Thermal insulation pipe conveying manipulator with lifting structure

Abstract

The invention discloses a thermal insulation pipe conveying manipulator with a lifting structure, and relates to the technical field of conveying manipulators. The thermal insulation pipe conveying manipulator comprises a machine body, a lifting seat is fixedly connected to one side of the machine body, a rotating seat is rotatably connected to one end of the lifting seat, and a mounting seat is fixedly connected to the end, away from the lifting seat, of the rotating seat; the thermal insulation pipe conveying manipulator with the lifting structure further comprises a clamping and fixing mechanism and an adding and spraying mechanism, the distance between sliding clamping rods can be controlled by controlling the sliding distance of the sliding clamping rods, clamping and fixing of pipe fittings with different diameters can be completed through the arrangement of C-shaped structures on the sides, close to the pipe fittings, of the sliding clamping rods, and the spraying effect is improved. Compared with the prior art, the problem of frequent replacement of the clamping head is avoided, operation time and labor cost are reduced, meanwhile, when the sliding clamping rod clamps the pipe fitting, the clamping force on the pipe fitting can be increased due to the fact that a plurality of clamping points are arranged, the overall stability is improved, and the risk that the pipe fitting is subjected to concentrated stress is reduced due to the fact that the clamping points are evenly distributed on the pipe fitting.

Description

Technical Field

[0001] The invention relates to the technical field of transport manipulators, in particular to a manipulator for transporting thermal insulation pipes with a lifting structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms. It is used to grab, move objects or operate tools according to a fixed program. It can be programmed to complete various expected operations. It has the advantages of both humans and robots in structure and performance. In the production and processing of insulation pipes, it is necessary to use the manipulator to perform lifting and rotating operations to complete the transportation of the insulation pipes. It has the characteristics of multi-directional movement.

[0003] In the prior art, when a robot for conveying insulated pipes clamps the insulated pipes, the clamp fixing method is relatively simple, and most of the time the insulated pipes are clamped by two fixed arc-shaped clamping structures, which can only be applied to insulated pipes of certain specific sizes. However, when the diameter of the insulated pipe changes, the original arc-shaped clamping structure is no longer applicable to the changed insulated pipe, so that the clamp cannot provide sufficient stable support, the clamping force is uneven, and the pipe fitting is unstable. When some staff members replace insulated pipes of different sizes, they will also replace the clamping head at the same time, but this will increase extra time and labor, and the staff members need to disassemble the original clamping head and install a new clamping head, which increases working time and labor costs and reduces work efficiency.

[0004] Therefore, the present invention proposes a thermal insulation pipe conveying robot with a lifting structure to solve the above problems. Summary of the invention

[0005] In view of this, the technical problem to be solved by the present invention is to propose a robot for conveying insulated pipes with a lifting structure to solve the problem that the robot in the prior art can only be used for clamping insulated pipes of certain specific sizes.

[0006] To achieve the above object, the present invention provides the following technical solution: a manipulator for conveying an insulated pipe with a lifting structure, comprising a body, a lifting seat fixedly connected to one side of the body, a rotating seat rotatably connected to one end of the lifting seat, and a mounting seat fixedly connected to one end of the rotating seat away from the lifting seat, and also comprising: a clamping and fixing mechanism and an adding and spraying mechanism, wherein the clamping and fixing mechanism is located on the right side of the adding and spraying mechanism; The clamping and fixing mechanism is used to clamp and fix thermal insulation pipes of different diameters; The adding spraying mechanism is used for automatically spraying lubricating liquid on the connection between the lifting seat and the rotating seat.

[0007] Preferably, the clamping and fixing mechanism includes a rotating ring, which is rotatably connected to the inner surface of the mounting seat, and arc grooves are equidistantly provided at both ends of the rotating ring, and guide rods are equidistantly fixedly connected to both sides of the mounting seat, and a sliding clamp rod is slidably connected through the guide rods, and the sliding clamp rod is configured to be C-shaped on one side close to the arc groove, and a guide block is fixedly connected to the side of the sliding clamp rod close to the arc groove, and the sliding clamp rod is slidably connected to the arc groove through the guide block.

[0008] Preferably, a rotating column is rotatably connected through each two of the sliding clamping rods, and fan plates are fixedly connected to the outer surfaces of the rotating columns at equal distances, and torsion springs are fixedly connected between the rotating columns and the sliding clamping rods, and pull ropes are wrapped around both ends of the rotating columns. The guide rod is fixedly connected to a fixed column on the side away from the mounting seat, and the pull rope is fixedly connected to the fixed column at one end away from the rotating column.

[0009] Preferably, a gear ring is fixedly connected to the outer surface of the rotating ring, a mounting block is fixedly connected to the top of the mounting seat, a driving gear is rotatably connected to one side of the mounting block, and the driving gear is meshed with the gear ring.

[0010] Preferably, the adding spraying mechanism includes a liquid storage box, which is fixedly connected to the top of the lifting seat, a sliding rod is slidably connected to one side of the liquid storage box, a permanent magnet block 1 is fixedly connected to the bottom of the sliding rod, and a permanent magnet block 2 is fixedly connected to the outer surface of the rotating seat, and the magnetic poles of permanent magnet block 1 and permanent magnet block 2 are arranged in the same way, a liquid outlet pipe is fixedly and symmetrically inserted on the top of the liquid storage box, and the liquid outlet pipe is fixedly connected to an annular nozzle at one end away from the liquid storage box, and the annular nozzle is nested with the rotating seat.

[0011] Preferably, both sides of the sliding rod are rotatably connected with a toggle rod, the sliding rod is fixedly connected to a limiting block on one side close to the toggle rod, the limiting block abuts against the bottom of the toggle rod, the liquid storage box is symmetrically rotatably connected to a turntable on the side close to the sliding rod, the outer surface of the turntable is fixedly connected with tooth blocks at equal distances, the turntable is fixedly connected to a fixing rod at one end away from the liquid storage box, and the fixing rod is fixedly connected to a spherical block at one end away from the turntable.

[0012] Preferably, a pressure cylinder is symmetrically fixedly connected to one side of the liquid storage box, a one-way air outlet valve is fixedly connected to one end of the pressure cylinder, the pressure cylinder is connected to the liquid storage box through the one-way air outlet valve, the outer surface of the pressure cylinder is fixedly connected to the one-way air inlet valve, and the inner surface of the pressure cylinder is slidably connected to a piston.

[0013] Preferably, one end of the piston is fixedly connected to a push-pull rod, the end of the charging cylinder away from the liquid storage box is fixedly connected to a guide frame, the push-pull rod and the guide frame are slidably connected, a return spring is fixedly connected between the push-pull rod and the guide frame, and one end of the push-pull rod is set to be spherical.

[0014] Preferably, a connecting frame is fixedly connected to the top of the sliding rod, and the connecting frame is slidably connected to the top of the liquid storage box. One side of the connecting frame located in the liquid storage box is symmetrically rotatably connected to the connecting rod, and one side of the inner wall of the liquid storage box is symmetrically slidably connected to a sliding block, and the sliding block is rotatably connected to the connecting rod.

[0015] Preferably, the inner wall of the liquid storage box is symmetrically rotatably connected to a toggle plate, the sliding block is fixedly connected to two push-pull columns on one side close to the toggle plate, the toggle plates are located between adjacent push-pull columns, and the lower end of the toggle plates is equidistantly provided with inclined holes, which are all inclined.

[0016] Compared with the prior art, the present invention provides a manipulator for conveying an insulated pipe with a lifting structure, which has the following beneficial effects: 1. The distance between the sliding clamping rods can be controlled by controlling the sliding distance of the sliding clamping rod, and the C-shaped structure of the sliding clamping rod close to the pipe fitting side can control the distance of the C-shaped clamping points when the sliding clamping rod slides, so that when the size of the pipe fitting changes, the C-shaped structure can be evenly clamped on the outer surface of the pipe fitting, thereby completing the clamping and fixing of pipe fittings of different diameters, avoiding the problem of frequent replacement of the clamping head, reducing the operation time and labor costs, and at the same time, when the sliding clamping rod clamps the pipe fitting, it has multiple clamping points to increase the clamping force of the pipe fitting, thereby improving the overall stability, and the clamping points are evenly distributed on the pipe fitting, which also reduces the risk of concentrated stress on the pipe fitting; 2. The flowing airflow acts on the outer surface of the pipe, and the dust particles and impurities on the outer surface of the pipe can be removed from the outer surface of the pipe by the airflow, thereby preventing the formation of a gap between the sliding clamp rod and the pipe or reducing the clamping force due to dust particles, ensuring close contact between the sliding clamp rod and the pipe, enhancing the clamping effect, and improving the stability of the manipulator during operation; 3. When the rotating seat rotates back and forth for a certain number of times, the liquid storage box will be pressurized once. The lubricating liquid in the liquid storage box is sprayed to the connection between the rotating seat and the lifting seat through the increased air pressure, realizing the automatic spraying of the lubricating liquid, thereby saving labor costs. At the same time, the spherical block pushes the push-pull rod so that the distance pushed by the piston is constant each time, thereby ensuring the stability of each pressurization, and then ensuring the stability of each discharge of the lubricating liquid from the liquid storage box, thereby avoiding the situation of too much or too little lubricating liquid being added; 4. The automatic addition of lubricating fluid can be completed by rotating the rotating seat, and there is no need to stop the machine every time the lubricating fluid is added, which improves the working efficiency of the manipulator. Moreover, through the setting of the permanent magnet block 2 and the permanent magnet block 1, when the sliding rod is driven to move up and down, the permanent magnet block 1 can be driven to move upward without the contact between the permanent magnet block 2 and the permanent magnet block 1, which reduces the friction between the permanent magnet block 2 and the permanent magnet block 1 and ensures the smoothness of the rotation of the rotating seat; 5. The push of the push-pull column can make the toggle plate rotate, so that its lower end can complete the toggle of the lubricating liquid, which can avoid the lubricating liquid from settling for a long time. The toggle plate stirs the lubricating liquid to keep the solid particles or insoluble substances in it suspended to prevent them from settling and accumulating, thereby avoiding the blockage of the liquid outlet pipe and the annular nozzle due to precipitation and accumulation, ensuring the stability of the lubricating liquid addition, and also ensuring the effect of the lubricating liquid when used. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of the present invention; Figure 2 It is a partial three-dimensional structural diagram of the machine body of the present invention; Figure 3 This is a three-dimensional structural diagram of the mounting seat of the present invention; Figure 4 For the present invention Figure 3 The structure diagram at A is enlarged; Figure 5 This is a longitudinal cross-sectional structural diagram of the mounting seat of the present invention; Figure 6 It is a three-dimensional structural diagram of the lifting seat and the rotating seat of the present invention; Figure 7 It is a three-dimensional structural diagram of one side of the lifting base of the present invention; Figure 8 For the present invention Figure 7 The structure diagram at B is enlarged; Fig. 9 It is a partial cross-sectional structural diagram of the liquid storage box of the present invention; Fig.10 This is a three-dimensional structural diagram of the interior of the liquid storage box of the present invention.

[0018] In the figure: 1. Machine body; 2. Lifting seat; 3. Rotating seat; 4. Mounting seat; 501, rotating ring; 502, arc groove; 503, guide rod; 504, sliding clamp rod; 505, rotating column; 506, fan plate; 507, torsion spring; 508, pull rope; 509, fixed column; 510, gear ring; 511, mounting block; 512, driving gear; 601, liquid storage box; 6011, liquid outlet pipe; 6012, annular nozzle; 602, sliding rod; 603, permanent magnet block 1; 604, permanent magnet block 2; 605, limit block; 606, toggle rod; 607, turntable; 608, gear block; 609, fixing rod; 610, spherical block; 611, charging cylinder; 612, one-way air inlet valve; 6121, one-way air outlet valve; 613, piston; 614, guide frame; 615, push-pull rod; 616, reset spring; 617, connecting frame; 618, connecting rod; 619, sliding block; 620, push-pull column; 621, toggle plate; 622, inclined hole. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] The present invention is further described in detail below based on the accompanying drawings and embodiments.

[0021] Embodiments of the present invention Please refer to Figures 1 to 6 As shown: In order to solve the problems mentioned in the technical solution, the embodiment of the present application provides a manipulator for conveying an insulated pipe with a lifting structure, including a body 1, a lifting seat 2 is fixedly connected to one side of the body 1, a rotating seat 3 is rotatably connected to one end of the lifting seat 2, and a mounting seat 4 is fixedly connected to the end of the rotating seat 3 away from the lifting seat 2, and also includes: a clamping and fixing mechanism and an adding and spraying mechanism, and the clamping and fixing mechanism is located on the right side of the adding and spraying mechanism; The clamping and fixing mechanism is used for clamping and fixing the insulation pipes of different diameters, and the spraying mechanism is added for automatically spraying lubricating liquid on the connection between the lifting seat 2 and the rotating seat 3.

[0022] The clamping and fixing mechanism includes a rotating ring 501, which is rotatably connected to the inner surface of the mounting seat 4, and arc grooves 502 are equidistantly provided at both ends of the rotating ring 501. Guide rods 503 are equidistantly fixedly connected to both sides of the mounting seat 4. Sliding clamp rods 504 are slidably connected through the guide rods 503. The sliding clamp rods 504 are fixedly connected to the side of the arc groove 502 close to the sliding clamp rods 504. The sliding clamp rods 504 are slidably connected to the arc groove 502 through the guide blocks. A rotating column 505 is rotatably connected between each two sliding clamp rods 504. The outer surface of the rotating column 505 is uniformly symmetrical. A fan plate 506 is fixedly connected to the distance, a torsion spring 507 is fixedly connected between the rotating column 505 and the sliding clamp rod 504, a pull rope 508 is wound around both ends of the rotating column 505, a fixed column 509 is fixedly connected to the side of the guide rod 503 away from the mounting seat 4, and the end of the pull rope 508 away from the rotating column 505 is fixedly connected to the fixed column 509, a gear ring 510 is fixedly connected to the outer surface of the rotating ring 501, a mounting block 511 is fixedly connected to the top of the mounting seat 4, and a driving gear 512 is rotatably connected to one side of the mounting block 511, and the driving gear 512 is meshed with the gear ring 510; Among them: the sliding clamp rod 504 is set to a C shape on one side, and multiple clamping points can increase the clamping force on the pipe, thereby improving the overall stability, and the clamping points are evenly distributed on the pipe, which also reduces the risk of concentrated stress on the pipe.

[0023] In the prior art, when the manipulator clamps the insulated pipe, the clamp fixing method is relatively simple, and most of the time the insulated pipe is clamped by two fixed arc-shaped clamping structures, which is only applicable to insulated pipes of certain specific sizes. Compared with the prior art, the implementation of this embodiment can complete the clamping and fixing of pipes of different diameters, avoids the problem of frequent replacement of clamping heads, reduces operation time and labor costs, and at the same time enables the sliding clamping rod 504 to have multiple clamping points when clamping the pipe, which can increase the clamping force of the pipe, thereby improving the overall stability, and the clamping points are evenly distributed on the pipe, which also reduces the risk of concentrated stress on the pipe.

[0024] For further examples, please refer to Figures 6 to 10 As shown: The spraying mechanism includes a liquid storage box 601, which is fixedly connected to the top of the lifting seat 2, a sliding rod 602 is slidably connected to one side of the liquid storage box 601, a permanent magnet block 603 is fixedly connected to the bottom of the sliding rod 602, and a permanent magnet block 604 is fixedly connected to the outer surface of the rotating seat 3. The magnetic poles of the permanent magnet block 603 and the permanent magnet block 604 are arranged in the same manner. A liquid outlet pipe 6011 is fixedly and symmetrically inserted at the top of the liquid storage box 601, and the liquid outlet pipe 6011 is fixedly connected to an annular nozzle 6012 at one end away from the liquid storage box 601. The annular nozzle 6012 is set in a sleeve with the rotating seat 3, and both sides of the sliding rod 602 are rotatably connected There is a toggle rod 606, and the side of the sliding rod 602 close to the toggle rod 606 is fixedly connected to a limit block 605, and the limit block 605 is in contact with the bottom of the toggle rod 606. The side of the liquid storage box 601 close to the sliding rod 602 is symmetrically connected to a turntable 607, and the outer surface of the turntable 607 is equidistantly fixedly connected to a tooth block 608, and the turntable 607 is fixedly connected to a fixed rod 609 at one end away from the liquid storage box 601, and the fixed rod 609 is fixedly connected to a spherical block 610 at one end away from the turntable 607. A pressure cylinder 611 is symmetrically fixedly connected to one side of the liquid storage box 601, and a one-way air outlet valve 612 is fixedly connected to one end of the pressure cylinder 611 1. The pressure cylinder 611 is connected to the liquid storage box 601 through a one-way air outlet valve 6121. The outer surface of the pressure cylinder 611 is fixedly connected with a one-way air inlet valve 612. The inner surface of the pressure cylinder 611 is slidably connected with a piston 613. One end of the piston 613 is fixedly connected with a push-pull rod 615. The end of the pressure cylinder 611 away from the liquid storage box 601 is fixedly connected with a guide frame 614. The push-pull rod 615 and the guide frame 614 are connected through sliding. A return spring 616 is fixedly connected between the push-pull rod 615 and the guide frame 614. One end of the push-pull rod 615 is set to be spherical. The top of the sliding rod 602 is fixedly connected with a connecting frame 61 7. The connecting frame 617 is slidably connected to the top of the liquid storage box 601. The connecting frame 617 is symmetrically rotatably connected to a connecting rod 618 on one side of the liquid storage box 601. A sliding block 619 is symmetrically slidably connected to one side of the inner wall of the liquid storage box 601. The sliding block 619 is rotatably connected to the connecting rod 618. The inner wall of the liquid storage box 601 is symmetrically rotatably connected to a toggle plate 621. Two push-pull columns 620 are fixedly connected to the sliding block 619 near the toggle plate 621. The toggle plates 621 are located between adjacent push-pull columns 620. The lower end of the toggle plate 621 is equidistantly provided with inclined holes 622, and the inclined holes 622 are all inclined. The permanent magnet block 603 can be implemented as a counterweight block with a certain weight and magnetic force at the bottom, so that the permanent magnet block 603 has enough gravity to pull the connecting frame 617 to move downward when it is reset.

[0025] In the prior art, the shaft connection of the manipulator usually requires manual regular addition of lubricant to ensure its normal operation and extend its service life. However, the manual addition of lubricant not only requires manpower and time, but also is limited by manual operation level and experience, which makes it easy for excessive addition to occur during manual addition. Compared with the prior art, the implementation of this embodiment realizes the automatic spraying of lubricant, thereby saving labor costs. At the same time, through the push of the push-pull rod 615 by the spherical block 610, the piston 613 is pushed a certain distance each time, thereby ensuring the stability of the pressurization each time.

[0026] Everything in the above example works like this: In the initial state: the external drive motor can be installed on one side of the mounting seat 4, the output shaft of the external motor is fixedly connected to the drive gear 512, and an appropriate amount of lubricating liquid is added to the liquid inlet end of the liquid storage box 601. After the addition is completed, the liquid inlet pipe is closed so that the liquid storage box 601 is in a sealed state, and the liquid level of the lubricating liquid is not higher than the pressure cylinder 611. A drive motor is arranged inside the lifting seat 2, and the output end is fixedly connected to the rotating seat 3.

[0027] The following is the working process of the clamping and fixing mechanism for clamping and fixing insulation pipes of different diameters: When the insulation pipe needs to be transported, the pipe fitting can be inserted into the rotating ring 501 so that the pipe fitting is located between the multiple sliding clamping rods 504, and then the external motor is started. The output end of the external motor rotates to drive the driving gear 512 to rotate at the same time. Because the driving gear 512 is meshed with the gear ring 510, the gear ring 510 and the rotating ring 501 can be driven to rotate at the same time through the rotation of the driving gear 512. When the rotating ring 501 rotates, it will drive the arc groove 502 to rotate at the same time. Due to the arc setting of the arc groove 502, when the arc surface of the arc groove 502 rotates, the guide block of the sliding clamping rod 504 can be squeezed and guided, thereby driving the sliding clamping rod 504 to slide in the guide rod 503 and slide toward the pipe fitting in the middle of the sliding clamping rod 504, thereby completing the fixing and clamping of the pipe fitting. Through the setting of the rotating ring 501 and the arc groove 502, the rotating ring 5 When the 01 and arc groove 502 rotate, the sliding clamp rod 504 can be driven to move toward or away from the pipe fitting at the same time. When the size of the pipe fitting changes, the distance between the sliding clamp rods 504 can be controlled by controlling the sliding distance of the sliding clamp rod 504. By setting the C-shaped structure of the sliding clamp rod 504 close to the pipe fitting, the distance between the C-shaped clamping points can be controlled when the sliding clamp rod 504 slides. Therefore, when the size of the pipe fitting changes, the C-shaped structure can be evenly clamped on the outer surface of the pipe fitting, thereby completing the clamping and fixing of pipe fittings of different diameters, avoiding the problem of frequent replacement of the clamping head, reducing the operation time and labor cost, and at the same time, when the sliding clamp rod 504 clamps the pipe fitting, it has multiple clamping points to increase the clamping force of the pipe fitting, thereby improving the overall stability, and the uniform distribution of the clamping points on the pipe fitting also reduces the risk of concentrated stress on the pipe fitting. Furthermore, when the sliding clamp rod 504 slides toward the pipe fitting and clamps it, the sliding clamp rod 504 simultaneously drives the rotating column 505 to approach the pipe fitting. At this time, since the distance between the rotating column 505 and the fixed column 509 increases, one end of the pull rope 508 is fixed to the fixed column 509, and the other end is connected to the rotating column 505. Therefore, when the sliding clamp rod 504 drives the rotating column 505 away from the fixed column 509, the pull rope 508 will pull the rotating column 505 to rotate, and the torsion spring 507 will twist. When the rotating column 505 rotates, it will also drive the fan plate 506 to rotate and fan the surrounding airflow, so that the outer surface of the pipe fitting can be moved by the flowing airflow acting on the outer surface of the pipe fitting. The dust particles and impurities on the surface are taken away from the outer surface of the pipe by the air flow, thereby preventing the formation of a gap between the sliding clamp rod 504 and the pipe or reducing the clamping force due to the dust particles, ensuring the close contact between the sliding clamp rod 504 and the pipe, enhancing the clamping effect, and improving the stability of the manipulator during operation. After the pipe conveying work is completed, when the sliding clamp rod 504 is reset, the sliding clamp rod 504 drives the rotating column 505 to approach the fixed column 509 again. At this time, under the action of the rotation of the torsion spring 507, the rotating column 505 is driven to rotate, and the pull rope 508 is rewound around the rotating column 505, so as to facilitate the next work. Please refer to the above working process Figures 1 to 6 .

[0028] The following is the working process of adding a spraying mechanism to automatically spray lubricating liquid on the connection between the lifting seat 2 and the rotating seat 3: During use, the driving motor in the lifting seat 2 needs to continuously drive the rotating seat 3 to rotate back and forth on the lifting seat 2, so as to complete the transportation and loading of the pipe fittings. When the rotating seat 3 rotates, it will drive the permanent magnet block 2 604 to approach the bottom of the permanent magnet block 1 603. Because the magnetic properties of the permanent magnet block 2 604 and the permanent magnet block 1 603 are set in the same way, according to the principle of like charges repel each other, the permanent magnet block 1 603 will move upward and drive the sliding rod 602 to move upward. When the sliding rod 602 moves upward, the sliding rod 602 drives the toggle rod 606 to move upward at the same time. Because the limit block 605 limits the bottom of the toggle rod 606, the toggle rod 606 will push the tooth block 608 to rotate upward under the limit of the limit block 605, so that the tooth block 608 drives the turntable at the same time. 607 rotates a certain angle, at this time another tooth block 608 moves to the position of the original tooth block 608, and the toggle rod 606 is staggered with the pushed tooth block 608. When the rotating seat 3 drives the permanent magnet block 2 604 away from the permanent magnet block 1 603, since the permanent magnet block 1 603 is no longer pushed by the repulsive force, it is affected by gravity at this time, and the permanent magnet block 1 603 and the sliding rod 602 slide downward again and reset. When the permanent magnet block 1 603 slides downward, there is no limit block 605 at this time. When the permanent magnet block 2 604 contacts the tooth block 608, it can be pushed by the tooth block 608 and rotate upward, and then staggered with the tooth block 608 through rotation, and then reset under the action of gravity and located below the tooth block 608, to ensure that the toggle rod 606 can move the tooth block 60 8 is pushed, and then the permanent magnet block 2 604 is driven to rotate through the rotation seat 3. At the same time, the permanent magnet block 2 604 approaches and moves away from the permanent magnet block 1 603, driving the sliding rod 602 and the toggle rod 606 to move up and down, so that each up and down movement of the sliding rod 602 will cause the turntable 607 to rotate a certain angle. As the number of rotations of the rotating seat 3 increases, the turntable 607 will continue to rotate and drive the fixed rod 609 and the spherical block 610 to approach the push-pull rod 615, so that through the spherical setting of the spherical block 610 and the push-pull rod 615, when the spherical block 610 contacts the push-pull rod 615, the spherical surface will push the push-pull rod 615 to slide in the direction away from the spherical block 610, the reset spring 616 is compressed, and the piston 613 is pushed inward at the same time. The airflow passes through the one-way air outlet valve 6121 and enters the liquid storage box 601, thereby inflating the liquid storage box 601 and increasing the air pressure in the liquid storage box 601. The increased air pressure pushes the lubricating liquid in the liquid storage box 601 from the liquid outlet pipe 6011 into the annular nozzle 6012, and then sprays out from the liquid outlet hole in the annular nozzle 6012 and sprays onto the connection between the rotating seat 3 and the lifting seat 2. When the fixed rod 609 and the spherical block 610 are away from the push-pull rod 615, the rebound of the reset spring 616 will drive the push-pull rod 615 and the piston 613 to reset. When resetting, the air can be pumped into the one-way air inlet valve 612 and enter the pressure cylinder 611, so as to facilitate the next pressure charging work. Then, during the back and forth rotation of the rotating seat 3,When the rotation reaches a certain number of times, the liquid storage box 601 will be pressurized once. The lubricating liquid in the liquid storage box 601 is sprayed to the connection between the rotating seat 3 and the lifting seat 2 through the increased air pressure, realizing the automatic spraying of the lubricating liquid, thereby saving labor costs. At the same time, the spherical block 610 pushes the push-pull rod 615, so that the distance pushed by the piston 613 each time is constant, thereby ensuring the stability of each pressurization, and then ensuring the stability of each discharge of the lubricating liquid from the liquid storage box 601, thereby avoiding the occurrence of lubricating liquid addition. In the case of too much or too little, the automatic addition of lubricating liquid can be completed by rotating the rotating seat 3, and there is no need to stop the machine every time the lubricating liquid is added, which improves the working efficiency of the manipulator during critical transportation. In addition, through the arrangement of the permanent magnet block 2 604 and the permanent magnet block 1 603, when driving the sliding rod 602 to move up and down, the permanent magnet block 1 603 can be driven to move upward without the permanent magnet block 2 604 contacting the permanent magnet block 1 603, which reduces the friction between the permanent magnet block 2 604 and the permanent magnet block 1 603, and ensures the smoothness of the rotation of the rotating seat 3; Furthermore, whenever the sliding rod 602 slides up and down, the sliding rod 602 will drive the connecting frame 617 to slide up and down, so that when the connecting frame 617 slides up and down, by pulling and pushing the connecting rod 618 and the connecting rod 618 pulling and pushing the sliding block 619, the sliding block 619 completes reciprocating sliding. When the sliding block 619 slides back and forth, the sliding block 619 simultaneously drives the push-pull column 620 to slide back and forth, so that the push of the push-pull column 620 can make the toggle plate 621 rotate, so that its lower end can complete the toggle of the lubricating fluid, which can avoid the phenomenon of the lubricating fluid being stagnant for a long time and precipitating, so that the toggle plate 621 can stir the lubricating fluid, and the The solid particles or insoluble substances therein are in a suspended state, which prevents them from settling and accumulating, thereby avoiding the phenomenon of clogging the liquid outlet pipe 6011 and the annular nozzle 6012 due to settling and accumulating, ensuring the stability of the lubricant addition, and also ensuring the effect of the lubricant when in use. Moreover, by setting the inclined hole 622, when the toggle plate 621 toggles the lubricant, the reaction force of the lubricant on the toggle plate 621 can be reduced, thereby improving the smoothness of the toggle plate 621 when it is toggled. Moreover, by the inclined opening of the inclined hole 622, the flow direction of the lubricant can be changed when the lubricant passes through the inclined hole 622, thereby further improving the toggle effect of the lubricant and improving the quality of the lubricant when in use. Please refer to the above working process Figures 6 to 10 .

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for conveying an insulated pipe with a lifting structure, comprising a body (1), a lifting seat (2) fixedly connected to one side of the body (1), a rotating seat (3) rotatably connected to one end of the lifting seat (2), and a mounting seat (4) fixedly connected to one end of the rotating seat (3) away from the lifting seat (2), characterized in that: It also includes: a clamping and fixing mechanism and an adding and spraying mechanism, wherein the clamping and fixing mechanism is located on the right side of the adding and spraying mechanism; The clamping and fixing mechanism is used to clamp and fix thermal insulation pipes of different diameters; The adding spraying mechanism is used to automatically spray lubricating liquid on the connection between the lifting seat (2) and the rotating seat (3).

2. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 1 is characterized in that: The clamping and fixing mechanism comprises a rotating ring (501), the rotating ring (501) is rotatably connected to the inner surface of the mounting seat (4), both ends of the rotating ring (501) are equidistantly provided with arc grooves (502), both sides of the mounting seat (4) are equidistantly fixedly connected with guide rods (503), the guide rods (503) are slidably connected with sliding clamp rods (504) passing through the guide rods (503), the sliding clamp rods (504) are slidably connected, the side of the sliding clamp rods (504) close to the arc groove (502) is set in a C shape, the side of the sliding clamp rods (504) close to the arc groove (502) is fixedly connected with a guide block, and the sliding clamp rod (504) is slidably connected to the arc groove (502) via the guide block.

3. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 2 is characterized in that: A rotating column (505) is rotatably connected between each two of the sliding clamping rods (504), and a fan plate (506) is fixedly connected to the outer surface of the rotating column (505) at equal intervals. A torsion spring (507) is fixedly connected between the rotating column (505) and the sliding clamping rod (504), and a pull rope (508) is wrapped around both ends of the rotating column (505). A fixed column (509) is fixedly connected to the side of the guide rod (503) away from the mounting seat (4), and the pull rope (508) is fixedly connected to the fixed column (509) at one end away from the rotating column (505).

4. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 3 is characterized in that: A gear ring (510) is fixedly connected to the outer surface of the rotating ring (501), a mounting block (511) is fixedly connected to the top of the mounting seat (4), a driving gear (512) is rotatably connected to one side of the mounting block (511), and the driving gear (512) is meshed with the gear ring (510).

5. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 1 is characterized in that: The adding spraying mechanism includes a liquid storage box (601), the liquid storage box (601) is fixedly connected to the top of the lifting seat (2), one side of the liquid storage box (601) is slidably connected to a sliding rod (602), the bottom of the sliding rod (602) is fixedly connected to a permanent magnet block 1 (603), the outer surface of the rotating seat (3) is fixedly connected to a permanent magnet block 2 (604), the magnetic poles of the permanent magnet block 1 (603) and the permanent magnet block 2 (604) are arranged in the same way, the top of the liquid storage box (601) is fixedly and symmetrically plugged with a liquid outlet pipe (6011), and the end of the liquid outlet pipe (6011) away from the liquid storage box (601) is fixedly connected to a ring-shaped nozzle (6012), and the ring-shaped nozzle (6012) is arranged in a sleeve-like manner with the rotating seat (3).

6. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 5, characterized in that: Both sides of the sliding rod (602) are rotatably connected to a toggle rod (606); a side of the sliding rod (602) close to the toggle rod (606) is fixedly connected to a limit block (605); the limit block (605) abuts against the bottom of the toggle rod (606); a rotating disk (607) is symmetrically rotatably connected to a side of the liquid storage box (601) close to the sliding rod (602); a tooth block (608) is equidistantly fixedly connected to the outer surface of the rotating disk (607); an end of the rotating disk (607) away from the liquid storage box (601) is fixedly connected to a fixed rod (609); and an end of the fixed rod (609) away from the rotating disk (607) is fixedly connected to a spherical block (610).

7. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 6, characterized in that: A pressure-charging cylinder (611) is symmetrically fixedly connected to one side of the liquid storage box (601), a one-way air outlet valve (6121) is fixedly connected to one end of the pressure-charging cylinder (611), the pressure-charging cylinder (611) is connected to the liquid storage box (601) via the one-way air outlet valve (6121), a one-way air inlet valve (612) is fixedly connected to the outer surface of the pressure-charging cylinder (611), and a piston (613) is slidably connected to the inner surface of the pressure-charging cylinder (611).

8. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 7, characterized in that: One end of the piston (613) is fixedly connected to a push-pull rod (615), one end of the pressure cylinder (611) away from the liquid storage box (601) is fixedly connected to a guide frame (614), the push-pull rod (615) and the guide frame (614) are slidably connected, a return spring (616) is fixedly connected between the push-pull rod (615) and the guide frame (614), and one end of the push-pull rod (615) is set to be spherical.

9. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 6, characterized in that: The top of the sliding rod (602) is fixedly connected to a connecting frame (617), and the connecting frame (617) is slidably connected to the top of the liquid storage box (601). One side of the connecting frame (617) located inside the liquid storage box (601) is symmetrically rotatably connected to a connecting rod (618), and one side of the inner wall of the liquid storage box (601) is symmetrically slidably connected to a sliding block (619), and the sliding block (619) is rotatably connected to the connecting rod (618).

10. The manipulator for conveying heat preservation pipes with a lifting structure according to claim 9, characterized in that: The inner wall of the liquid storage box (601) is symmetrically rotatably connected to a toggle plate (621); two push-pull columns (620) are fixedly connected to the sliding block (619) on one side close to the toggle plate (621); the toggle plates (621) are located between adjacent push-pull columns (620); and the lower end of the toggle plate (621) is provided with inclined holes (622) at equal distances; the inclined holes (622) are all inclined.

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