting arm (4) is fixedly connected with a lower hydraulic cylinder (18), one end of the lower hydraulic cylinder (18) is movably connected with a lower hydraulic arm (17), the lower hydraulic arm (17) is movably connected with a connecting frame (15) through a lower pin shaft (16), and the connecting frame (15) is fixedly connected to the outer side of the mechanical claw (1);
one end of the adjusting arm (4) is fixedly connected with a right single claw (19) or a left single claw (20) through a connecting frame (15).
2. The manipulator of claim 1, wherein the manipulator is used for grabbing round tubes with mixed sizes, and is characterized in that:
the number of the connecting frames (15) is two, and the two connecting frames (15) are respectively and fixedly connected to the bottoms of the left and right adjusting arms (4).
3. The manipulator of claim 1, wherein the manipulator is used for grabbing round tubes with mixed sizes, and is characterized in that:
left side single claw (20) and right side single claw (19) all have a plurality ofly, and are a plurality of left side single claw (20) and right side single claw (19) equal interval distribute on link (15) about, and are a plurality of left side single claw (20) and right side single claw (19) intercross.
4. The manipulator of claim 1, wherein the manipulator is used for grabbing round tubes with mixed sizes, and is characterized in that:
the number of the rubber pads (2) is multiple, the rubber pads (2) are respectively fixed on the inner sides of the mechanical claws (1), and the number of the rubber pads (2) is equal to that of the mechanical claws (1) and is matched with that of the mechanical claws (1).
5. The manipulator of claim 1, wherein the manipulator is used for grabbing round tubes with mixed sizes, and is characterized in that:
the adjusting arms (4) and the claw arms (3) are two, and the height of the two adjusting arms (4) is smaller than that of the two claw arms (3).
6. The manipulator of claim 1, wherein the manipulator is used for grabbing round tubes with mixed sizes, and is characterized in that:
the included angle between the bottom surface of the mechanical claw (1) and the outer side surface of the claw arm (3) is ninety degrees, and the maximum opened angle of the claw arm (3) is ninety degrees.
7. The manipulator of claim 1, wherein the manipulator is used for grabbing round tubes with mixed sizes, and is characterized in that:
the upper hydraulic cylinder (12) and the lower hydraulic cylinder (18) both have a plurality of hydraulic rods, and the longest length of the upper hydraulic cylinder (12) is greater than the longest length of the lower hydraulic cylinder (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921141558.6U CN210525122U (en) | 2019-07-19 | 2019-07-19 | Snatch manipulator that size mixes pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921141558.6U CN210525122U (en) | 2019-07-19 | 2019-07-19 | Snatch manipulator that size mixes pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210525122U true CN210525122U (en) | 2020-05-15 |
Family
ID=70598462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921141558.6U Expired - Fee Related CN210525122U (en) | 2019-07-19 | 2019-07-19 | Snatch manipulator that size mixes pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210525122U (en) |
-
2019
- 2019-07-19 CN CN201921141558.6U patent/CN210525122U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200515 |