Steel pipe hanger carrying manipulator

Abstract

According to the technical scheme, the carrying manipulator for the steel pipe hanging tool comprises a supporting frame, a supporting plate and a bearing frame which are used for supporting the hanging tool are arranged on the two sides of the supporting frame respectively, an air cylinder capable of moving from the position above the supporting plate to the position above the bearing frame is arranged at the top of the supporting frame, and a connecting box is arranged at the output end of the air cylinder. A driving motor is arranged on the side portion of the connecting box, a driving rotating rod located in the connecting box is arranged at the output end of the driving motor, a driven rotating rod meshed with the driving rotating rod is arranged in the connecting box, the driving rotating rod and the driven rotating rod are each provided with a grabbing rod with a bevel at the bottom, and the number of the grabbing rods is at least four to form a mechanical arm. The air cylinder works to drive the grabbing rods to fall, the driving motor works to drive the grabbing rods on the driving rotating rod and the driven rotating rod to grab the hanging tool, and the air cylinder works to drive the grabbing rods and the hanging tool to ascend by a certain height and then move the hanging tool to the bearing frame to complete carrying work.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator for transporting steel pipe hangers. Background Technique

[0002] A manipulator is an automatic operating device that can imitate some action functions of human hands and arms to grasp, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and mechanical robots in terms of structure and performance.

[0003] The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in departments such as mechanical manufacturing, metallurgy, electronics, light industry, and atomic energy.

[0004] However, the existing manipulators perform mediocrely in simple handling tasks because of their high costs, resulting in relatively low cost performance and general practicality. Content of the Utility Model

[0005] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide a manipulator for transporting steel pipe hangers.

[0006] In order to achieve the above purpose, the technical solution of the utility model is as follows:

[0007] The manipulator for transporting steel pipe hangers includes a support frame. On both sides of the support frame, there are respectively a support plate and a carrier for supporting the hanger. At the top of the support frame, there is a cylinder that can move from above the support plate to above the carrier. The output end of the cylinder is provided with a connection box. On the side of the connection box, there is a driving motor. The output end of the driving motor is provided with a driving rotating rod located inside the connection box. And inside the connection box, there is a driven rotating rod meshing with the driving rotating rod. On both the driving rotating rod and the driven rotating rod, there are grasping rods with a fold angle at the bottom. There are at least four grasping rods to form a manipulator.

[0008] Preferably, the grasping rods on the driving rotating rod and the driven rotating rod are symmetrically arranged, and the grasping rods on the driving rotating rod and the driven rotating rod are in a V shape.

[0009] Preferably, the fold angles at the bottoms of the grasping rods on the driving rotating rod and the driven rotating rod are arranged in opposite directions.

[0010] Preferably, the fold angles at the bottoms of the grasping rods on the driving rotating rod and the driven rotating rod are arranged facing each other.

[0011] Preferably, the grasping rods on the driving rotating rod and the driven rotating rod are arranged in a staggered manner.

[0012] Preferably, rotating wheels rotatably connected to the support frame are provided at both ends of the support plate. A conveyor belt for conveying the hanging tool is wound around the rotating wheels and the outer surface of the support plate. A driven gear is fixed to the side of the rotating wheel at one end of the support plate, and the horizontal height of the top of the driven gear is not higher than the horizontal height of the top surface of the conveyor belt. A driving motor is provided on the support frame, and a driving gear meshing with the driven gear is provided at the output end of the driving motor.

[0013] Preferably, a servo motor is provided on one side inside the support frame. A threaded rod is provided at the output end of the servo motor, and a threaded block connected to the cylinder is threadedly provided on the threaded rod.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0015] In the present utility model, the cylinder works to drive the grasping rod to fall. The driving motor works to drive the grasping rods on the driving rotating rod and the driven rotating rod to grasp the hanging tool. The cylinder works to drive the grasping rod and the hanging tool to rise a certain height and then move the hanging tool to the carrier to complete the handling work. Compared with the existing complex manipulator, the structure is simple, thus reducing the cost. While increasing the practicability, the application range of the manipulator is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The disclosure of the present utility model will be described with reference to the accompanying drawings. It should be understood that the drawings are only for illustrative purposes and are not intended to limit the protection scope of the present utility model. In the drawings, the same reference numerals are used to refer to the same components. Among them:

[0017] Figure 1 is the overall structural schematic diagram of the present utility model;

[0018] Figure 2 is the structural schematic diagram of the cylinder of the present utility model;

[0019] Figure 3 is the structural schematic diagram of the driving motor of the present utility model;

[0020] Figure 4 is the structural schematic diagram of the rotating wheel of the present utility model.

[0021] The reference numerals in the drawings are explained as follows: 1. Support frame; 2. Rotating wheel; 3. Support plate; 4. Carrier;

[0022] 5. Cylinder; 6. Threaded block; 7. Threaded rod; 8. Servo motor; 9. Connection box;

[0023] 10. Driving motor; 11. Driving rotating rod; 12. Driven rotating rod; 13. Grasping rod;

[0024] 14. Driving motor; 15. Driving gear; 16. Driven gear; 17. Conveyor belt; 18. Hanger. Detailed implementation manner

[0025] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, those of ordinary skill in the art can propose various interchangeable structural forms and implementation methods. Therefore, the following detailed implementation manners and the accompanying drawings are only exemplary descriptions of the technical solution of the present invention, and should not be regarded as all of the present invention or regarded as a limitation or restriction on the technical solution of the present invention.

[0026] As Figure 1 shown, as the steel pipe hanger handling manipulator of the present invention, it includes a support frame 1. Two support plates 3 are fixed on the left side of the support frame 1, and two bearing frames 4 are fixed on the right side of the support frame 1. The support of the low hanger 18 is realized through the two support plates 3 and the two bearing frames 4. Four rotating wheels 2 are rotatably arranged on the support frame 1. As Figure 4 shown, the four rotating wheels 2 are respectively located on the front and back sides of the two support plates 3 and are rotatably connected to the support plates 3. The conveyor belts 17 are wound around the outer surfaces of the support plates 3 and the rotating wheels 2 at both ends thereof. The same driven gear 16 is fixed between the two rotating wheels 2 on the front side. A driving motor 14 is arranged on the support frame 1. The output end of the driving motor 14 is provided with a driving gear 15, and the driving gear 15 meshes with the driven gear 16. By the operation of the driving motor 14, the driving gear 15 rotates to drive the driven gear 16 to rotate. The rotation of the driven gear 16 drives the rotating wheels 2 to rotate, thereby driving the conveyor belt 17 to convey the hanger 18 on its top. The horizontal height of the top of the driven gear 16 is not higher than the horizontal height of the top surface of the conveyor belt 17, ensuring that the rotation of the driven gear 16 does not affect the conveyance of the hanger 18.

[0027] A servo motor 8 is arranged on one side inside the support frame 1. As Figure 2As shown in the figure, a threaded rod 7 is provided at the output end of the servo motor 8. A threaded block 6 is arranged on the threaded rod 7 in a threaded manner. A cylinder 5 located at the top of the support frame 1 is provided at the bottom of the threaded block 6. A connection box 9 is provided at the output end of the cylinder 5. Driving motors 10 are provided on both sides of the connection box 9. A driving rotating rod 11 located inside the connection box 9 is provided at the output end of the driving motor 10. And a driven rotating rod 12 meshing with the driving rotating rod 11 is arranged inside the connection box 9. Two gripping rods 13 with a fold angle at the bottom are arranged on both the driving rotating rod 11 and the driven rotating rod 12. An industrial robot is formed by eight gripping rods 13. By the operation of the servo motor 8, the threaded block 6 is driven to move on the threaded rod 7, so as to drive the industrial robot to move above the support plate 3. By the operation of the cylinder 5, the industrial robot is driven to descend. By the operation of the driving motor 10, the gripping rods 13 on the driving rotating rod 11 and the driven rotating rod 12 move in opposite directions, so as to realize the gripping operation of the hanging tool 18. By the operation of the cylinder 5, the industrial robot and the hanging tool 18 are driven to rise. The servo motor 8 operates to drive the industrial robot and the hanging tool 18 to move above the carrier 4. The handling work is completed through the cooperation of the cylinder 5 and the driving motor 10.

[0028] As Figure 3 shown, the gripping rods 13 on the driving rotating rod 11 and the driven rotating rod 12 are symmetrically arranged, and the gripping rods 13 on the driving rotating rod 11 and the driven rotating rod 12 are in a shape of an inverted V. Through the open end of the inverted-V-shaped gripping rods 13, the bottom of the gripping rods 13 falls below the hanging tool 18, which is beneficial to the carrying out of the gripping operation. The fold angles at the bottoms of the gripping rods 13 on the driving rotating rod 11 and the driven rotating rod 12 can be arranged in a back-to-back manner, and the fold angles at the bottoms of the gripping rods 13 on the driving rotating rod 11 and the driven rotating rod 12 can also be arranged in a face-to-face manner. Through multiple gripping rods 13 with the fold angles arranged in a back-to-back manner, the gripping operation is carried out from the inside of the hanging tool 18, with high stability. Through multiple gripping rods 13 with the fold angles arranged in a face-to-face manner, the gripping operation is carried out from the outside of the hanging tool 18, without worrying about the interference of the cross bars inside the hanging tool 18, and the applicable range is relatively wide. The gripping rods 13 on the driving rotating rod 11 and the driven rotating rod 12 are arranged in a staggered manner. Through the staggered gripping rods 13, different positions of the hanging tool 18 can be gripped, so as to improve the stability of gripping and ensure the stable carrying out of the handling work.

[0029] During use, the hanging tool 18 is placed on the top of the conveyor belt 17. By the operation of the driving motor 14, the hanging tool 18 is moved below the industrial robot. Through the cooperation of the cylinder 5 and the driving motor 10, the industrial robot descends and grips the hanging tool 18. Through the cooperation of the cylinder 5, the driving motor 10 and the servo motor 8, the hanging tool 18 is moved from the top of the conveyor belt 17 to the top of the carrier 4 to complete the handling work.

[0030] The technical scope of the present utility model is not limited to the content described above. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical idea of the present utility model, and these deformations and modifications shall fall within the protection scope of the present utility model.

Claims

1. Steel pipe hanger handling manipulator, characterized in that: It includes a support frame (1). On both sides of the support frame (1), there are respectively a support plate (3) and a carrier (4) for supporting the hanger (18). At the top of the support frame (1), there is a cylinder (5) that can move from above the support plate (3) to above the carrier (4). The output end of the cylinder (5) is provided with a connection box (9). On the side of the connection box (9), there is a driving motor (10). The output end of the driving motor (10) is provided with a driving rotating rod (11) located inside the connection box (9). And inside the connection box (9), there is a driven rotating rod (12) meshing with the driving rotating rod (11). On both the driving rotating rod (11) and the driven rotating rod (12), there are gripping rods (13) with a fold angle at the bottom. There are at least four gripping rods (13) which form a manipulator.

2. The steel pipe hanger handling manipulator according to claim 1, wherein: The gripping rods (13) on the driving rotating rod (11) and the driven rotating rod (12) are symmetrically arranged, and the gripping rods (13) on the driving rotating rod (11) and the driven rotating rod (12) are in a V shape.

3. The steel pipe hanger handling manipulator according to claim 2, characterized in that: The fold angles at the bottoms of the gripping rods (13) on the driving rotating rod (11) and the driven rotating rod (12) are arranged in opposite directions.

4. The steel pipe hanger handling manipulator according to claim 2, characterized in that: The fold angles at the bottoms of the gripping rods (13) on the driving rotating rod (11) and the driven rotating rod (12) are arranged facing each other.

5. The steel pipe hanger handling manipulator according to any one of claims 1-4, characterized in that: The gripping rods (13) on the driving rotating rod (11) and the driven rotating rod (12) are arranged in a staggered manner.

6. The steel pipe hanger handling manipulator according to claim 1, characterized in that: At both ends of the support plate (3), there are respectively rotatable wheels (2) rotatably connected to the support frame (1). A conveyor belt (17) for conveying the hanger (18) is wound around the outer surfaces of the wheels (2) and the support plate (3). On the side of the wheel (2) at one end of the support plate (3), a driven gear (16) is fixed. And the horizontal height of the top of the driven gear (16) is not higher than the horizontal height of the top surface of the conveyor belt (17). On the support frame (1), there is a driving motor (14). The output end of the driving motor (14) is provided with a driving gear (15) meshing with the driven gear (16).

7. The steel pipe hanger handling manipulator according to claim 1, wherein: On one side inside the support frame (1), there is a servo motor (8). The output end of the servo motor (8) is provided with a threaded rod (7). A threaded block (6) connected to the cylinder (5) is threadedly arranged on the threaded rod (7).

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