CN2589419Y - Mechanical arm apparatus for tubular product discharging - Google Patents

Mechanical arm apparatus for tubular product discharging Download PDF

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Publication number
CN2589419Y
CN2589419Y CN 02224699 CN02224699U CN2589419Y CN 2589419 Y CN2589419 Y CN 2589419Y CN 02224699 CN02224699 CN 02224699 CN 02224699 U CN02224699 U CN 02224699U CN 2589419 Y CN2589419 Y CN 2589419Y
Authority
CN
China
Prior art keywords
photoelectric encoder
gear
clamp
fixed
tubular product
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 02224699
Other languages
Chinese (zh)
Inventor
徐能惠
雷刚
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
XI AN HEAVY DUTY MACHINERY INS
Original Assignee
XI AN HEAVY DUTY MACHINERY INS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by XI AN HEAVY DUTY MACHINERY INS filed Critical XI AN HEAVY DUTY MACHINERY INS
Priority to CN 02224699 priority Critical patent/CN2589419Y/en
Application granted granted Critical
Publication of CN2589419Y publication Critical patent/CN2589419Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model relates to a mechanical arm apparatus for tubular product discharging material, which comprises a roller way for delivering the tubular product, a machine frame 8, and a movable cart 1. The utility model is characterized in that the machine frame 8 is provided with the movable cart 1, and the front part of the cart 1 is fixed with an infrared switch 2, a clamping pliers 3 for clamping a steel tube, a gas cylinder 4, and a photoelectric encoder 9. The gas cylinder 4 is in transmission connection with the clamping pliers 3 and is connected with an approach switch 5. The machine frame 8 is fixed with a gear rack 6, and a gear wheel 7 is fixed on the cart 1 via a motor and a driving device. The gear rack 6 is engaged with the gear wheel 7, and the gear wheel 7 is connected with the photoelectric encoder 9 via a coupler. The infrared switch 2, the approach switch 5, and the photoelectric encoder 9 are connected with a computer. The mechanical arm apparatus for tubular product discharging material has accurate discharging distance which is free of the influence from the length and the diameter of the delivered steel tube. The utility model has the advantages of simple structure and low cost.

Description

Tubing is sent the material robot device
Affiliated technical field: the utility model belongs to a kind of material robot device, particularly tubing sent and sends the material robot device.
Background technology: at present in petroleum industry, development along with exploitation technology, oil well depth constantly increases, the demand of homemade heavy weight tubing, oil pumping cylinder, drilling rod is increasing, in order to satisfy the classification discharging of requirements of large-scale production and different steel pipes, often need high the sending of degree of automation to expect mechanism, original tubing is sent the material robot device, complex structure, the cost height.
Summary of the invention: the purpose of this utility model provides a kind of tubing and sends the material robot device, and it sends distance accurately, is not subjected to be sent steel pipe length and diameter to influence, and simple in structure, and productive costs is low.
The technical solution of the utility model is: design a kind of tubing and send the material robot device, it comprises the roller-way of carrying tubing, frame 8, movable trolleys 1, it is characterized in that: on its frame 8 travelling car 1 is arranged, the leading section of dolly 1 is fixed with infrared switch 2, clamp the clamp 3 of steel pipe, cylinder 4, photoelectric encoder 9, cylinder 4 is in transmission connection with clamp 3, be connected with on the cylinder 4 near switch 5, be fixed with tooth bar 6 on the frame 8, gear 7 passes through motor, transmission device is fixed on the dolly 1, tooth bar 6 and gear 7 are meshed, gear 7 is connected with photoelectric encoder 9 by coupler, infrared switch 2, near switch 5, photoelectric encoder 9 is electrically connected with computing machine.
Described clamp 3 is link mechanisms.
The mouth of described photoelectric encoder 9 is communicated with the computing machine input end.
Characteristics of the present utility model are as follows: this tubing is sent the material robot device, it comprises the roller-way of carrying tubing, a frame, on this frame moveable carriage is installed, is positioned at the infrared switch of dolly end and is equipped with near the clamp of the air cylinder driven of switch and the rack-and-pinion and the photoelectric encoder of driving trolley motion.When manipulator is sent into steel pipe, the motor rotation moves dolly by the engagement of rack-and-gear, infrared switch detects when being sent steel pipe, sends signal, and clamp clamps steel pipe, photoelectric encoder begins to remember pulse, dolly continue to move, and photoelectric encoder converts dolly miles of relative movement to impulse singla and is input in the computing machine and handles, like this, steel pipe is just accurately sent in the equipment by setpoint distance or presetting pulse, and this moment, clamp unclamped.When manipulator is sent steel pipe, clamp clamps steel pipe, dolly begins to move, photoelectric encoder is remembered pulse, when impulse singla is zero, clamp unclamps, dolly continues to retreat, make clamp away from steel pipe, in this device, the photoelectric encoder of the infrared switch of jaw end and motor end jointly controls, can satisfy different steel pipes and have the identical distance of sending to, simultaneously near switch no signal is arranged on the jaw actuating cylinder, promptly differentiate the diameter of detected steel pipe, make steel pipe carry out flow process and distribute by different-diameter according to cylinder stroke size.Tubing is sent the material manipulator and not only will accurately tubing be sent in the equipment, also to accurately its taking-up be put into initial bit, for this reason, structurally it is in light weight, and inertia is little, make off-position that very high repeatable accuracy be arranged, in transmission, moveable carriage adopts the secondary type of drive of motor gear tooth bar, and it is not only simple in structure, and being easy to control, control accuracy is higher.
Below in conjunction with the embodiment accompanying drawing the utility model is described further.
Description of drawings: Fig. 1 is the structural representation of embodiment.
Fig. 2 is embodiment photoelectric encoder and rack and pinion drive mechanism scheme drawing.
Among the figure: 1, dolly: 2, infrared switch; 3, clamp; 4, cylinder; 5, near switch; 6, tooth bar; 7, gear; 8, frame; 9, photoelectric encoder.
The specific embodiment: embodiment as shown in Figure 1, tubing is supported on the rollgang, tubing is sent the material robot device, it comprises a frame 8, a movable trolleys 1 is installed on this frame 8, infrared switch 2 is housed and is controlled by the clamp 3 that infrared switch 2 is used to clamp steel pipe at dolly 1 leading section that moves, be positioned at dolly 1 top drive the cylinder 4 of clamp 3 actions and be installed on the cylinder 4 near switch 5, tooth bar 6 also is housed on the frame 8, it is meshed with gear 7 on being connected motor, gear 7 passes through motor, transmission device is fixed on the dolly 1, as shown in Figure 2, gear 7 links by coupler and photoelectric encoder 9, and when motor driven gear 7 rotations, dolly 1 moves, photoelectric encoder 9 rotations, convert the displacement of dolly 1 to pulse signal, the mouth of photoelectric encoder (9) is communicated with the computing machine input end, signal is input to computing machine handles.Infrared switch 2, near switch 5, be electrically connected with computing machine.

Claims (3)

1, tubing is sent the material robot device, it comprises the roller-way of carrying tubing, frame (8), movable trolleys (1), it is characterized in that: travelling car (1) is arranged on its frame (8), the leading section of dolly (1) is fixed with infrared switch (2), clamp the clamp (3) of steel pipe, cylinder (4), photoelectric encoder (9), cylinder (4) is in transmission connection with clamp (3), be connected with on the cylinder (4) near switch (5), be fixed with tooth bar (6) on the frame (8), gear (7) passes through motor, transmission device is fixed on the dolly (1), tooth bar (6) and gear (7) are meshed, gear (7) is connected with photoelectric encoder (9) by coupler, infrared switch (2), near switch (5), photoelectric encoder (9) is electrically connected with computing machine.
2, tubing according to claim 1 is sent the material robot device, it is characterized in that: described clamp (3) is a link mechanism.
3, tubing according to claim 1 is sent the material robot device, it is characterized in that: the mouth of described photoelectric encoder (9) is communicated with the computing machine input end.
CN 02224699 2002-04-02 2002-04-02 Mechanical arm apparatus for tubular product discharging Expired - Fee Related CN2589419Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 02224699 CN2589419Y (en) 2002-04-02 2002-04-02 Mechanical arm apparatus for tubular product discharging

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 02224699 CN2589419Y (en) 2002-04-02 2002-04-02 Mechanical arm apparatus for tubular product discharging

Publications (1)

Publication Number Publication Date
CN2589419Y true CN2589419Y (en) 2003-12-03

Family

ID=33702056

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 02224699 Expired - Fee Related CN2589419Y (en) 2002-04-02 2002-04-02 Mechanical arm apparatus for tubular product discharging

Country Status (1)

Country Link
CN (1) CN2589419Y (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100339193C (en) * 2004-12-28 2007-09-26 大连理工大学 Movable bogie with double swing links
CN101793484A (en) * 2010-03-12 2010-08-04 东北大学 Auxiliary pipe-conveying device for on-site mixed explosive
CN101913145A (en) * 2010-07-27 2010-12-15 上海瑞纽机械装备制造有限公司 Manipulator device
CN102030188A (en) * 2010-10-09 2011-04-27 临安市新三联照明电器有限公司 Feeding mechanism for automatic screwing machine of semi-spiral energy-saving lamp tube
CN103659007A (en) * 2013-11-27 2014-03-26 武汉法利莱切割系统工程有限责任公司 Manipulator for conveying pipes
CN103662828A (en) * 2013-11-26 2014-03-26 杭州电子科技大学 Auxiliary clamping device of steel tubes
CN103803298A (en) * 2014-02-27 2014-05-21 张家港市华机环保新能源科技有限公司 Positioning and clamping device for LNG gas bottle production line
CN104192562A (en) * 2014-08-18 2014-12-10 济南建源机械制造有限公司 Automatic mechanical tong moving machine
CN105129415A (en) * 2015-08-19 2015-12-09 刘洋 Steel pipe lifting and taking device
CN105645104A (en) * 2016-03-25 2016-06-08 镇江市丹徒区飞翔电子有限公司 Material collecting handle for connector insulator
CN106427733A (en) * 2016-12-26 2017-02-22 徐州乐泰机电科技有限公司 Special loading, unloading and transferring vehicle
CN106743559A (en) * 2016-12-24 2017-05-31 徐州乐泰机电科技有限公司 A kind of removable ribbon conveyer with mechanical arm

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100339193C (en) * 2004-12-28 2007-09-26 大连理工大学 Movable bogie with double swing links
CN101793484A (en) * 2010-03-12 2010-08-04 东北大学 Auxiliary pipe-conveying device for on-site mixed explosive
CN101793484B (en) * 2010-03-12 2013-12-25 东北大学 Auxiliary pipe-conveying device for on-site mixed explosive
CN101913145A (en) * 2010-07-27 2010-12-15 上海瑞纽机械装备制造有限公司 Manipulator device
CN102030188A (en) * 2010-10-09 2011-04-27 临安市新三联照明电器有限公司 Feeding mechanism for automatic screwing machine of semi-spiral energy-saving lamp tube
CN102030188B (en) * 2010-10-09 2012-09-26 临安市新三联照明电器有限公司 Feeding mechanism for automatic screwing machine of semi-spiral energy-saving lamp tube
CN103662828A (en) * 2013-11-26 2014-03-26 杭州电子科技大学 Auxiliary clamping device of steel tubes
CN103662828B (en) * 2013-11-26 2015-09-02 杭州电子科技大学 A kind of steel pipe auxiliary holding device
CN103659007B (en) * 2013-11-27 2015-04-08 武汉法利莱切割系统工程有限责任公司 Manipulator for conveying pipes, manipulator system and application of manipulator
CN103659007A (en) * 2013-11-27 2014-03-26 武汉法利莱切割系统工程有限责任公司 Manipulator for conveying pipes
CN103803298A (en) * 2014-02-27 2014-05-21 张家港市华机环保新能源科技有限公司 Positioning and clamping device for LNG gas bottle production line
CN104192562A (en) * 2014-08-18 2014-12-10 济南建源机械制造有限公司 Automatic mechanical tong moving machine
CN105129415A (en) * 2015-08-19 2015-12-09 刘洋 Steel pipe lifting and taking device
CN105645104A (en) * 2016-03-25 2016-06-08 镇江市丹徒区飞翔电子有限公司 Material collecting handle for connector insulator
CN106743559A (en) * 2016-12-24 2017-05-31 徐州乐泰机电科技有限公司 A kind of removable ribbon conveyer with mechanical arm
CN106743559B (en) * 2016-12-24 2018-10-30 湖州三禾自动化设备有限公司 A kind of removable ribbon conveyer with mechanical arm
CN106427733A (en) * 2016-12-26 2017-02-22 徐州乐泰机电科技有限公司 Special loading, unloading and transferring vehicle
CN106427733B (en) * 2016-12-26 2018-09-11 段昌海 A kind of extraordinary handling transit vehicle

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C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20031203

Termination date: 20110402