CN211870694U - Pipe fitting grabbing device and robot - Google Patents

Abstract

The utility model provides a pipe fitting grabbing device, including the crossbeam with set up in a plurality of power component on the crossbeam, every be equipped with two clamping components that can move on power component on the power component, two clamping components sets up relatively, and can be in opposite directions or reverse direction moving, clamping components includes removable clamping part, the outside or the inboard of clamping part clampable pipe fitting. The pipe fitting grabbing device of this structure sets up power component on the crossbeam, sets up clamping component on power component, and in power component's the in-process of moving in opposite directions or reversal, the realization snatchs the pipe fitting, compares with the grabbing device of current structure, and it has simple structure compactness, good operational reliability to and use cost hangs down advantage. On the other hand, the utility model discloses still provide a robot including above-mentioned pipe fitting clamp device.

Description

Pipe fitting grabbing device and robot

Technical Field

The utility model relates to a grabbing device field, in particular to pipe fitting grabbing device and robot.

Background

At present, equipment and manipulator application are got to various materials clamp is comparatively extensive, and the application in-process mainly realizes the centre gripping to the material through the surface of centre gripping material, to the relatively more regular material of appearance, presss from both sides and gets relatively comparatively effectively, but is irregular to the appearance, perhaps is equipped with other parts on the surface and has the pipe fitting of circle internal diameter, still lacks comparatively effectual grabbing device at present. The current grabbing equipment is easy to slide when clamping the pipe fittings, so that the safety system is low.

The application number 201621386473.0 discloses a manipulator for clamping a pipe fitting, which moves a base along with the movement of a piston rod of a hydraulic cylinder through a mechanical gripper when in use, and pushes and pulls a tensioning plate to open simultaneously through a driving rod to push and pull the tensioning plate to tightly push against the inner wall of the pipe fitting, so that the pipe fitting is clamped or moved by utilizing friction force. The equipment and the clamping mode thereof can only clamp a specific type of workpiece, and the clamping mode is still not reliable enough, and for large workpieces, a larger risk of slipping exists.

In summary, how to provide a pipe gripping device with simple and compact structure, good working reliability and low production and use costs, and a robot including the pipe gripping device, have become technical problems that the skilled person needs to solve.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the pipe fitting grabbing device is simple and compact in structure, good in working reliability and low in production and use cost, and the robot comprising the pipe fitting grabbing device is provided.

The utility model discloses a solution is realized like this: the utility model provides a pipe fitting grabbing device, including the crossbeam with set up in a plurality of power component on the crossbeam, every be equipped with two clamping components that can move on power component on the power component, two clamping components sets up relatively, and can be in opposite directions or reverse direction moving, clamping components includes removable clamping part, the outside or the inboard of clamping part clampable pipe fitting. The pipe fitting grabbing device of this structure sets up power component on the crossbeam, sets up clamping component on power component, and in power component's the in-process of moving in opposite directions or reversal, the realization snatchs the pipe fitting, compares with the grabbing device of current structure, and it has simple structure compactness, good operational reliability to and use cost hangs down advantage.

The utility model discloses an another technical scheme lies in on above-mentioned basis, still be equipped with the connecting seat on the crossbeam, be equipped with a plurality of connecting piece that is used for being connected with the arm on the connecting seat.

Another technical scheme of the utility model lies in on the above-mentioned basis, be equipped with the power pack in the power component, the power pack is used for driving clamping component follows power component removes.

The utility model discloses an another technical scheme lies in on above-mentioned basis, power unit is cylinder or hydro-cylinder, clamping component includes the keysets, the both ends of cylinder or hydro-cylinder respectively with the one end fixed connection of keysets, when cylinder or hydro-cylinder are flexible, drive the keysets removes.

The utility model discloses a another technical scheme lies in on the basis of the aforesaid, the clamp of clamping part for being used for snatching the pipe fitting outer wall, clamp detachably fixed set up in the keysets is kept away from power component's one end.

Another technical scheme of the utility model lies in on above-mentioned basis, clamp with still be equipped with removable backing plate between the keysets.

The utility model discloses a another technical scheme lies in on the basis of the aforesaid, the clamp part indicates for being used for snatching the double-layered of pipe fitting inner wall, still be equipped with the connecting plate on the keysets, press from both sides to indicate detachably fixed set up in on the connecting plate.

The utility model discloses an another technical scheme lies in on above-mentioned basis, one side of connecting plate is equipped with and is used for the spacing limiting plate of axial, the one end of limiting plate fixed set up in on the keysets, the other end fixed set up in on the connecting plate.

The utility model discloses a another technical scheme lies in on above-mentioned basis, power component's quantity is two, set up respectively in the both ends of crossbeam, and at least one of them power component can follow the crossbeam and remove.

On the other hand, the utility model also provides a robot, including arm and detachably fixed set up in pipe fitting grabbing device on the arm, pipe fitting grabbing device be as above pipe fitting grabbing device.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation.

Fig. 1 is a schematic structural view of a pipe gripping device of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a left side view of FIG. 2;

fig. 5 is a schematic structural view of another pipe gripping device according to the present invention;

FIG. 6 is a schematic view of the pipe gripping device shown in FIG. 5;

FIG. 7 is a front view of FIG. 6;

FIG. 8 is a top view of FIG. 7;

the corresponding relation of the reference signs is as follows:

fig. 9 is a left side view of fig. 7.

1 crossbeam 2 Power Assembly

31 first adapter plate 32 second adapter plate

41 first clamp 42 second clamp

51 first shim plate 52 second shim plate

6 bolt 7 cylindric lock 8 limiting plates

9 connecting plate

101 first clamping finger 102 second clamping finger

11 connecting seat 12 pipe fitting

Detailed Description

The present invention will be described in detail with reference to the drawings, which are provided for illustrative and explanatory purposes only and should not be construed as limiting the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.

The embodiment of the utility model provides a following, please refer to the pipe fitting grabbing device shown in fig. 1 to 9, specifically include crossbeam 1 and set up a plurality of power component 2 on crossbeam 1, crossbeam 1 is used for being connected with the arm of robot, be equipped with two clamping component that can move on power on every power component 2 to two power component 2 set up relatively, in the course of the work, two power component 2 can move or reverse motion in opposite directions, clamping component specifically includes removable clamping part, through clamping part, can press from both sides the outside or the inboard of tight pipe fitting 12. The pipe fitting grabbing device of this structure sets up power component 2 on crossbeam 1, sets up clamping component on power component 2, in power component 2 in opposite directions or the reverse movement in-process, realizes snatching pipe fitting 12, compares with the grabbing device of current structure, and it has simple structure compactness, operational reliability is good to and use cost is low advantage.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 to 9, the cross beam 1 is further provided with a connecting seat 11, the connecting seat 11 is provided with a plurality of connecting members, and the cross beam 1 is connected with the mechanical arm of the robot through the connecting members. More specifically, the connection comprises a number of bolts 6 and cylindrical pins 7. It should be noted that the connecting member may be any possible connecting member.

On the basis of the above embodiment, in another embodiment of the utility model, as shown in fig. 1 to fig. 9, still be equipped with power pack in the power component 2, power pack's both ends respectively with clamping component fixed connection, power pack during operation drives clamping component and removes, and when clamping component removed, alright realize snatching pipe fitting 12.

On the basis of the embodiment, in another embodiment of the utility model, to the power unit, specifically can be the hydro-cylinder, the hydro-cylinder includes the cylinder and movably sets up the hydro-cylinder in the cylinder, clamping component includes the keysets, the keysets includes first keysets 31 and the relative second keysets 32 that sets up with first keysets 31, the one end and the first keysets 31 of hydro-cylinder are connected, the one end and the second keysets 32 of cylinder are connected, when the hydro-cylinder extension or shorten, drive two clamping component through first keysets 31 and second keysets 32 and remove, the face realization is to snatching of pipe fitting 12. In other embodiments, the power unit may also be a cylinder, and the structure and the working principle thereof are similar to those of an oil cylinder, and are not described herein again. Furthermore, the power unit may be any possible power component.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 to 4, for the clamping portion, in an embodiment, the clamping portion is specifically a clamp for grabbing the outer wall of the pipe 12, and similarly, the clamp includes a first clamp 41 and a second clamp 42 disposed opposite to the first clamp 41, the first clamp 41 and the second clamp 42 are provided with radians, and when the first clamp 41 and the second clamp 42 move towards each other, the pipe 12 is clamped from the outer side of the pipe 12. And when the first and second clamps 41 and 42 are moved in opposite directions, the tubular 12 is released. It should be noted that, in order to avoid rigid contact between the first clamp 41 and the second clamp 42 and the pipe 12, rubber pads may be further disposed on the first clamp 41 and the second clamp 42.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 to fig. 4, a replaceable pad is further disposed between the clamp 4 and the adapter plate, more specifically, a first pad 51 is disposed between the first clamp 41 and the first adapter plate 31, a second pad 52 is disposed between the second clamp 42 and the second adapter plate 32, both the first pad 51 and the second pad 52 can be replaced in real time as required, and when the first pad 51 and the second pad 52 are replaced, the outer diameter of the pipe 12 that can be grasped is also changed accordingly.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 5 to 9, in another embodiment, the clamping portion is specifically a clamping finger 10, the adapter plate is provided with a connecting plate 9, the clamping finger 10 is detachably and fixedly disposed on the connecting plate 9, more specifically, one end of the adapter plate is connected with the power unit, the other end of the adapter plate is connected with one end of the connecting plate 9, and the clamping finger 10 is disposed at the other end of the connecting plate 9. In addition, the clamping finger 10 includes a first clamping finger 101 and a second clamping finger 102, the first clamping finger 101 and the second clamping finger 102 are disposed opposite to each other, when the first clamping finger 101 and the second clamping finger 102 move in opposite directions, the inner wall of the pipe 12 is clamped from two directions, so as to grip the pipe 12, and when the first clamping finger 101 and the second clamping finger 102 move in opposite directions, the pipe 12 is released.

On the basis of the above embodiment, in another embodiment of the utility model, as shown in fig. 5 to fig. 9, one side of connecting plate 9 still is equipped with and is used for the spacing limiting plate 8 of axial, specifically, the one end of limiting plate 8 is through connecting fixed the setting on the keysets, and the other end also sets up on connecting plate 9 through connecting fixed.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 5 to fig. 9, the number of the power assemblies 2, preferably two, is set at the two ends of the beam 1 respectively, and at least one of the power assemblies 2 can move along the beam 1, or two power assemblies 2 can move along the beam 1, and in the moving process of the power assemblies 2, the grabbing of the pipe fittings 12 with different specifications is realized.

On the other hand, the utility model also provides a robot, including arm and the fixed pipe fitting grabbing device that sets up on the arm of detachably, more specifically, pipe fitting grabbing device is as above pipe fitting grabbing device.

The robot of this structure correspondingly, has the advantage of above-mentioned pipe fitting grabbing device, compact structure promptly, the operational reliability is good to and use cost is low advantage.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a pipe fitting grabbing device, its characterized in that, including crossbeam (1) with set up in a plurality of power component (2) on crossbeam (1), every be equipped with two clamping component that can move on power component (2), two clamping component sets up relatively, and can move in opposite directions or reverse direction, clamping component includes removable clamping part, the outside or the inboard of clamping part clampable pipe fitting.

2. Pipe gripping device according to claim 1, wherein the cross beam (1) is further provided with a connecting base (11), and the connecting base (11) is provided with a plurality of connecting members for connecting with a robot arm.

3. Pipe gripping device according to claim 2, wherein a power unit is provided in the power assembly (2) for moving the gripping assembly along the power assembly (2).

4. The pipe fitting grabbing device of claim 3, wherein the power unit is an air cylinder or an oil cylinder, the clamping assembly comprises an adapter plate, two ends of the air cylinder or the oil cylinder are fixedly connected with one end of the adapter plate respectively, and the air cylinder or the oil cylinder drives the adapter plate to move when stretching.

5. Pipe gripping device according to claim 4, wherein the gripping part is a gripper for gripping the outer wall of a pipe, the gripper being detachably fixedly arranged at the end of the adapter plate remote from the power assembly (2).

6. Pipe gripping device according to claim 5, wherein a replaceable shim plate (5) is further provided between the gripper and the adapter plate.

7. Pipe gripping device according to claim 4, wherein the gripping part is a gripping finger (10) for gripping the inner wall of the pipe, the adapter plate further comprises a connecting plate (9), and the gripping finger (10) is detachably fixed on the connecting plate (9).

8. Pipe gripping device according to claim 7, wherein a limiting plate (8) for axial limiting is arranged on one side of the connecting plate (9), one end of the limiting plate (8) is fixedly arranged on the adapter plate, and the other end is fixedly arranged on the connecting plate (9).

9. Pipe gripping device according to claim 8, wherein the number of power assemblies (2) is two, each being arranged at both ends of the cross beam (1), and at least one of the power assemblies (2) being movable along the cross beam (1).

10. A robot comprising a robot arm and a tubular handling device detachably fixedly arranged on the robot arm, characterized in that the tubular handling device is a tubular handling device according to any of claims 1-9.

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