Steel pipe picking and loading mechanism

Abstract

The utility model discloses a picking and loading mechanism for steel pipes, which comprises a pipe stacking frame and a feeding table, a plurality of steel pipes are stacked on the pipe stacking frame, a support frame is arranged on the pipe stacking frame in the lateral direction of pipe orifices of the steel pipes, a picking mechanism is arranged on the support frame, and a telescopic picking piece capable of performing linear telescopic motion along the length direction of the steel pipes is arranged towards the direction of the steel pipes. The telescopic driving piece is provided with a telescopic rod capable of being inserted into or moved out of a target steel pipe, the two-dimensional moving table drives the telescopic driving piece to synchronously move, the positioning mechanism is arranged above the pipe stacking frame, the positioning mechanism is installed on the supporting frame and can move in the transverse direction so as to be positioned to the position above the target steel pipe, and the positioning mechanism sends a detection signal to the controller; the controller controls the two-dimensional moving table to drive the telescopic stirring piece to synchronously move to the position right opposite to the pipe opening of the target steel pipe, then controls the telescopic stirring piece to drive the telescopic rod to be inserted into the target steel pipe, enables the telescopic rod to stir the target steel pipe and move to the preset position of the feeding table, and the telescopic rod retracts and retreats to wait for next operation.

Description

Technical Field

[0001] The utility model relates to the field of pipe lifting and installation, in particular to a steel pipe lifting and installation mechanism. Background Art

[0002] In order to carry out large-scale seat frame processing, a large number of bent pipes are needed for assembly. The bent pipes are bent from vertical steel pipes. During the steel pipe bending process, in order to place multiple vertical steel pipes accurately and quickly on the feeding mechanism of the steel pipe, a robot is usually used to grab the steel pipes. The robot grabs the steel pipes one by one and places them on the feeding mechanism. When grabbing, the robot needs to clamp and lift the steel pipes from both sides of the steel pipes, but the stacked steel pipes overlap each other, leaving insufficient space and position for the robot to grab. The robot is prone to getting stuck or offset when grabbing the steel pipes, resulting in failure to grab the steel pipes or offset of the grabbing position, which greatly affects the bending efficiency and the safety of continuous operation of the machine.

[0003] Therefore, we need a steel pipe loading mechanism that can be unaffected when the steel pipes are stacked, quickly and accurately grab the steel pipes and place them in the required position, while ensuring the safety of the mechanism and the sustainability of its operation. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the utility model is to provide a steel pipe picking and loading mechanism, which changes the previous grasping method and will not be affected by the lack of grasping space due to a large number of stacked steel pipes, and can achieve fast and accurate steel pipe picking and loading actions.

[0005] The technical solution of the utility model is achieved in this way:

[0006] A steel pipe lifting and loading mechanism, comprising:

[0007] A pipe stacking rack and a feeding platform, a plurality of steel pipes are stacked on the pipe stacking rack, a support frame is provided on the side of the pipe mouth of the pipe stacking rack, a lifting mechanism is provided on the support frame, the lifting mechanism comprises a controller, a two-dimensional moving platform which can move in the transverse and longitudinal directions, and a positioning mechanism for detecting and positioning the position of the target steel pipe, a telescopic stirring member which can perform linear telescopic movement along the length direction of the steel pipe is provided in the direction toward the steel pipe, the telescopic stirring member has a telescopic rod which can be inserted into or removed from the target steel pipe, the two-dimensional moving platform drives the telescopic stirring member to move synchronously, the positioning mechanism is arranged above the pipe stacking rack, and the positioning mechanism is installed on the support frame and can move in the transverse direction to be positioned above the target steel pipe, the positioning mechanism sends a detection signal to the controller, the controller controls the two-dimensional moving platform to drive the telescopic stirring member to move synchronously to a position directly facing the pipe mouth of the target steel pipe, and then controls the telescopic stirring member to drive the telescopic rod to insert the target steel pipe, and then controls the two-dimensional moving platform to move, so that the telescopic rod stirs the target steel pipe and moves to the preset position of the feeding platform, and the telescopic rod retracts and exits to wait for the next operation. The telescopic stirrer can be inserted into the steel pipe and stir up the steel pipe without leaving any gaps between the steel pipes, and can maintain precise movements even when a large number of steel pipes are stacked.

[0008] Preferably, the two-dimensional moving platform includes an X-axis moving platform and a Z-axis moving platform. The X-axis moving platform is slidably matched with an X-axis guide rail arranged on a support frame, and the X-axis moving platform is connected to an X-axis moving platform driving device; the Z-axis moving platform is slidably connected with a Z-axis guide rail arranged on the X-axis moving platform, and the Z-axis moving platform is connected to a Z-axis moving platform driving device; the telescopic stirring member is installed on a bracket, and the bracket is installed on the Z-axis moving platform. The telescopic stirring member is a horizontally arranged gas rod, and the piston rod of the gas rod is connected to the telescopic rod. When the piston rod of the gas rod is extended or retracted, it drives the telescopic rod forward or backward. The two-dimensional movement of the telescopic stirring member is realized, so that after the telescopic stirring member moves to the corresponding position of the steel pipe mouth, the piston rod extends to lift the steel pipe, and then moves to the top of the feeding platform and the piston rod retracts.

[0009] Preferably, the bracket is in a U-shape, and includes a base plate and ear plates extending downward from both sides of the base plate, the telescopic agitator is installed between the ear plates, and the piston rod is inserted into the ear plate near the pipe rack. As a part that bears the connection and support functions, the bracket ensures the precise and stable telescopic action of the telescopic agitator.

[0010] Preferably, the end of the telescopic rod facing the steel pipe forms a tapered head with a gradually decreasing diameter, so that the movement of inserting the telescopic rod into the steel pipe is smoother.

[0011] Preferably, the positioning mechanism is an infrared sensing mechanism, which emits infrared rays in the direction of the pipe rack when it moves to the corresponding position. After the infrared rays sense the corresponding target steel pipe, they send a sensing signal to the controller to guide the two-dimensional moving platform to drive the telescopic lifting member to move to the corresponding position. The position of the steel pipe is accurately positioned, and the lifting and loading action is accurate.

[0012] Preferably, the infrared sensing mechanism includes an infrared moving platform and an infrared transmitter mounted on the infrared moving platform, the infrared moving platform is slidably matched with a positioning rail arranged on the support frame, and the infrared moving platform is connected to an infrared moving platform driving device, so as to realize the moving function of the positioning mechanism, so that the positioning mechanism can accurately locate the position of any steel pipe on the pipe rack.

[0013] As a preferred option, a pulley is provided at the bottom of the pipe rack, which can be used to pull out the loaded steel pipes and then pull them back after being vacant, so as to facilitate the loading of steel pipes and improve work efficiency.

[0014] The principle and beneficial effects of the utility model using the above technical solution are:

[0015] The utility model provides a lifting and loading mechanism for steel pipes, which can lift up a single stacked steel pipe through a telescopic lifting member and transport it from a pipe stacking rack to a feeding platform. Different from the traditional method of clamping the steel pipe from both sides of the steel pipe, the mechanism will not be affected by the stacking of the steel pipes during this process, and can efficiently and accurately stack the steel pipes for lifting and loading.

[0016] Specifically, the steel pipes stacked on the pipe rack are positioned through the positioning mechanism. After positioning, the telescopic rod on the telescopic lifting member extends out and is inserted into the positioned steel pipe. After the steel pipe is lifted up, it is moved above the feeding platform. The telescopic member retracts and places the steel pipe on the feeding platform to complete the loading work. Because the steel pipe is lifted up by inserting the telescopic member, there is no need to leave a gap between the steel pipes. The grabbing process is efficient and accurate. At the same time, there is no need to worry about the safety problems caused by the displacement of the grabbing steel pipe position. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a front perspective view of the lifting and loading mechanism of the steel pipe;

[0018] Figure 2 It is a three-dimensional diagram of the cooperation between the Z-axis moving stage and the X-axis moving stage;

[0019] Figure 3 A three-dimensional diagram of the telescopic rod being retracted;

[0020] Figure 4 This is a schematic diagram of the infrared sensing mechanism cooperating with the telescopic rod to push forward and insert into the steel pipe;

[0021] Figure 5 It is a top perspective view of the lifting and loading mechanism of the steel pipe;

[0022] Figure 6 It is a partial enlarged view of the support frame;

[0023] The figures are marked as follows: 1- pipe stacking rack, 2- feeding table, 3- steel pipe, 4- supporting frame, 5- telescopic rod, 6- X-axis moving table, 7- Z-axis moving table, 8- X-axis guide rail, 9- Z-axis guide rail, 10- drag chain, 11- servo motor, 12- bracket, 13- gas rod, 14- base plate, 15- ear plate, 16- taper head, 17- horizontal infrared moving table, 18- vertical infrared moving table, 19- infrared transmitter, 20- horizontal positioning guide rail, 21- vertical positioning guide rail, 22- pulley, 23- infrared ray. DETAILED DESCRIPTION

[0024] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0025] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0026] The specific implementation of the utility model is as follows:

[0027] like Figure 1-6As shown, the utility model provides a steel pipe lifting and loading mechanism, including a pipe stacking rack 1 and a feeding platform 2, a plurality of steel pipes 3 are stacked on the pipe stacking rack 1, a support frame 4 is provided on the side of the pipe stacking rack 1 facing the pipe opening of the steel pipe 3, the support frame 4 is connected to one side of the feeding platform 2 and the support frame 4 as a whole extends out of the front side of the feeding platform 2 and is in a suspended state, a lifting mechanism is provided on the support frame 4, the lifting mechanism includes a controller, a two-dimensional moving platform that can move in the transverse and longitudinal directions, and a positioning mechanism for detecting and positioning the position of the target steel pipe 3, a telescopic lifting member that can perform linear telescopic movement along the length direction of the steel pipe 3 is provided in the direction toward the steel pipe 3, the telescopic lifting member has a function of being inserted into or removed from the target The telescopic rod 5 of the target steel pipe 3 and the two-dimensional moving platform drive the telescopic stirring piece to move synchronously. The positioning mechanism is arranged above the pipe stacking rack 1, and the positioning mechanism is installed on the supporting frame 4 and can move in the lateral direction to be positioned above the target steel pipe 3. The positioning mechanism sends a detection signal to the controller, and the controller controls the two-dimensional moving platform to drive the telescopic stirring piece to move synchronously to a position directly opposite to the pipe mouth of the target steel pipe 3, and then controls the telescopic stirring piece to drive the telescopic rod 5 to insert into the target steel pipe 3, and then controls the two-dimensional moving platform to move, so that the telescopic rod 5 picks up the target steel pipe 3 and moves to the preset position of the feeding platform 2, and the telescopic rod 5 retracts and withdraws to place the steel pipe 3 at the preset position, and the positioning mechanism returns to the initial position and waits for the next operation.

[0028] The above introduces the lifting mechanism of the steel pipe. Next, each part is introduced in detail:

[0029] Specifically, if Figure 3-4 As shown, the two-dimensional moving platform includes an X-axis moving platform 6 and a Z-axis moving platform 7. The X-axis moving platform 6 is slidably matched with an X-axis guide rail 8 arranged on the support frame 4, so that the X-axis moving platform 6 can slide in the lateral direction. The X-axis moving platform 6 is connected to an X-axis moving platform 6 driving device, and the X-axis moving platform 6 driving device is a horizontally arranged drag chain 10, one end of the drag chain 10 is connected to a servo motor 11, and the other end of the drag chain 10 is connected to the X-axis moving platform 6, so that the X-axis moving platform 6 can move along the X-axis direction under the drive of the servo motor 11; the Z-axis moving platform 7 is connected to the X-axis moving platform 6 through the Z-axis guide rail 9 arranged on itself. The platform 6 is slidably connected, and the Z-axis movable platform 7 is connected to a Z-axis movable platform 7 driving device. The Z-axis movable platform 7 is a longitudinally arranged drag chain 10, one end of the drag chain 10 is connected to a servo motor 11, and the other end of the drag chain 10 is connected to the Z-axis movable platform 7, so that the Z-axis movable platform 7 can move along the Z-axis direction under the drive of the servo motor 11; the telescopic actuating member is installed on a bracket 12, and the bracket 12 is installed at the bottom of the Z-axis movable platform 7. The telescopic actuating member is a horizontally arranged gas rod 13, and the piston rod of the gas rod 13 is connected to the telescopic rod 5. When the piston rod of the gas rod 13 is extended or retracted, it drives the telescopic rod 5 forward or backward.

[0030] Further, if Figure 2As shown, the bracket 12 is in a U-shape, and the bracket 12 includes a base plate 14 fixedly connected to the Z-axis moving table 7 and ear plates 15 extending downward from both sides of the base plate 14. The telescopic agitator is installed between the ear plates 15, and the piston rod is inserted into the ear plate 15 on the side close to the pipe rack 1. The end of the telescopic rod 5 facing the steel pipe 3 forms a tapered head 16 with a gradually decreasing diameter. When the telescopic rod 5 is aligned with the pipe mouth of the steel pipe 3 and extended, the tapered head 16 can help the telescopic rod 5 to be better inserted into the steel pipe 3.

[0031] Furthermore, the positioning mechanism is an infrared sensing mechanism, which includes an infrared moving platform and an infrared transmitter 19 installed on the infrared moving platform. The infrared moving platform includes a horizontal infrared moving platform 17 and a vertical infrared moving platform 18. The horizontal infrared moving platform 17 and the vertical infrared moving platform 18 are respectively slidably matched with a horizontal positioning guide rail 20 and a vertical positioning guide rail 21 arranged on the support frame 4. The horizontal infrared moving platform 17 and the vertical infrared moving platform 18 are respectively connected to an infrared moving platform driving device, and the driving device is a drag chain 10. One end of the drag chain 10 is connected to the servo motor 11, and the other end of the drag chain 10 is connected to the horizontal infrared moving platform 17 or the vertical infrared moving platform 18. When the infrared transmitter 19 moves to the corresponding position, it emits infrared rays in the direction of the pipe rack 1. After the infrared rays sense the corresponding target steel pipe 3, they send a sensing signal to the controller to guide the two-dimensional moving platform to drive the telescopic stirring member to move to the corresponding position.

[0032] Further, such as Figure 4-5 As shown, the infrared rays 23 emitted by the infrared transmitter 19 on the horizontal infrared mobile platform 17 and the vertical infrared mobile platform 18 respectively determine the horizontal position and height of the steel pipe 3, that is, the position of the pipe mouth of the steel pipe 3 on the X-axis and Z-axis coordinate systems, and the corresponding coordinates are converted into signals and sent to the controller. After calculation by the preset algorithm in the controller, the telescopic stirring member is guided to move to the corresponding position, so that the telescopic rod 5 is aligned with the pipe mouth of the detected steel pipe 3; four pulleys 22 are provided at the bottom of the pipe rack 1, and the pipe rack 1 can be directly pulled out when the pipe rack 1 is empty or about to be empty, and then pulled back after the steel pipe 3 is loaded.

[0033] Because the range of motion of the infrared transmitter and the diameter and placement quantity of the steel pipes are all calculated in advance, the controller can determine that the telescopic rod is about to pick up the corresponding steel pipe according to the moving position of the infrared transmitter and the position of the steel pipe. The above is not the focus of the present invention, so the specific process will not be repeated.

[0034] The above schematically describes the present invention and its implementation methods, which are not restrictive. The drawings show only one implementation method of the present invention, and the actual structure is not limited thereto. Therefore, if ordinary technicians in this field are inspired by it and design structural methods and embodiments similar to the technical solution without creativity without departing from the purpose of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A steel pipe lifting and loading mechanism, characterized in that include: A pipe stacking rack and a feeding platform, a plurality of steel pipes are stacked on the pipe stacking rack, a support frame is provided on the side of the pipe mouth of the pipe stacking rack, a lifting mechanism is provided on the support frame, the lifting mechanism comprises a controller, a two-dimensional moving platform which can move in the transverse and longitudinal directions, and a positioning mechanism for detecting and positioning the position of the target steel pipe, a telescopic stirring member which can perform linear telescopic movement along the length direction of the steel pipe is provided in the direction facing the steel pipe, the telescopic stirring member has a telescopic rod which can be inserted into or removed from the target steel pipe, the two-dimensional moving platform drives the telescopic stirring member to move synchronously, the positioning mechanism is arranged above the pipe stacking rack, and the positioning mechanism is installed on the support frame and can move in the transverse direction to be positioned above the target steel pipe, the positioning mechanism sends a detection signal to the controller, the controller controls the two-dimensional moving platform to drive the telescopic stirring member to move synchronously to a position directly facing the pipe mouth of the target steel pipe, and then controls the telescopic stirring member to drive the telescopic rod to insert the target steel pipe, and then controls the two-dimensional moving platform to move, so that the telescopic rod stirs the target steel pipe and moves to the preset position of the feeding platform, and the telescopic rod retracts and exits to wait for the next operation.

2. The steel pipe lifting and loading mechanism according to claim 1 is characterized in that: The two-dimensional moving platform includes an X-axis moving platform and a Z-axis moving platform, the X-axis moving platform is slidably matched with an X-axis guide rail arranged on the support frame, and the X-axis moving platform is connected to an X-axis moving platform driving device; The Z-axis moving table is slidably connected to the Z-axis guide rail arranged on the X-axis moving table, and the Z-axis moving table is connected to the Z-axis moving table driving device; The telescopic stirring member is installed on a bracket, and the bracket is installed on the Z-axis moving platform. The telescopic stirring member is a horizontally arranged gas rod, and the piston rod of the gas rod is connected to the telescopic rod. When the piston rod of the gas rod is extended or retracted, it drives the telescopic rod forward or backward.

3. The steel pipe lifting and loading mechanism according to claim 2 is characterized in that: The bracket is in a U-shape and comprises a base plate and ear plates extending downward from both sides of the base plate. The telescopic agitator is installed between the ear plates, and the piston rod is inserted into the ear plate on the side close to the pipe stacking rack.

4. The steel pipe lifting and loading mechanism according to claim 2 is characterized in that: The end of the telescopic rod toward the steel pipe forms a tapered head with a gradually decreasing diameter.

5. The steel pipe lifting and loading mechanism according to claim 1 is characterized in that: The positioning mechanism is an infrared sensing mechanism. When the infrared sensing mechanism moves to the corresponding position, it emits infrared rays in the direction of the pipe rack. After the infrared rays sense the corresponding target steel pipe, they send a sensing signal to the controller to guide the two-dimensional moving platform to drive the telescopic stirring member to move to the corresponding position.

6. The steel pipe lifting and loading mechanism according to claim 5 is characterized in that: The infrared sensing mechanism comprises an infrared moving platform and an infrared emitter mounted on the infrared moving platform. The infrared moving platform is slidably matched with a positioning guide rail arranged on a supporting frame. The infrared moving platform is connected with an infrared moving platform driving device.

7. The steel pipe lifting and loading mechanism according to claim 1 is characterized in that: There is a pulley at the bottom of the pipe rack, which can be used to pull out the loaded steel pipes and then pull them back when it is empty.

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