Reducing pipe carrying device with telescopic mechanical arm

Abstract

The invention discloses a reducing pipe carrying device with a telescopic mechanical arm, and relates to the technical field of carrying equipment. The placing seat is arranged on the AGV, and a plurality of clamping mechanisms used for fixing the reducing pipe are arranged on the placing seat; the mechanical arm comprises a first three-stage telescopic mechanism, a rotating mechanism and a second three-stage telescopic mechanism, the first three-stage telescopic mechanism is arranged on the AGV, the rotating mechanism is installed at the top of the first three-stage telescopic mechanism, the second three-stage telescopic mechanism is connected to the output end of the rotating mechanism, the first three-stage telescopic mechanism can vertically stretch out and draw back, and the second three-stage telescopic mechanism can vertically stretch out and draw back. The rotating mechanism can realize horizontal rotation of the third-stage telescopic mechanism II, and the third-stage telescopic mechanism II can realize horizontal stretching; the stepping motor is connected to the third-stage telescopic mechanism II; and the grabbing mechanism is connected with the stepping motor. Automatic clamping can be achieved, the working efficiency is improved, in addition, the reducing pipes are arranged at intervals, the surfaces of the reducing pipes are prevented from being scratched, and the machining quality is improved.

Description

Technical Field

[0001] The present application relates to the technical field of handling equipment, and in particular to a reducing pipe handling device with a telescopic mechanical arm. Background Art

[0002] The manufacture of reducers includes multiple processes, so the reducers need to be moved between different workstations. The existing handling device is usually a movable trolley. The staff stacks multiple semi-finished reducers in the trolley and moves them. When they are moved to the appropriate position, the semi-finished products need to be taken out manually one by one. In addition, during the movement, the shaking of the vehicle body will cause the semi-finished products in the trolley to collide with each other, which can easily cause scratches on the product surface. Therefore, not only is the work efficiency low, but also affects the product quality.

[0003] Therefore, it is necessary to improve the existing transport device. Summary of the invention

[0004] In view of this, the present application provides a reducer handling device with a telescopic mechanical arm to solve the technical problems of low work efficiency due to the need for manual picking during handling and easy scratching of products during handling.

[0005] To achieve the above object, the present invention provides the following technical solutions: A reducing pipe handling device with a telescopic mechanical arm, comprising: AGV vehicle; A placement seat is arranged on the AGV vehicle, and a plurality of clamping mechanisms for fixing the reducer are arranged on the placement seat; A mechanical arm, the mechanical arm comprising a three-level telescopic mechanism 1, a rotating mechanism and a three-level telescopic mechanism 2, the three-level telescopic mechanism 1 being arranged on the AGV vehicle, the rotating mechanism being installed on the top of the three-level telescopic mechanism 1, the three-level telescopic mechanism 2 being connected to the output end of the rotating mechanism, the three-level telescopic mechanism 1 being capable of realizing vertical telescopic expansion, the rotating mechanism being capable of realizing horizontal rotation of the three-level telescopic mechanism 2, and the three-level telescopic mechanism 2 being capable of realizing horizontal telescopic expansion; A stepping motor connected to the second three-stage telescopic mechanism; A grabbing mechanism connected to the stepping motor can grab the different-diameter pipe.

[0006] Furthermore, the three-stage telescopic mechanism 1 comprises: A fixing cylinder fixedly arranged on the AGV vehicle; A moving assembly disposed on the fixed cylinder; A first telescopic cylinder driven by the moving assembly to be slidably connected to the fixed cylinder; The second telescopic cylinder is driven by the moving assembly to be slidably connected to the first telescopic cylinder, and the rotating mechanism is installed on the second telescopic cylinder.

[0007] Furthermore, the mobile component includes: a driving motor disposed in the fixing cylinder; A first screw rod connected to an output end of the drive motor; a first threaded seat threadably connected to the first screw rod, the first telescopic cylinder being fixedly connected to the first threaded seat; A second threaded seat is threadably connected to the first screw rod, and the second telescopic cylinder is fixedly connected to the second threaded seat.

[0008] Furthermore, the first telescopic cylinder is provided with a pair of first sliding blocks slidably matched with the first limiting sliding grooves corresponding to the fixed cylinder; the second telescopic cylinder is provided with a pair of second sliding blocks slidably matched with the second limiting sliding grooves corresponding to the first telescopic cylinder.

[0009] Furthermore, the structure of the three-stage telescopic mechanism 2 is the same as that of the three-stage telescopic mechanism 1, the output end of the rotating mechanism is connected to the fixed cylinder of the three-stage telescopic mechanism 2 through a fixed sleeve, and the stepping motor is installed on the second telescopic cylinder of the three-stage telescopic mechanism 2.

[0010] Furthermore, the gripping mechanism includes a clamping cylinder and a pair of clamping plates, the output end of the stepper motor is connected to a mounting plate, the clamping cylinder is connected to the mounting plate, and a pair of clamping plates are arranged on the clamping cylinder in opposition.

[0011] Furthermore, the rotating mechanism includes a rotating motor installed on the second telescopic cylinder of the three-stage telescopic mechanism.

[0012] Furthermore, the clamping mechanism comprises: A fixing seat fixedly arranged on the placing seat; A pair of clamping assemblies arranged on the fixing seat, the pair of clamping assemblies can clamp the reducing pipe; A pair of elastic components each connected to the lower end of the corresponding clamping component, wherein the elastic components can drive the corresponding clamping component to move horizontally; A top plate connected to the top of a pair of elastic components, the top plate is used to place the reducer.

[0013] Furthermore, the elastic component includes: A support rod connected to the bottom of the top plate, wherein the support rod is slidably matched with the fixing seat; A rack connected to the lower end of the corresponding support rod; a gear meshing with the rack; A second screw rod disposed in the fixing seat is rotated, the second screw rod is connected to the gear, and the clamping assembly is threadedly connected to the second screw rod.

[0014] Furthermore, the clamping assembly comprises: A movable seat threadably connected to the second screw rod; A moving plate fixedly connected to the moving seat; A positioning plate is elastically mounted on the corresponding moving plate.

[0015] It can be seen from the above technical solution that the advantages of the present invention are: 1. In the present application, a three-stage telescopic mechanism 1 and a three-stage telescopic mechanism 2 are provided. The three-stage telescopic mechanism 1 can realize vertical telescopic expansion, and the three-stage telescopic mechanism 2 can realize horizontal telescopic expansion, thereby greatly improving the clamping range of the grasping mechanism in both the vertical and horizontal directions.

[0016] 2. The present application is provided with a clamping mechanism that can fix a single reducer, thereby avoiding scratches on the surface caused by friction between the reducers during transportation, thereby improving the processing quality.

[0017] 3. In the present application, automatic unloading can be achieved through the cooperation of the robotic arm and the clamping mechanism, which reduces the intensity of manual labor and improves the handling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application.

[0019] Figure 1 This is a schematic diagram of the structure of this application.

[0020] Figure 2 This is a partial enlarged view of this application.

[0021] Figure 3 This is a schematic diagram of the structure of the robotic arm of the present application.

[0022] Figure 4 This is a top view of the splint of the present application.

[0023] Figure 5 This is a cross-sectional view of the three-stage telescopic mechanism 1 / three-stage telescopic mechanism 2 of the present application.

[0024] Figure 6 for Figure 5 A partial enlarged view of point A.

[0025] Figure 7 for Figure 5 Stereoscopic diagram.

[0026] Figure 8 This is a top view of the placement seat of the present application.

[0027] Fig. 9 This is a schematic diagram of the structure of the clamping mechanism of the present application.

[0028] Fig.10 for Figure 8 A partial enlarged view of point B.

[0029] Description of reference numerals: 1-AGV vehicle; 2-placement seat; 3-three-stage telescopic mechanism 1; 31-fixed cylinder; 311-first limiting slide groove; 32-first telescopic cylinder; 321-first slider; 322-second limiting slide groove; 323-first through hole; 324-first threaded seat; 33-second telescopic cylinder; 331-second slider; 332-second through hole; 333-second threaded seat; 34-driving motor; 35-first screw rod; 4-three-stage telescopic mechanism 2; 5-stepping motor; 51-motor housing; 5 2-mounting plate; 6-grasping mechanism; 61-gripping cylinder; 62-clamping plate; 7-fixed base; 8-connecting plate; 81-rotating motor; 82-fixing sleeve; 9-clamping mechanism; 91-fixed seat; 911-groove; 912-movable hole; 92-top plate; 93-support rod; 931-first compression spring; 94-rack; 95-gear; 96-second screw rod; 97-movable plate; 971-movable seat; 98-positioning plate; 981-guide rod; 99-second compression spring; 10-reducing pipe. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the implementation modes and the accompanying drawings. Here, the illustrative implementation modes and descriptions of the present application are used to explain the present application, but are not intended to limit the present application.

[0031] refer to Figures 1 to 10 ,like Figure 1As shown, this embodiment provides a different-diameter pipe handling device with a telescopic mechanical arm, including: an AGV vehicle 1, a placement seat 2, a mechanical arm, a stepper motor 5 and a grasping mechanism 6, the placement seat 2 is fixed on the AGV vehicle 1, and a plurality of clamping mechanisms 9 for fixing the different-diameter pipe 10 are arranged on the placement seat 2; the mechanical arm includes a three-level telescopic mechanism 1 3, a rotating mechanism and a three-level telescopic mechanism 2 4, the three-level telescopic mechanism 1 3 is arranged on the AGV vehicle 1, the three-level telescopic mechanism 1 3 is spaced apart from the placement seat 2, and the rotating mechanism is installed on the three-level telescopic mechanism 1 At the top of the mechanism 1 3, the three-stage telescopic mechanism 2 4 is connected to the output end of the rotating mechanism. The three-stage telescopic mechanism 1 3 can realize vertical telescopic extension to perform height lifting and lowering. The rotating mechanism can realize horizontal rotation of the three-stage telescopic mechanism 2 4 to grab the different-diameter pipe 10 and place it in different orientations. The three-stage telescopic mechanism 2 4 can realize horizontal telescopic extension to perform flexible movement of the horizontal length; the stepping motor 5 is connected to the three-stage telescopic mechanism 2 4; the grabbing mechanism 6 is connected to the stepping motor 5, and the grabbing mechanism 6 can grab the different-diameter pipe 10.

[0032] like Figure 3 As shown, the three-stage telescopic mechanism 3 includes: a fixed cylinder 31, a moving assembly, a first telescopic cylinder 32 and a second telescopic cylinder 33. The fixed cylinder 31 is fixedly arranged on the AGV vehicle 1 through a fixed base 7; the moving assembly is arranged in the fixed cylinder 31; the first telescopic cylinder 32 is driven to slide in the fixed cylinder 31 by the moving assembly; the second telescopic cylinder 33 is driven to slide in the first telescopic cylinder 32 by the moving assembly, and the rotating mechanism is installed on the top of the second telescopic cylinder 33.

[0033] like Figure 3 and Figure 5 As shown, the moving assembly includes: a driving motor 34, a first screw rod 35, a first threaded seat 324 and a second threaded seat 333. The driving motor 34 is arranged in the fixed cylinder 31; the first screw rod 35 is connected to the output end of the driving motor 34; the first threaded seat 324 is threadedly connected to the first screw rod 35, and the first telescopic cylinder 32 is fixedly connected to the first threaded seat 324; the second threaded seat 333 is threadedly connected to the first screw rod 35, and the second telescopic cylinder 33 is fixedly connected to the second threaded seat 333.

[0034] like Figure 6 and Figure 7 As shown, a pair of first sliders 321 are provided on the first telescopic cylinder 32, and the first sliders 321 are slidably matched with the corresponding first limiting grooves 311 on the side of the fixed cylinder 31; a pair of second sliders 331 are provided on the second telescopic cylinder 33, and the second sliders 331 are slidably matched with the corresponding second limiting grooves 322 on the side of the first telescopic cylinder 32.

[0035] Preferably, the fixed cylinder 31, the first telescopic cylinder 32 and the second telescopic cylinder 33 are all square cylinders, the bottom of the first telescopic cylinder 32 is provided with a first through hole 323 for the first screw rod 35 to pass through, and the first threaded seat 324 is located below the first through hole 323; the bottom of the second telescopic cylinder 33 is provided with a second through hole 332 for the first screw rod 35 to pass through, and the second threaded seat 333 is located below the second through hole 332.

[0036] like Figure 3 , Figure 5 and Figure 6 As shown, the structure of the three-stage telescopic mechanism 2 4 is exactly the same as that of the three-stage telescopic mechanism 1 3 , a fixed sleeve 82 is provided at the output end of the rotating mechanism, the fixed sleeve 82 is fixedly provided on the fixed cylinder 31 of the three-stage telescopic mechanism 2 4 , and the stepper motor 5 is installed on the second telescopic cylinder 33 of the three-stage telescopic mechanism 2 4 through the motor housing 51 .

[0037] The three-stage telescopic mechanism 3 is now explained. The driving motor 34 rotates forward, which can drive the first screw rod 35 to rotate forward. Therefore, under the threaded connection between the first threaded seat 324 and the second threaded seat 333 and the first screw rod 35, and the sliding restriction of the first slider 321 and the second slider 331, the first telescopic cylinder 32 and the second telescopic cylinder 33 rise synchronously, thereby realizing the vertical extension of the three-stage telescopic mechanism 3. Conversely, the driving motor 34 rotates reversely, thereby realizing the vertical contraction of the three-stage telescopic mechanism 3.

[0038] Similarly, the forward rotation of the driving motor 34 of the three-stage telescopic mechanism 24 can realize the horizontal extension of the first telescopic tube 32 and the second telescopic tube 33 of the three-stage telescopic mechanism 24, and the reverse rotation of the driving motor 34 of the three-stage telescopic mechanism 24 can realize the horizontal contraction of the first telescopic tube 32 and the second telescopic tube 33 of the three-stage telescopic mechanism 24.

[0039] like Figure 2 As shown, the gripping mechanism 6 includes a clamping cylinder 61 and a pair of clamping plates 62. The output end of the stepper motor 5 is connected to the mounting plate 52. The clamping cylinder 61 is connected to the bottom of the mounting plate 52. The pair of clamping plates 62 are relatively arranged at the lower end of the clamping cylinder 61.

[0040] like Figure 4 As shown, the clamping plate 62 has an arc-shaped groove so as to clamp the round reducer 10 .

[0041] like Figure 1 and Figure 3 As shown, the rotating mechanism includes a rotating motor 81, and the rotating motor 81 is installed on the top of the second telescopic cylinder 33 of the three-stage telescopic mechanism 1 3 through a connecting plate 8.

[0042] like Figure 8 and Fig. 9As shown, the clamping mechanism 9 includes: a fixed seat 91, a pair of clamping components, a pair of elastic components and a top plate 92. The fixed seat 91 is fixedly arranged on the placement seat 2; two grooves 911 spaced apart from each other are opened in the fixed seat 91, and a pair of clamping components are relatively arranged in the corresponding grooves 911 on the fixed seat 91, and the top of the groove 911 is connected with a movable hole 912, and the top of the pair of clamping components passes through the corresponding movable holes 912 and extends upward, and the top of the pair of clamping components can clamp the reducer 10; a pair of elastic components are connected to the lower ends of the corresponding clamping components, and the elastic components can drive the corresponding clamping components to move horizontally, thereby realizing the clamping operation of the reducer 10; the top plate 92 is connected to the top of the pair of elastic components, and the top plate 92 is used to place the reducer 10.

[0043] In the embodiment of the present application, the elastic component includes: a support rod 93, a rack 94, a gear 95 and a second screw rod 96. The support rod 93 is connected to the bottom of the top plate 92, and the support rod 93 is slidably matched with the fixed seat 91. A first compression spring 931 is sleeved on the support rod 93, and the first compression spring 931 is supported between the top plate 92 and the top of the fixed seat 91; the rack 94 is connected to the lower end of the corresponding support rod 93; the gear 95 is meshed with the rack 94; the second screw rod 96 is rotatably set in the fixed seat 91, and the second screw rod 96 is connected to the gear 95, so that the second screw rod 96 and the gear 95 rotate synchronously, and the clamping assembly is threadedly connected to the second screw rod 96.

[0044] In the embodiment of the present application, the clamping assembly includes: a movable seat 971, a movable plate 97 and a positioning plate 98, the movable seat 971 is threadedly connected to the second screw rod 96; the movable plate 97 is fixedly connected to the movable seat 971, and the movable plate 97 is slidably matched with the corresponding movable hole 912; the positioning plate 98 is elastically mounted on the corresponding movable plate 97.

[0045] like Figure 8 and Fig.10 As shown, a T-shaped guide rod 981 is slidingly provided on the top of the movable plate 97, the guide rod 981 is horizontally arranged, and the positioning plate 98 is vertically installed on the guide rod 981, and a plurality of second compression springs 99 are also arranged between the positioning plate 98 and the movable plate 97. When a pair of positioning plates 98 jointly clamp the reducer 10, the reducer 10 will generate resistance to the pair of positioning plates 98, thereby causing the pair of positioning plates 98 to move outward, so that the second compression springs 99 are squeezed, and the elastic action generated by the second compression springs 99 enables the positioning plate 98 and the movable plate 97 to move elastically, that is, the above-mentioned positioning plate 98 and the movable plate 97 are elastically installed. By setting the elastic installation, the clamping mechanism 9 of the present application can clamp the reducer 10 with a larger diameter range, thereby making the adaptability higher.

[0046] In the embodiment of the present application, the clamping mechanism 9 adopts a gravity automatic clamping method, that is, when the reducer 10 is placed on the top plate 92, the weight of the reducer 10 causes the top plate 92 to move downward, so that the rack 94 moves downward and drives the corresponding gear 95 to rotate, and then the second screw 96 rotates and causes the moving seat 971 to drive the moving plate 97 and the positioning plate 98 to move horizontally, so that a pair of positioning plates 98 are close to each other to clamp the reducer 10, and when clamping, due to the different diameters of different reducers 10, when the clamping diameter is greater than the distance between the pair of positioning plates 98. After the pair of moving plates 97 are close to each other, the reducer 10 squeezes the pair of positioning plates 98, so that the pair of second compression springs 99 are squeezed, so that the elastic action of the second compression springs 99 makes the reducer 10 firmly clamped.

[0047] Working principle: After the AGV vehicle 1 is moved to the position to be transported, the two driving motors 34 are operated to control the telescopic distance in the height direction and the horizontal direction, so that the grabbing mechanism 6 can move to the top of the reducer 10 to be grasped, and then the stepper motor 5 drives the grabbing mechanism 6 to rotate and fine-tune, so that the grabbing mechanism 6 and the reducer 10 are completely corresponding, and then the clamping claw cylinder 61 is started, so that a pair of clamps 62 grab the reducer 10, and after grabbing, the rotating motor 81 is rotated to make the mechanical arm, the stepper motor 5 and the grabbing mechanism 6 rotate as a whole, thereby driving the reducer 10 to move to another position where the reducer 10 can be put down, and the transportation of the reducer 10 can be realized. The moving paths of the mechanical arm, the stepper motor 5 and the grabbing mechanism 6 can be set in advance to save time, so that the present application can only realize automatic grabbing, and the reducer 10 can also be arranged at intervals through the clamping mechanism 9 to avoid the risk of scratches, thereby improving the transportation efficiency and transportation safety.

[0048] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the embodiments of the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A reducing pipe handling device with a telescopic mechanical arm, characterized in that: include: AGV vehicle (1); A placement seat (2) disposed on the AGV vehicle (1), wherein the placement seat (2) is provided with a plurality of clamping mechanisms (9) for fixing the reducer (10); A mechanical arm, the mechanical arm comprising a three-stage telescopic mechanism (1) a rotating mechanism and a three-stage telescopic mechanism (2) a, the three-stage telescopic mechanism (1) being arranged on the AGV vehicle (1), the rotating mechanism being installed on the top of the three-stage telescopic mechanism (1) a, the three-stage telescopic mechanism (2) being connected to the output end of the rotating mechanism, the three-stage telescopic mechanism (1) being able to achieve vertical telescopic movement, the rotating mechanism being able to achieve horizontal rotation of the three-stage telescopic mechanism (2) a, and the three-stage telescopic mechanism (2) being able to achieve horizontal telescopic movement; A stepping motor (5) connected to the third-stage telescopic mechanism (4); A gripping mechanism (6) connected to the stepping motor (5), wherein the gripping mechanism (6) is capable of gripping the reducer (10).

2. The reducer pipe handling device with a telescopic mechanical arm according to claim 1, characterized in that: The three-stage telescopic mechanism one (3) comprises: A fixing cylinder (31) fixedly arranged on the AGV vehicle (1); A moving component disposed on the fixed cylinder (31); A first telescopic cylinder (32) driven by the moving assembly to be slidably connected to the fixed cylinder (31); A second telescopic cylinder (33) is driven by the moving assembly to be slidably connected to the first telescopic cylinder (32), and the rotating mechanism is mounted on the second telescopic cylinder (33).

3. The reducer pipe handling device with a telescopic mechanical arm according to claim 2, characterized in that: The mobile assembly comprises: A driving motor (34) disposed in the fixing cylinder (31); A first screw rod (35) connected to the output end of the drive motor (34); a first threaded seat (324) threadably connected to the first screw rod (35), the first telescopic cylinder (32) being fixedly connected to the first threaded seat (324); A second threaded seat (333) threadedly connected to the first screw rod (35), and the second telescopic cylinder (33) is fixedly connected to the second threaded seat (333).

4. The reducer pipe handling device with a telescopic mechanical arm according to claim 3, characterized in that: The first telescopic cylinder (32) is provided with a pair of first sliding blocks (321) slidably matched with first limiting sliding grooves (311) corresponding to the fixed cylinder (31); the second telescopic cylinder (33) is provided with a pair of second sliding blocks (331) slidably matched with second limiting sliding grooves (322) corresponding to the first telescopic cylinder (32).

5. The reducer pipe handling device with a telescopic mechanical arm according to claim 4, characterized in that: The structure of the three-stage telescopic mechanism two (4) is the same as that of the three-stage telescopic mechanism one (3); the output end of the rotating mechanism is connected to the fixed cylinder (31) of the three-stage telescopic mechanism two (4) via a fixed sleeve (82); and the stepping motor (5) is mounted on the second telescopic cylinder (33) of the three-stage telescopic mechanism two (4).

6. The reducing pipe handling device with a telescopic mechanical arm according to claim 1, characterized in that: The gripping mechanism (6) comprises a clamping cylinder (61) and a pair of clamping plates (62); the output end of the stepping motor (5) is connected to a mounting plate (52); the clamping cylinder (61) is connected to the mounting plate (52); and the pair of clamping plates (62) are arranged on the clamping cylinder (61) in a relative manner.

7. The reducer pipe handling device with a telescopic mechanical arm according to claim 2, characterized in that: The rotating mechanism comprises a rotating motor (81) mounted on the second telescopic cylinder (33) of the three-stage telescopic mechanism one (3).

8. The reducer pipe handling device with a telescopic mechanical arm according to claim 1, characterized in that: The clamping mechanism (9) comprises: A fixing seat (91) fixedly arranged on the placement seat (2); A pair of clamping assemblies arranged on the fixing seat (91) and capable of clamping the reducing pipe (10); A pair of elastic components each connected to the lower end of the corresponding clamping component, wherein the elastic components can drive the corresponding clamping component to move horizontally; A top plate (92) is connected to the top of a pair of elastic components, and the top plate (92) is used to place the reducer (10).

9. The reducer pipe handling device with a telescopic mechanical arm according to claim 8, characterized in that: The elastic component comprises: A support rod (93) connected to the bottom of the top plate (92), wherein the support rod (93) is slidably matched with the fixing seat (91); A rack (94) connected to the lower end of the corresponding support rod (93); a gear (95) meshing with the rack (94); A second screw rod (96) disposed in the fixing seat (91) is rotated, the second screw rod (96) being connected to the gear (95), and the clamping assembly being threadedly connected to the second screw rod (96).

10. The reducing pipe handling device with a telescopic mechanical arm according to claim 9, characterized in that: The clamping assembly comprises: A movable seat (971) threadedly connected to the second screw rod (96); A moving plate (97) fixedly connected to the moving seat (971); A positioning plate (98) elastically mounted on the corresponding moving plate (97).

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