Manipulator for grabbing pipe of crane

Abstract

The utility model relates to a mechanical arm for grabbing a pipe of a crane. The mechanical arm comprises a mechanical arm base, a transverse moving mechanism arranged on the mechanical arm base, a rotating mechanism connected with the transverse moving mechanism, a clamping driving mechanism connected with the rotating mechanism, a first clamping adjusting mechanism and a second clamping adjusting mechanism. The clamping driving mechanism comprises a clamping gripper base connected with the swing mechanism, a first driving assembly connected with the clamping gripper base, a first clamping gripper and a second clamping gripper, wherein the first clamping gripper and the second clamping gripper are connected with the first driving assembly. The first clamping adjusting mechanism comprises a second driving assembly arranged on the first clamping gripper, a first clamping plate, a second clamping plate and a third clamping plate, and the first clamping plate, the second clamping plate and the third clamping plate are evenly distributed and connected with the second driving assembly. The device has the effects that the laying, carrying and mounting efficiency of the drainage pipeline in the mine pit is improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial technology in the direction of operation and maintenance of open-pit mines, and in particular to a manipulator for crane pipe grabbing. Background Art

[0002] Open-pit mines are the main workplaces for heavy-duty mining vehicles and mining engineering machinery. The maintenance and operation of the mines are particularly important. The accumulated water and seepage in the mines need to be discharged in time. Therefore, the laying, transportation and installation of drainage pipes are important links to ensure the normal operation of the mines.

[0003] At present, the laying, transportation and installation of drainage pipes in mines are all carried out by cranes and manual assistance. However, in the case of large pipe diameters, long lengths and inconvenient movement, simple manual handheld tools alone can no longer meet the installation requirements, resulting in a series of problems such as high work intensity, low labor efficiency, inability to enhance work safety and inability to ensure work progress. In order to improve the construction efficiency of drainage pipes and reduce the labor intensity of workers, drainage pipes are laid, transported and installed by manipulators. However, when the manipulator clamps pipes of different diameters, it is necessary to manually replace the clamping tooling of different sizes, which reduces the work efficiency of the manipulator.

[0004] With respect to the above-mentioned related technologies, the inventor believes that replacing clamping tools of different sizes reduces the work efficiency of the robot in laying, transporting and installing drainage pipes. Utility Model Content

[0005] In order to solve the above technical problems, the present application provides a manipulator for grabbing pipes by a crane.

[0006] The present application provides a crane pipe grabbing manipulator, which adopts the following technical solution:

[0007] A manipulator for grasping pipes of a crane comprises a manipulator base, a transverse movement mechanism arranged on the manipulator base, a slewing mechanism connected to the transverse movement mechanism, a clamping drive mechanism connected to the slewing mechanism, a first clamping adjustment mechanism and a second clamping adjustment mechanism; the clamping drive mechanism comprises a clamping gripper base connected to the slewing mechanism, a first driving assembly connected to the clamping gripper base, a first clamping gripper and a second clamping gripper connected to the first driving assembly; the first clamping adjustment mechanism comprises a second driving assembly, a first clamping plate, a second clamping plate and a third clamping plate arranged on the first clamping gripper; the first clamping plate, the second clamping plate and the third clamping plate are evenly distributed and are all connected to the second driving assembly; the second clamping adjustment mechanism is arranged on the second clamping gripper and has the same structure as the first clamping adjustment mechanism.

[0008] By adopting the above technical solution, the manipulator base is used to connect with the crane, and the lateral movement mechanism and the slewing mechanism are used to adjust the position and angle of the clamping drive mechanism, so as to facilitate the alignment of the clamping adjustment mechanism with the center line of the drainage pipe, thereby facilitating the clamping of the drainage pipe. The first clamping adjustment mechanism and the second clamping adjustment mechanism are used to adjust the clamping of drainage pipes of different sizes, and the second driving assembly drives the first clamping plate, the second clamping plate and the third clamping plate to move toward or away from the first clamping gripper, so that the first clamping plate, the second clamping plate and the third clamping plate abut against drainage pipes of different sizes, thereby improving the efficiency of clamping drainage pipes of different sizes.

[0009] Preferably, the second driving assembly includes a first adjusting cylinder, a second adjusting cylinder and a third adjusting cylinder connected to the first clamping gripper, the end of the first adjusting cylinder away from the first clamping gripper is connected to the first clamping plate, the end of the second adjusting cylinder away from the first clamping gripper is connected to the second clamping plate, and the end of the third adjusting cylinder away from the first clamping gripper is connected to the third clamping plate.

[0010] By adopting the above technical solution, the first adjusting cylinder drives the first clamping plate to move towards or away from the first clamping gripper, the second adjusting cylinder drives the second clamping plate to move towards or away from the first clamping gripper, and the third adjusting cylinder drives the third clamping plate to move towards or away from the first clamping gripper, thereby making the first clamping adjustment mechanism suitable for drainage pipes of different sizes.

[0011] Preferably, the first clamping plate, the second clamping plate and the third clamping plate are all arc-shaped structures, the second clamping plate is provided with a connecting hole, and the first clamping plate and the third clamping plate are slidably connected to the second clamping plate through the connecting hole.

[0012] By adopting the above technical solution, the first clamping plate and the third clamping plate are both slidably connected to the second clamping plate, thereby improving the connection stability of the first clamping plate and the third clamping plate with the second clamping plate, and then improving the clamping stability of the first clamping plate, the second clamping plate and the third clamping plate on the drainage pipe, thereby improving the safety and efficiency of installing the drainage pipe.

[0013] Preferably, the second clamping plate is provided with a first limiting groove and a second limiting groove which are connected to the connecting hole, the first clamping plate is provided with a first limiting block which is slidably connected to the first limiting groove, the third clamping plate is provided with a second limiting block which is slidably connected to the second limiting groove.

[0014] By adopting the above technical solution, the setting of the first limit block and the first limit groove improves the connection stability between the first splint and the second splint, and the setting of the second limit block and the second limit groove improves the connection stability between the third splint and the second splint, thereby further improving the connection stability between the first splint and the third splint and the second splint.

[0015] Preferably, a pressure sensor is provided on the second clamping plate.

[0016] By adopting the above technical solution, it is determined whether the clamping adjustment mechanism has clamped the drainage pipe tightly according to the data of the pressure sensor, which is beneficial to improve the clamping stability and clamping safety of the drainage pipe, thereby improving the safety of the drainage pipe laying, transportation and installation process.

[0017] Preferably, anti-slip pads are provided on the first clamping plate and the third clamping plate.

[0018] By adopting the above technical solution, the provision of the anti-slip pad improves the clamping stability of the first clamping plate and the third clamping plate on the drainage pipe, thereby improving the stability and safety of the drainage pipe laying, transportation and installation process.

[0019] Preferably, the transverse movement mechanism includes a transverse movement earring connected to the manipulator base, a guide pin connected to the transverse movement earring, a baffle arranged at both ends of the guide pin, a transverse movement base slidably connected to the guide pin, a connecting earring arranged on the transverse movement base, a self-lubricating copper sleeve arranged in the connecting earring and a transverse movement cylinder, one end of the transverse movement cylinder is connected to the manipulator base, and the other end is connected to the transverse movement base.

[0020] By adopting the above technical solution, the transverse cylinder drives the transverse base to move. When the transverse base moves, the connecting earrings slide on the guide pin shaft, and the self-lubricating copper sleeves reduce the wear of the connecting earrings, thereby improving the stability of the transverse base movement process.

[0021] Preferably, the slewing mechanism comprises a slewing reducer and a hydraulic motor connected to the transverse shift base, the hydraulic motor is connected to the slewing reducer, and one end of the slewing reducer away from the transverse shift base is connected to the clamping gripper base.

[0022] By adopting the above technical solution, the hydraulic motor drives the rotary reducer to rotate, and the rotary reducer drives the clamping gripper base to rotate, thereby adjusting the angles of the first clamping gripper and the second clamping gripper.

[0023] Preferably, the first driving assembly includes a first clamping cylinder and a second clamping cylinder rotatably connected to the clamping gripper base, an end of the first clamping cylinder away from the clamping gripper base is rotatably connected to the first clamping gripper, and an end of the second clamping cylinder away from the clamping gripper base is rotatably connected to the second clamping gripper, the first clamping gripper is connected to a first synchronous gear, the second clamping gripper is connected to a second synchronous gear, and the first synchronous gear is meshingly connected to the second synchronous gear.

[0024] By adopting the above technical solution, the first clamping cylinder drives the first clamping gripper to rotate, and the second clamping cylinder drives the second clamping gripper to rotate. The first synchronous gear and the second synchronous gear make the rotation angles of the first clamping gripper and the second clamping gripper the same, thereby facilitating the clamping or loosening of the drainage pipe.

[0025] In summary, this application has the following beneficial technical effects:

[0026] 1. The first clamping adjustment mechanism and the second clamping adjustment mechanism are used to adjust and clamp drainage pipes of different sizes. The second driving assembly drives the first clamping plate, the second clamping plate and the third clamping plate to move toward or away from the first clamping gripper, so that the first clamping plate, the second clamping plate and the third clamping plate abut against drainage pipes of different sizes, thereby improving the efficiency of clamping drainage pipes of different sizes;

[0027] 2. The first clamping plate and the third clamping plate are both slidably connected to the second clamping plate, thereby improving the clamping stability of the drainage pipe by the first clamping adjustment mechanism;

[0028] 3. The pressure sensor provided on the second clamping plate facilitates the operator to judge whether the drainage pipe is clamped tightly, thereby improving the safety and efficiency of clamping the drainage pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of a manipulator for grabbing pipes by a crane;

[0030] Figure 2 It is a structural schematic diagram of a manipulator for grabbing pipes by a crane;

[0031] Figure 3 It is a schematic diagram of the cross-sectional structure of the manipulator base and the transverse movement mechanism;

[0032] Figure 4 is a schematic structural diagram of a clamping drive mechanism, a first clamping adjustment mechanism, and a second clamping adjustment mechanism;

[0033] Figure 5 It is a schematic diagram of the cross-sectional structure of the first clamping and adjusting mechanism.

[0034] Explanation of the reference numerals: 1. Manipulator base; 11. Crane mounting earring; 2. Transverse movement mechanism; 21. Transverse movement earring; 22. Guide pin shaft; 23. Block cover; 24. Transverse movement base; 25. Connecting earring; 26. Self-lubricating copper sleeve; 27. Transverse movement cylinder; 3. Rotation mechanism; 31. Rotation reducer; 32. Hydraulic motor; 4. Clamping drive mechanism; 41. Clamping gripper base; 42. First drive assembly; 421. First clamping cylinder; 422. Second clamping cylinder; 423. First synchronous gear; 424. First Second synchronous gear; 43, first clamping gripper; 44, second clamping gripper; 5, first clamping adjustment mechanism; 51, second drive assembly; 511, first adjustment cylinder; 512, second adjustment cylinder; 513, third adjustment cylinder; 52, first clamping plate; 521, first limit block; 53, second clamping plate; 531, connecting hole; 532, first limit groove; 533, second limit groove; 54, third clamping plate; 541, second limit block; 55, pressure sensor; 56, anti-slip pad; 6, second clamping adjustment mechanism. DETAILED DESCRIPTION

[0035] The following is combined with Figure 1-5 This application is described in further detail.

[0036] The embodiment of the present application discloses a manipulator for grabbing pipes by a crane.

[0037] Reference Figure 1 , Figure 2 and Figure 3 A manipulator for grabbing pipes of a crane comprises a manipulator base 1, a lateral movement mechanism 2 arranged on the manipulator base 1, a slewing mechanism 3 connected to the lateral movement mechanism 2, a clamping drive mechanism 4 connected to the slewing mechanism 3, a first clamping adjustment mechanism 5 and a second clamping adjustment mechanism 6. There are two clamping drive mechanisms 4, and the two clamping drive mechanisms 4 are arranged in parallel.

[0038] A crane mounting earring 11 is welded on the manipulator base 1 , and the transverse movement mechanism 2 is arranged on a side of the manipulator base 1 away from the crane mounting earring 11 .

[0039] The transverse mechanism 2 includes a transverse earring 21 fixedly connected to the manipulator base 1, a guide pin 22 fixedly connected to the transverse earring 21, a cover 23 arranged at both ends of the guide pin 22, a transverse base 24 slidably connected to the guide pin 22, a connecting earring 25 fixedly arranged on the transverse base 24, a self-lubricating copper sleeve 26 fixedly arranged in the connecting earring 25, and a transverse oil cylinder 27, one end of the transverse oil cylinder 27 is fixedly connected to the manipulator base 1, and the other end is fixedly connected to the transverse base 24. There are two transverse earrings 21, and the two transverse earrings 21 are respectively arranged on opposite sides of the manipulator base 1. There are two guide pins 22, and the two guide pins 22 are arranged in parallel. There are four connecting earrings 25, and the connecting earrings 25 are slidably connected to the guide pin 22 through the self-lubricating copper sleeve 26.

[0040] The slewing mechanism 3 includes a slewing reducer 31 and a hydraulic motor 32 which are bolted to the transverse base 24 . The hydraulic motor 32 is fixedly connected to the slewing reducer 31 .

[0041] The clamping drive mechanism 4 includes a clamping gripper base 41 bolted to one end of the rotary reducer 31 away from the traverse base 24, a first drive assembly 42 connected to the clamping gripper base 41, and a first clamping gripper 43 and a second clamping gripper 44 connected to the first drive assembly 42. The first clamping gripper 43 and the second clamping gripper 44 are both rotatably connected to the clamping gripper base 41 through a hinge.

[0042] Reference Figure 4 and Figure 5 The first clamping adjustment mechanism 5 includes a second driving assembly 51, a first clamping plate 52, a second clamping plate 53 and a third clamping plate 54 arranged on the first clamping gripper 43. The first clamping plate 52, the second clamping plate 53 and the third clamping plate 54 are evenly distributed and are all connected to the second driving assembly 51. The second clamping adjustment mechanism 6 is arranged on the second clamping gripper 44 and has the same structure as the first clamping adjustment mechanism 5.

[0043] The first driving assembly 42 includes a first clamping cylinder 421 and a second clamping cylinder 422 which are rotatably connected to the clamping gripper base 41 via a hinge. One end of the first clamping cylinder 421 away from the clamping gripper base 41 is rotatably connected to the first clamping gripper 43 via a hinge. One end of the second clamping cylinder 422 away from the clamping gripper base 41 is rotatably connected to the second clamping gripper 44 via a hinge. A first synchronous gear 423 is fixedly connected to the first clamping gripper 43, and a second synchronous gear 424 is fixedly connected to the second clamping gripper 44. The first synchronous gear 423 is meshingly connected to the second synchronous gear 424.

[0044] The second driving assembly 51 includes a first adjusting cylinder 511, a second adjusting cylinder 512 and a third adjusting cylinder 513 fixedly connected to the first clamping gripper 43. The end of the first adjusting cylinder 511 away from the first clamping gripper 43 is fixedly connected to the first clamping plate 52, the end of the second adjusting cylinder 512 away from the first clamping gripper 43 is fixedly connected to the second clamping plate 53, and the end of the third adjusting cylinder 513 away from the first clamping gripper 43 is fixedly connected to the third clamping plate 54.

[0045] The first clamping plate 52 , the second clamping plate 53 and the third clamping plate 54 are all arc-shaped structures. The second clamping plate 53 is provided with a connecting hole 531 . The first clamping plate 52 and the third clamping plate 54 are both slidably connected to the second clamping plate 53 through the connecting hole 531 .

[0046] The second clamping plate 53 is provided with a first limiting groove 532 and a second limiting groove 533 which are connected with the connecting hole 531. The first limiting block 521 is fixedly provided on the first clamping plate 52, and the first limiting block 521 is slidably connected to the first limiting groove 532. The third clamping plate 54 is fixedly provided with a second limiting block 541, and the second limiting block 541 is slidably connected to the second limiting groove 533. A pressure sensor 55 is fixedly provided on the end of the second clamping plate 53 away from the second regulating oil cylinder 512. Anti-skid pads 56 are fixedly provided on both the first clamping plate 52 and the third clamping plate 54. The number of the first limiting block 521 and the second limiting block 541 are both two, and the two first limiting blocks 521 are distributed on the opposite sides of the first clamping plate 52, and the two second limiting blocks 541 are distributed on the opposite sides of the third clamping plate 54. The number of the first limiting groove 532 and the second limiting groove 533 are both two.

[0047] The oil circuit control of the crane-specific pipe grabbing manipulator uses multiple high-pressure hoses to connect to the crane, and the connection parts use open-close hydraulic quick connectors. The crane-specific pipe grabbing manipulator is operated by a remote controller, and the receiver fixed on the crane is used to achieve precise control of the crane-specific pipe grabbing manipulator.

[0048] The implementation principle of a pipe grabbing manipulator for a crane in the embodiment of the present application is as follows: connect the pipe grabbing manipulator for a crane to a crane, start the crane to the place where the drainage pipe is stored, control the slewing mechanism 3 to perform slewing operation through a remote controller, so that the center line of the clamping drive mechanism 4 is parallel to the drainage pipe, then control the first clamping gripper 43 and the second clamping gripper 44 to open, lower the crane arm so that the first clamping gripper 43 and the second clamping gripper 44 are located on both sides of the drainage pipe respectively, and control the first clamping gripper 43 and the second clamping gripper 44 to move in the direction close to the drainage pipe. Then, the second driving assembly 51 drives the first clamping plate 52, the second clamping plate 53 and the third clamping plate 54 to move in the direction close to the drainage pipe, and the first clamping plate 52 and the second clamping plate 53 will slide into the connecting hole 531 during the process of moving in the direction close to the drainage pipe, and the first clamping plate 52 and the third clamping plate 54 both move in the direction close to or away from the second clamping plate 53, so that the first clamping plate 52, the second clamping plate 53 and the third clamping plate 54 are suitable for clamping drainage pipes of different sizes. Whether the drainage pipe is clamped and tightened is determined by the pressure sensor 55 on the second clamping plate 53. After the drainage pipe is clamped, the crane is operated to move the drainage pipe, thereby achieving the laying, transportation and installation of the drainage pipe.

[0049] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A manipulator for grabbing pipes by a crane, characterized in that: The invention comprises a manipulator base (1), a traverse mechanism (2) arranged on the manipulator base (1), a slewing mechanism (3) connected to the traverse mechanism (2), a clamping drive mechanism (4) connected to the slewing mechanism (3), a first clamping adjustment mechanism (5) and a second clamping adjustment mechanism (6); the clamping drive mechanism (4) comprises a clamping gripper base (41) connected to the slewing mechanism (3), a first drive assembly (42) connected to the clamping gripper base (41), a first clamping gripper (5) connected to the first drive assembly (42), and a second clamping gripper (6). 43) and a second clamping gripper (44), the first clamping adjustment mechanism (5) comprising a second driving assembly (51), a first clamping plate (52), a second clamping plate (53) and a third clamping plate (54) arranged on the first clamping gripper (43), the first clamping plate (52), the second clamping plate (53) and the third clamping plate (54) being evenly distributed and all connected to the second driving assembly (51), the second clamping adjustment mechanism (6) being arranged on the second clamping gripper (44) and having the same structure as the first clamping adjustment mechanism (5).

2. A manipulator for grabbing pipes by a crane according to claim 1, characterized in that: The second driving assembly (51) comprises a first adjusting cylinder (511), a second adjusting cylinder (512) and a third adjusting cylinder (513) connected to the first clamping gripper (43); an end of the first adjusting cylinder (511) away from the first clamping gripper (43) is connected to the first clamping plate (52); an end of the second adjusting cylinder (512) away from the first clamping gripper (43) is connected to the second clamping plate (53); and an end of the third adjusting cylinder (513) away from the first clamping gripper (43) is connected to the third clamping plate (54).

3. A manipulator for grabbing pipes by a crane according to claim 2, characterized in that: The first clamping plate (52), the second clamping plate (53) and the third clamping plate (54) are all arc-shaped structures, the second clamping plate (53) is provided with a connecting hole (531), and the first clamping plate (52) and the third clamping plate (54) are slidably connected to the second clamping plate (53) through the connecting hole (531).

4. A manipulator for grabbing pipes by a crane according to claim 3, characterized in that: The second clamping plate (53) is provided with a first limiting groove (532) and a second limiting groove (533) which are connected to the connecting hole (531); the first clamping plate (52) is provided with a first limiting block (521), and the first limiting block (521) is slidably connected to the first limiting groove (532); the third clamping plate (54) is provided with a second limiting block (541), and the second limiting block (541) is slidably connected to the second limiting groove (533).

5. A manipulator for grabbing pipes by a crane according to claim 4, characterized in that: A pressure sensor (55) is provided on the second clamping plate (53).

6. A manipulator for grabbing pipes by a crane according to claim 5, characterized in that: Anti-slip pads (56) are provided on both the first clamping plate (52) and the third clamping plate (54).

7. A manipulator for grabbing pipes by a crane according to claim 6, characterized in that: The transverse movement mechanism (2) comprises a transverse movement earring (21) connected to the manipulator base (1), a guide pin shaft (22) connected to the transverse movement earring (21), a cover (23) arranged at both ends of the guide pin shaft (22), a transverse movement base (24) slidably connected to the guide pin shaft (22), a connecting earring (25) arranged on the transverse movement base (24), a self-lubricating copper sleeve (26) arranged in the connecting earring (25) and a transverse movement cylinder (27), one end of the transverse movement cylinder (27) is connected to the manipulator base (1), and the other end is connected to the transverse movement base (24).

8. The pipe grabbing manipulator for a crane according to claim 7, characterized in that: The slewing mechanism (3) comprises a slewing reducer (31) and a hydraulic motor (32) connected to the transverse shift base (24); the hydraulic motor (32) is connected to the slewing reducer (31); and one end of the slewing reducer (31) away from the transverse shift base (24) is connected to the clamping gripper base (41).

9. A manipulator for grabbing pipes by a crane according to claim 8, characterized in that: The first driving assembly (42) comprises a first clamping cylinder (421) and a second clamping cylinder (422) which are rotatably connected to the clamping gripper base (41); an end of the first clamping cylinder (421) away from the clamping gripper base (41) is rotatably connected to the first clamping gripper (43); an end of the second clamping cylinder (422) away from the clamping gripper base (41) is rotatably connected to the second clamping gripper (44); a first synchronous gear (423) is connected to the first clamping gripper (43); a second synchronous gear (424) is connected to the second clamping gripper (44); and the first synchronous gear (423) and the second synchronous gear (424) are meshingly connected.

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