CN220807436U - Manipulator for carrying pipe - Google Patents
Manipulator for carrying pipe Download PDFInfo
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- CN220807436U CN220807436U CN202321600664.2U CN202321600664U CN220807436U CN 220807436 U CN220807436 U CN 220807436U CN 202321600664 U CN202321600664 U CN 202321600664U CN 220807436 U CN220807436 U CN 220807436U
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- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000000712 assembly Effects 0.000 claims description 5
- 238000000429 assembly Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 5
- 239000002184 metal Substances 0.000 abstract description 14
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The utility model discloses a manipulator for carrying pipes, which comprises a base, wherein a driving device, a first guiding device, a second guiding device, a first arc-shaped mechanical arm assembly and a second arc-shaped mechanical arm assembly are arranged on the base, the driving device is used for simultaneously driving the first arc-shaped mechanical arm assembly and the second arc-shaped mechanical arm assembly to move in opposite directions or move in opposite directions so that the first arc-shaped mechanical arm assembly and the second arc-shaped mechanical arm assembly form a closed annular structure or an open annular structure, and the second guiding device limits the moving path of the second arc-shaped mechanical arm assembly. According to the utility model, the single servo motor driving device is arranged to drive the first arc-shaped mechanical arm assembly and the second arc-shaped mechanical arm assembly to move in opposite directions or move in opposite directions so that the mechanical arm can open or close to finish grabbing and carrying of the metal pipe, the structure is simple, the operation is convenient, the carrying capacity is large, the carrying efficiency of the metal pipe can be greatly improved, and the labor is reduced.
Description
Technical Field
The utility model relates to the technical field of pipe conveying, in particular to a manipulator for conveying pipes.
Background
In the steel industry, a large number of metal pipes are usually required to be carried or moved, and the conventional method for carrying the metal pipes is to bundle the metal pipes placed on a bracket by using a belt and then to hoist the metal pipes by using a lifting hook of a lifting device.
Patent document CN110303487a discloses a manipulator device for pipe handling, which comprises a sliding mechanism, a balancing mechanism, a lifting ring, a first chute, a first slider, a manipulator, a second rack, a second chute, a buffer mechanism, a second stopper, a first servo motor, a first rotating shaft, a first rack, a first gear, a first stopper and two struts, wherein the two struts are fixed with a cross beam through bolts, the center of the top of the cross beam is fixed with a second rack through bolts, two sides of the second rack are correspondingly welded and fixed with a second stopper, the center of one side of the second stopper is welded and fixed with a buffer mechanism, the second chute is arranged on one side of the cross beam, and the non-adjacent side of the two cross beams is correspondingly provided with a sliding mechanism, and the center of the bottom of the sliding mechanism is connected with the center of the top of the first support plate through an electric telescopic rod.
In summary, since the length of the metal pipe is long, it is usually necessary to bundle the metal pipes with the bands at two spaced positions, and then hang the hooks on the metal pipes respectively, the handling tool and the method require labor, the handling efficiency is very low, and rapid handling or moving of large quantities of metal pipes cannot be realized.
Disclosure of utility model
The utility model aims to provide a manipulator for transporting pipes, which solves the problem that the prior art cannot transport a large amount.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a manipulator of transport tubular product, includes the base, be equipped with drive arrangement, first guider and second guider on the base to and first arc arm module and second arc arm module, wherein, drive arrangement sets up to drive simultaneously first arc arm module and second arc arm module remove in opposite directions or move so that first arc arm module and second arc arm module constitute a closed loop configuration or an open loop configuration, first guider prescribes a limit to the travel path of first arc arm module, second guider prescribes a limit to the travel path of second arc arm module.
Preferably, the driving device is a servo motor with a speed reducing mechanism, a transmission part is arranged at the lower end of a rotating shaft of the servo motor, and the servo motor drives the first arc-shaped mechanical arm assembly and the second arc-shaped mechanical arm assembly to move oppositely or move back to back through the transmission part.
Preferably, the first arc-shaped mechanical arm assembly comprises a first arc-shaped mechanical arm and a first arc-shaped track, the second arc-shaped mechanical arm assembly comprises a second arc-shaped mechanical arm and a second arc-shaped track, and the transmission piece drives the first arc-shaped mechanical arm and the second arc-shaped mechanical arm.
Preferably, the base comprises a horizontal substrate, a first wing plate and a second wing plate which are arranged at intervals, the first arc-shaped tracks and the second arc-shaped tracks are arranged at intervals in parallel, the first guiding device is connected with the first wing plate, the second guiding device is connected with the second wing plate, the first arc-shaped mechanical arm, the first arc-shaped tracks, the second arc-shaped mechanical arm and the second arc-shaped tracks are arranged between the first wing plate and the second wing plate, and the first arc-shaped mechanical arm and the second arc-shaped mechanical arm are arranged between the first arc-shaped tracks and the second arc-shaped tracks.
Preferably, the transmission piece is a cone, the conical surface of the cone is provided with a rubber piece, the first arc-shaped mechanical arm and the second arc-shaped mechanical arm are provided with inclined planes, and the inclined planes are provided with the rubber piece.
Preferably, the first guiding device and the second guiding device respectively comprise a plurality of guiding wheel assemblies, the guiding wheel assemblies comprise an upper pulley and a lower pulley, and the first arc-shaped track and the second arc-shaped track are arranged between the upper pulley and the lower pulley and are matched with the upper pulley and the lower pulley.
Preferably, the surfaces of the upper pulley and the lower pulley are provided with rolling grooves matched with the first arc-shaped track and the second arc-shaped track.
Preferably, the robot further comprises a first supporting roller group for supporting the first arc-shaped mechanical arm and a second supporting roller group for supporting the second arc-shaped mechanical arm, wherein the first supporting roller group is connected with the first wing plate, and the second supporting roller group is connected with the second wing plate.
Preferably, the rotating shaft is telescopic, and the conical surface of the cone is abutted against the inclined surfaces of the first arc-shaped mechanical arm and the second arc-shaped mechanical arm through the elastic force of the spring.
Preferably, the transmission part is a bevel gear, the first arc-shaped mechanical arm and the second arc-shaped mechanical arm are respectively provided with a bevel gear rack, and the bevel gear is meshed with the bevel gear racks of the first arc-shaped mechanical arm and the second arc-shaped mechanical arm
Compared with the prior art, the utility model has the beneficial effects that:
According to the utility model, the single servo motor driving device is arranged to drive the first arc-shaped mechanical arm assembly and the second arc-shaped mechanical arm assembly to move in opposite directions or move in opposite directions so that the mechanical arm can open or close to finish grabbing and carrying of the metal pipe, the structure is simple, the operation is convenient, the carrying capacity is large, the carrying efficiency of the metal pipe can be greatly improved, and the labor is reduced.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic perspective view of the present utility model;
FIG. 3 is a front view of the spreader of the present utility model in a contracted state;
FIG. 4 is a front view of the spreader of the present utility model in an expanded state;
FIG. 5 is a cross-sectional view of the spreader of the present utility model in an expanded state;
Fig. 6 is a schematic diagram of an explosive structure according to the present utility model.
In the figure: 1. a base; 2. a driving device; 3. a first guide device; 4. a second guide device; 5. a first arcuate robotic arm assembly; 6. a second arcuate robotic arm assembly; 11. a horizontal substrate; 12. a first wing plate; 13. a second wing plate; 51. a first arcuate robotic arm; 52. a second arcuate track; 61. a second arcuate robotic arm; 62. a second arcuate track; 21. a rotating shaft; 22. a transmission member; 23. a spring; 7. a guide wheel assembly; 71. an upper pulley; 72. a lower pulley; 8. a first set of support rollers; 9. the second supporting roller group.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-6, an embodiment of the present utility model is provided: the manipulator for transporting pipes according to the present utility model shown in fig. 1 to 5 comprises a base 1, a driving device 2, a first guiding device 3, a second guiding device 4, a first arc-shaped mechanical arm assembly 5 and a second arc-shaped mechanical arm assembly 6, wherein the driving device 2, the first guiding device 3 and the second guiding device 4 are fixedly arranged on the base 1, the driving device 2 is configured to drive the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6 to move towards each other or move away from each other at the same time, when the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6 move towards each other to the close end portions of the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6, a closed annular structure is formed, the manipulator is in the closed state, when the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6 move back to the position that two adjacent ends of the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6 are far away from each other, an open annular structure is formed, the manipulator is in the open state, the manipulator can grasp and release the pipe rapidly through closing and opening, the first guiding device 3 limits the moving path of the first arc-shaped mechanical arm assembly 5, and the second guiding device 4 limits the moving path of the second arc-shaped mechanical arm assembly 6, so that the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6 move on two adjacent and parallel planes. In the specific implementation process, under the condition that the length of the metal pipe is longer, two mechanical arms arranged at intervals can be adopted to synchronously carry the metal pipe.
Specifically, the base 1 includes a horizontal substrate 11, a first wing plate 12 and a second wing plate 13 that are disposed at intervals, the top ends of the first wing plate 12 and the second wing plate 13 are connected with the horizontal substrate 11, the first arc-shaped mechanical arm assembly 5 includes a first arc-shaped mechanical arm 51 and a first arc-shaped track 52, the second arc-shaped mechanical arm assembly 6 includes a second arc-shaped mechanical arm 61 and a second arc-shaped track 62, the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 are disposed between the first arc-shaped track 52 and the second arc-shaped track 62, the first arc-shaped track 52, the second arc-shaped mechanical arm 61 and the second arc-shaped track 62 are disposed at positions between the first wing plate 12 and the second wing plate 13, and in a specific embodiment, the base 1 may further include a connection plate that connects the bottom ends of the first wing plate 12 and the second wing plate 13.
The driving device 2 is a servo motor with a speed reducing mechanism, a transmission piece 22 is arranged at the lower end of a rotating shaft 21 of the servo motor, the rotating shaft 21 of the servo motor is coaxial with the transmission piece 22, and the servo motor drives the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 through the transmission piece 22 so as to enable the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6 to move oppositely or move back to back; in this embodiment, the transmission member 22 is a cone with a conical surface, the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 have inclined surfaces, the conical surface of the transmission member 22 is the conical surface of the cone and is in contact with the inclined surfaces of the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61, the conical surface of the cone is provided with a rubber member, the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 have inclined surfaces matched with the conical surface of the cone, the inclined surfaces are provided with rubber members, when the cone rotates, the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 are driven to move by friction between the rubber member of the conical surface of the cone and the rubber members of the inclined surfaces of the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61, the rotating shaft 21 of the servo motor is arranged to be telescopic along the axial direction, and the conical surface of the cone and the inclined surfaces of the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 are abutted by the elastic force of the spring 23 and a certain pressure is applied to the inclined surfaces of the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61.
The first guiding device 3 and the second guiding device 4 are used for limiting the moving track of the first arc-shaped mechanical arm assembly 5 and the second arc-shaped mechanical arm assembly 6, in this embodiment, the first guiding device 3 and the second guiding device 4 respectively comprise a plurality of guiding wheel assemblies 7, the guiding wheel assemblies 7 comprise an upper pulley 71 and a lower pulley 72, the surfaces of the upper pulley 71 and the lower pulley are provided with rolling grooves matched with the first arc-shaped track 52 and the second arc-shaped track 62, the first arc-shaped track 52 and the second arc-shaped track 62 are arranged between the upper pulley 71 and the lower pulley 72 and matched with the rolling grooves of the upper pulley 71 and the lower pulley 72, a first supporting roller set 8 for supporting the first arc-shaped mechanical arm 51 is arranged below the first arc-shaped mechanical arm 51, a second supporting roller set 9 for supporting the second arc-shaped mechanical arm 61 is arranged below the second arc-shaped mechanical arm 61, the first supporting roller set 8 is connected with the first wing plate 12, the second supporting roller set 9 is connected with the second supporting roller set 9, and the first supporting roller set 9 comprises a plurality of supporting roller sets 8.
Example two
In this embodiment, except that the rotation shaft 21 of the servo motor is not telescopic, the transmission member 22 is a bevel gear, the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61 are respectively provided with a bevel gear, and the bevel gear is meshed with the bevel gears of the first arc-shaped mechanical arm 51 and the second arc-shaped mechanical arm 61, otherwise the same as in the first embodiment.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. A manipulator of transport tubular product, its characterized in that: including the base with locate drive arrangement, first guider and second guider on the base, connect in first arc track and the second arc track of base, and first arc arm and second arc arm, wherein, drive arrangement sets up to the simultaneous driving first arc arm and second arc arm are in respectively on first arc track and the second arc track opposite direction removal or the back, the base includes horizontal bottom plate, the first pterygoid lamina and the second pterygoid lamina that the interval set up, first arc track connect in first pterygoid lamina, the second arc track connect in the second pterygoid lamina, first arc track and second arc track interval parallel arrangement.
2. A manipulator for handling tubing as claimed in claim 1, wherein: the driving device is a servo motor with a speed reducing mechanism, a transmission part is arranged at the lower end of a rotating shaft of the servo motor, and the servo motor drives the first arc-shaped mechanical arm assembly and the second arc-shaped mechanical arm assembly to move oppositely or move back to back through the transmission part.
3. A manipulator for handling tubing as claimed in claim 2, wherein: the first arc-shaped mechanical arm assembly comprises a first arc-shaped mechanical arm and a first arc-shaped track, the second arc-shaped mechanical arm assembly comprises a second arc-shaped mechanical arm and a second arc-shaped track, and the transmission piece drives the first arc-shaped mechanical arm and the second arc-shaped mechanical arm.
4. A manipulator for handling tubing as claimed in claim 1, wherein: the base comprises a horizontal substrate, a first wing plate and a second wing plate which are arranged at intervals, wherein the first arc-shaped tracks and the second arc-shaped tracks are arranged at intervals in parallel, the first guiding device is connected with the first wing plate, the second guiding device is connected with the second wing plate, the first arc-shaped mechanical arm, the first arc-shaped tracks, the second arc-shaped mechanical arm and the second arc-shaped tracks are arranged between the first wing plate and the second wing plate, and the first arc-shaped mechanical arm and the second arc-shaped mechanical arm are arranged between the first arc-shaped tracks and the second arc-shaped tracks.
5. A manipulator for handling tubing as claimed in claim 2, wherein: the transmission piece is the cone, the conical surface of cone is equipped with the rubber spare, first arc arm and second arc arm have the inclined plane, the inclined plane is equipped with the rubber spare.
6. A manipulator for handling tubing as claimed in claim 1, wherein: the first guiding device and the second guiding device respectively comprise a plurality of guiding wheel assemblies, each guiding wheel assembly comprises an upper pulley and a lower pulley, and the first arc-shaped track and the second arc-shaped track are arranged between the upper pulleys and the lower pulleys and are matched with the upper pulleys and the lower pulleys.
7. The manipulator of claim 6, wherein: the upper pulley and the lower pulley are provided with rolling grooves matched with the first arc-shaped track and the second arc-shaped track, the rolling grooves are used for supporting a first supporting roller group of the first arc-shaped mechanical arm and a second supporting roller group of the second arc-shaped mechanical arm, the first supporting roller group is connected with the first wing plate, and the second supporting roller group is connected with the second wing plate.
8. A manipulator for handling tubing as claimed in claim 2, wherein: the rotary shaft is set to be telescopic, the rotary shaft enables the conical surface of the cone to be abutted to the inclined surfaces of the first arc-shaped mechanical arm and the second arc-shaped mechanical arm through the elasticity of the spring, the transmission piece is a bevel gear, the first arc-shaped mechanical arm and the second arc-shaped mechanical arm are respectively provided with a bevel rack, and the bevel gear is meshed with the bevel racks of the first arc-shaped mechanical arm and the second arc-shaped mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321600664.2U CN220807436U (en) | 2023-06-24 | 2023-06-24 | Manipulator for carrying pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321600664.2U CN220807436U (en) | 2023-06-24 | 2023-06-24 | Manipulator for carrying pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220807436U true CN220807436U (en) | 2024-04-19 |
Family
ID=90708332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321600664.2U Active CN220807436U (en) | 2023-06-24 | 2023-06-24 | Manipulator for carrying pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220807436U (en) |
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2023
- 2023-06-24 CN CN202321600664.2U patent/CN220807436U/en active Active
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