CN211333239U

CN211333239U - Manipulator for pipe

Info

Publication number: CN211333239U
Application number: CN201922023305.5U
Authority: CN
Inventors: 刘飞香; 钱风强; 张海涛; 刘金书; 徐通正; 欧阳新池; 潘国智; 张贤福
Original assignee: China Railway Construction Heavy Industry Group Co Ltd
Current assignee: China Railway Construction Heavy Industry Group Co Ltd
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-08-25
Anticipated expiration: 2029-11-21

Abstract

The utility model provides a pipe manipulator, which comprises a bracket, a pressing bracket, an oil cylinder, a roller and a driving device; the bracket is provided with a first notch for clamping the pipe, and the pressing bracket is provided with a second notch matched with the first notch; one end of the pressing bracket is in pin joint or hinge joint with the bracket, and the other end of the pressing bracket is connected with the bracket through an oil cylinder; the support and the pressing support are both provided with rollers; the bracket and/or the pressing bracket are/is provided with a driving device, and an output shaft of the driving device is provided with a roller; the oil cylinder drives the pressing support to move, the oil cylinder extends, the opening of the manipulator is reduced, and then the pipe is clamped; on the contrary, the oil cylinder is contracted, the opening is enlarged, and the manipulator releases the pipe; when the manipulator clamps the pipe, the roller is in contact connection with the pipe, the driving device drives the roller to rotate in the same direction, and the roller rotates to drive the pipe to rotate, so that the pipe is screwed in and is in threaded connection with the previous fixed pipe; otherwise, the driving device drives the roller to rotate reversely, the pipe is loosened reversely, and the pipe is detached from the pipe.

Description

Manipulator for pipe

Technical Field

The utility model relates to a manipulator technical field, concretely relates to manipulator for pipe.

Background

The application of a manipulator in the mechanical field is more and more extensive, and the existing manipulator is generally applied to the feeding and discharging of a machined part and the fixation of the machined part; at present, in the pipe shed construction in the engineering field, the grabbing and the connection of the pipe shed are carried out manually, the labor intensity of workers is high, the construction efficiency is low, multiple persons are required for cooperation, and the requirement on the number of the workers is high; the manipulator device in the existing mechanical field is applied to pipe shed construction, and only has the grabbing function of the pipe shed; therefore, there is a need for a new pipe manipulator.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a pipe manipulator, which comprises a bracket, a pressing bracket, an oil cylinder and a roller device; the bracket is provided with a first notch for clamping the pipe, and the pressing bracket is provided with a second notch matched with the first notch; one end of the pressing bracket is in pin joint or hinge joint with the bracket, the other end of the pressing bracket is connected with an oil cylinder, and the oil cylinder is arranged on the bracket; the roller device comprises a driving device and a roller, the roller of the roller device is arranged on the support and the pressing support, and the driving device of the roller device is arranged on the support and/or the pressing support; the output end of the driving device on the bracket and/or the pressing bracket is connected with the roller.

Preferably, the roller devices arranged on the support and the pressing support are both positioned on the same side surface, and when the manipulator clamps the pipe, the rollers of the roller devices on the support and the pressing support are in tangential contact with the pipe; and are located on the same circumference of the pipe with the center line of the pipe as the center of the circle.

Preferably, the bracket and the compaction bracket are both double-layer hollow structure brackets; the pressing bracket is embedded in the interlayer of the bracket, one end of the pressing bracket is in pin joint with the bracket, and the other end of the pressing bracket is connected with the supporting frame through an oil cylinder; two roller devices are arranged on the support close to the first notch, and one roller device is arranged on the pressing support close to the second notch.

Preferably, the support with the double-layer hollow structure is provided with a bearing, the driving device of the roller device is arranged on the surface of one layer of the support with the double-layer hollow structure, the output shaft of the driving device penetrates through the bearing, the output shaft is provided with a key groove, the roller is arranged on the output shaft through a key connection, and the roller is located in the hollow part of the support with the double-layer hollow structure.

Preferably, the mounting angles of the two roller devices arranged on the bracket close to the first notch are 90 degrees.

Preferably, the pressing support with the double-layer hollow structure is provided with a bearing, the driving device of the roller device is arranged on the surface of one layer of the pressing support with the double-layer hollow structure, the output shaft of the driving device penetrates through the bearing, the output shaft is provided with a key groove, the roller is arranged on the output shaft through a key connection, and the roller is located in the hollow part of the pressing support with the double-layer hollow structure.

Preferably, a plurality of grooves are formed on the surface of the roller; the groove can increase the friction force of the contact between the roller and the pipe shed, and the pipe shed can be driven to rotate more easily.

Preferably, the drive means is a motor.

Preferably, this application device includes the connecting seat that is used for being connected with the rock drilling equipment, and the connecting seat sets up on the support.

Use the technical scheme of the utility model, following beneficial effect has:

(1) the utility model relates to a pipe manipulator, which comprises a bracket, a pressing bracket, an oil cylinder and a roller device; one end of the pressing bracket is in pin joint or hinge joint with the bracket, the other end of the pressing bracket is connected with an oil cylinder, and the oil cylinder is arranged on the bracket; the roller device comprises a driving device and a roller, the roller of the roller device is arranged on the support and the pressing support, and the driving device of the roller device is arranged on the support and/or the pressing support; and the output shaft of the driving device on the bracket and/or the pressing bracket is provided with a roller. The oil cylinder of the device drives the pressing support to move, the oil cylinder extends, the opening of the manipulator is reduced, and then the pipe is clamped tightly; on the contrary, the oil cylinder contracts, the opening is enlarged, and then the manipulator releases the pipe; in addition, when the manipulator clamps the pipe, the roller is in contact connection with the pipe, the driving device drives the roller to rotate in the same direction, and the roller rotates to drive the pipe to rotate, so that the pipe is screwed in and is in threaded connection with the previous fixed pipe, and the connecting function of the pipe is realized; otherwise, the driving device drives the roller to rotate reversely, so that the pipe is reversely loosened, and the pipe disassembling function is realized.

(2) This application device support all is located same side with the gyro wheel device that compresses tightly the support setting, two gyro wheel device's that set up on the support installation angle each other is 90 degrees, 90 degrees vertical point is convenient for look for and is laid, when manipulator clamp pipe simultaneously, the gyro wheel of gyro wheel device on the support and the compression support of being convenient for and the tangent contact of pipe, and be located and use the pipe central line to become the same circumference of pipe in the centre of a circle, easily make the line of taking three gyro wheel device on the pipe become equilateral triangle or isosceles triangle, and then make the pipe atress more even, the rotation of pipe is more quick, thereby improve the work efficiency of pipe and union coupling and pipe and dismantlement.

In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:

fig. 1 is a front view of a pipe robot structure according to the present embodiment;

FIG. 2 is a side view of a pipe robot structure according to the present embodiment;

FIG. 3 is a schematic view of the mounting structure of the roller device of FIG. 1;

wherein, 1, support, 1.1, first breach, 2, compress tightly the support, 2.1, second breach, 3, hydro-cylinder, 4, roller device, 4.1, drive arrangement, 4.2, gyro wheel, 4.3, output shaft, 4.4, bearing, 4.5, bearing end cover, 5, connecting seat.

Detailed Description

The embodiments of the invention will be described in detail hereinafter with reference to the accompanying drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.

Example 1:

referring to fig. 1 to 3, a pipe manipulator includes a bracket 1, a pressing bracket 2, an oil cylinder 3, and a roller device 4; the roller device 4 comprises a driving device 4.1 and a roller 4.2; a first notch 1.1 for clamping the pipe is arranged on the support 1, and a second notch 2.1 matched with the first notch is arranged on the pressing support 2; the bracket and the pressing bracket are both double-layer hollow structure brackets; the pressing bracket is embedded in the interlayer of the bracket, one end of the pressing bracket is in pin joint with the bracket, and the other end of the pressing bracket is connected with the supporting frame through an oil cylinder; two roller devices are arranged on the support close to the first notch, a bearing 4.4 is arranged on the support with the double-layer hollow structure, a driving device of each roller device is arranged on the surface of one layer of the support with the double-layer hollow structure, the output end of the driving device 4.1 is connected with an output shaft 4.3 through a coupler, the output shaft of the driving device penetrates through the bearing, a key groove is formed in the output shaft, the rollers are arranged on the output shaft through key connection, and the rollers are located in the hollow part of the support with the double-layer hollow structure; a bearing end cover 4.5 playing a role of protection is arranged on the surface of the other layer of the bracket with the double-layer hollow structure; a roller device is arranged on the pressing bracket close to the second gap; the pressing support with the double-layer hollow structure is provided with a bearing, a driving device of the roller device is arranged on the surface of one layer of the pressing support with the double-layer hollow structure, the output end of the driving device is connected with an output shaft through a coupler, the output shaft penetrates through the bearing, a key groove is formed in the output shaft, the roller is arranged on the output shaft through a key connection, and the roller is located in the hollow part of the pressing support with the double-layer hollow structure; a bearing end cover playing a role in protection is arranged on the surface of the other layer of the compression bracket with the double-layer hollow structure; the circumference surface of gyro wheel is gone up to open has a plurality of recesses, and the recess can increase the frictional force of gyro wheel and pipe canopy contact, drives the pipe canopy more easily and rotates.

The support all is located same side with the gyro wheel device that compresses tightly the support setting (in gyro wheel device's the installation, drive arrangement's orientation all faces same side), two gyro wheel device's that set up on the support each other the installation angle for 90 degrees (two gyro wheel devices are the perpendicular relation with the line of first breach), 90 degrees vertical point is convenient for look for and lays, when manipulator clamp pipe simultaneously, the gyro wheel of gyro wheel device all contacts with the pipe is tangent on the support of being convenient for and compress tightly on the support, and be located the same circumference of the pipe that uses the pipe central line as the centre of a circle, easily make the line of three gyro wheel device of taking on the pipe become equilateral triangle or isosceles triangle, and then make the pipe atress more even, the rotation of pipe is more quick, thereby improve the pipe and tube connection and the work efficiency of pipe and pipe dismantlement.

The driving device of the device is a motor; the device of the application further comprises a connecting seat 5 used for being connected with the rock drilling equipment, the connecting seat is of a pipe clamp structure, one end of the connecting seat of the pipe clamp structure is connected to the support, and the other end of the connecting seat of the pipe clamp structure is connected to the rock drilling equipment.

The oil cylinder of the device drives the pressing support to move, the oil cylinder extends, the opening of the manipulator is reduced, and then the pipe is clamped tightly; on the contrary, the oil cylinder contracts, the opening is enlarged, and then the manipulator releases the pipe; in addition, when the manipulator clamps the pipe, the roller is in contact connection with the pipe, the driving device drives the roller to rotate in the same direction, and the roller rotates to drive the pipe to rotate, so that the pipe is screwed in and is in threaded connection with the previous fixed pipe, and the connecting function of the pipe is realized; otherwise, the driving device drives the roller to rotate reversely, so that the pipe is reversely loosened, and the pipe disassembling function is realized.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipe manipulator is characterized by comprising a bracket, a pressing bracket, an oil cylinder and a roller device; the bracket is provided with a first notch for clamping the pipe, and the pressing bracket is provided with a second notch matched with the first notch; one end of the pressing bracket is in pin joint or hinge joint with the bracket, the other end of the pressing bracket is connected with an oil cylinder, and the oil cylinder is arranged on the bracket; the roller device comprises a driving device and a roller, the roller of the roller device is arranged on the support and the pressing support, and the driving device of the roller device is arranged on the support and/or the pressing support; the output end of the driving device on the bracket and/or the pressing bracket is connected with the roller.

2. The pipe manipulator according to claim 1, wherein the roller units provided in the support and the pressing support are located on the same side, and when the manipulator grips the pipe, the rollers of the roller units provided in the support and the pressing support are in tangential contact with the pipe and are located on the same circumference of the pipe centered on the center line of the pipe.

3. The pipe manipulator according to claim 2, wherein the holder and the pressing holder are both double-layered hollow structure holders; the pressing bracket is embedded in the interlayer of the bracket, one end of the pressing bracket is in pin joint with the bracket, and the other end of the pressing bracket is connected with the supporting frame through an oil cylinder; two roller devices are arranged on the support close to the first notch, and one roller device is arranged on the pressing support close to the second notch.

4. The pipe manipulator as claimed in claim 3, wherein a bearing is provided on the double-layered hollow structure support, the driving unit of the roller unit is provided on a surface of one of the layers of the double-layered hollow structure support, and an output shaft of the driving unit is provided through the bearing, the output shaft is provided with a key groove, the roller is provided on the output shaft by a key connection, and the roller is located in a hollow portion of the double-layered hollow structure support.

5. The pipe manipulator according to claim 4, wherein the two roller assemblies provided on the support adjacent to the first notch are mounted at an angle of 90 degrees to each other.

6. The pipe manipulator as claimed in claim 3, wherein a bearing is provided on the pressing bracket having the double-layered hollow structure, the driving unit of the roller unit is provided on a surface of one of the layers of the pressing bracket having the double-layered hollow structure, and an output shaft of the driving unit is provided through the bearing, the output shaft is provided with a key groove, the roller is provided on the output shaft by a key connection, and the roller is located in a hollow portion of the pressing bracket having the double-layered hollow structure.

7. The pipe manipulator according to any one of claims 1 to 6, wherein the roller has a plurality of grooves on a surface thereof.

8. The pipe manipulator according to claim 7, wherein the driving means is a motor.

9. The pipe manipulator according to claim 8, comprising a coupling seat for coupling with a rock drilling apparatus, the coupling seat being provided on the support.