Full-automatic feeding and discharging manipulator for steel pipes

Abstract

According to the technical scheme, the full-automatic feeding and discharging mechanical arm for the steel pipes comprises a fixing frame, a working box capable of ascending and descending is arranged in the fixing frame, two grabbing plates capable of adjusting the horizontal position are arranged on one side of the working box, a rail connected end to end is arranged on one side of the fixing frame, and the grabbing plates are located between the fixing frame and the rail. The side, close to the track, of the grabbing plate is provided with a break angle with the inner angle facing upwards, a plurality of cross beams mechanically moving along the track are arranged on the track, a hanging tool connected with a plurality of steel pipes in an inserted mode is hung on the grabbing plate, and hooks used for being hung on the cross beams are arranged on the two sides of the hanging tool. The grabbing plate is matched with the lifting work box to grab the hanging tool for feeding work, the lifting work box is matched with the grabbing plate capable of adjusting the horizontal position to enable the hook to be hung on the cross beam for discharging work, and the cross beam mechanically moves along the rail to convey steel pipes. And continuous work can be achieved, so that the conveying work efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of steel pipes, in particular to a fully automatic loading and unloading manipulator for steel pipes. Background Art

[0002] Steel pipe is a hollow steel product whose length is much greater than its diameter or circumference. It is categorized by cross-sectional shape into round, square, rectangular, and special-shaped steel pipes; by material, it is categorized into carbon structural steel pipe, low-alloy structural steel pipe, alloy steel pipe, and composite steel pipe; by application, it is categorized into pipes for transportation pipelines, engineering structures, thermal equipment, petrochemical industry, machinery manufacturing, geological drilling, and high-pressure equipment; and by production process, it is categorized into seamless steel pipe and welded steel pipe. Seamless steel pipe is further categorized into hot-rolled and cold-rolled (drawn), while welded steel pipe is further categorized into straight seam welded steel pipe and spiral seam welded steel pipe.

[0003] Steel pipes are not only used to transport fluids and powdered solids, exchange heat, and manufacture mechanical parts and containers, but they are also an economical steel and therefore have a wide range of applications.

[0004] Currently, steel pipes need to be transported during the production process and when leaving the factory. However, most of the existing transportation work is done by staff, which is labor-intensive and inefficient. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model aims to provide a fully automatic loading and unloading robot for steel pipes.

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

[0007] A fully automatic loading and unloading robot for steel pipes includes a fixed frame, a liftable work box is provided in the fixed frame, at least two grab plates with adjustable horizontal positions are provided on one side of the work box, a track connected end to end is provided on one side of the fixed frame, and the grab plate is located between the fixed frame and the track, and a folded corner with an inner corner facing upward is provided on the side of the grab plate close to the track, and a number of beams that move mechanically along the track are provided on the track, and a hanger with multiple steel pipes inserted is hung on the grab plate, and hooks for hanging on the beams are provided on both sides of the hanger.

[0008] Preferably, the grab plate is provided with two folded corners on one side close to the track, and the portion between the first folded corner and the second folded corner of the grab plate is in a horizontal state.

[0009] Preferably, the distance between the grab plates on both sides is not less than half of the length of the hanger.

[0010] Preferably, the straight-line distance between the hook and the crossbeam is smaller than the straight-line distance between the grabbing plate and the crossbeam.

[0011] Preferably, the crossbeams are each suspended on the track by two connecting rods that mechanically move along the track, and the spacing between the two connecting rods is equal to the spacing between the two hooks.

[0012] Preferably, a support plate for placing the hanger is provided on one side of the fixing frame, and the grabbing plate is completely located above the support plate.

[0013] Preferably, a driving motor is provided on one side of the working box, the output end of the driving motor is connected to a bidirectional screw, a moving block is symmetrically threaded on the bidirectional screw, and an electric telescopic rod is provided at the end of the moving block, the output end of which is connected to the grabbing plate.

[0014] Preferably, a servo motor is provided in one side of the fixing frame, and the output end of the servo motor is transmission-connected to a vertical threaded rod, a threaded block connected to one end of the working box is threaded on the threaded rod, and a slider slidably connected to the other side of the fixing frame is provided at the other end of the working box.

[0015] Preferably, detachable extension rods are provided at the bottom of both sides of the hanger, and a plurality of steel pipes are inserted between the extension rods on both sides.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] 1. The utility model uses a grab plate to form a manipulator and cooperates with a lifting work box to grab the hanger for loading work. The lifting work box cooperates with the grab plate with adjustable horizontal position to hang the hook on the beam for unloading work. The crossbeam moves mechanically along the track to transport the steel pipe. It can work continuously and thus improve the efficiency of transportation work.

[0018] 2. The utility model drives the two moving blocks to move in opposite directions on the bidirectional screw rod through the driving motor, thereby driving the two grabbing plates to move in opposite directions and thus changing the distance between the two grabbing plates. It is suitable for hangers of different lengths and thus suitable for conveying steel pipes of different lengths, thereby increasing the scope of application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The disclosure of the present invention is described with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. In the drawings, the same reference numerals are used to refer to the same components. Among them:

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the working box of the utility model;

[0022] Figure 3This is a structural diagram of the grabbing plate of the utility model;

[0023] Figure 4 It is a structural schematic diagram of the track of the utility model.

[0024] Description of the markings in the figure: 1. Fixing frame; 2. Support plate; 3. Track; 4. Hanger;

[0025] 5. Steel pipe; 6. Work box; 7. Extension rod; 8. Hook; 9. Servo motor;

[0026] 10. Threaded rod; 11. Threaded block; 12. Slider; 13. Grab plate; 14. Electric telescopic rod;

[0027] 15. Driving motor; 16. Bidirectional screw; 17. Moving block; 18. Crossbeam; 19. Connecting rod. DETAILED DESCRIPTION

[0028] It is easy to understand that according to the technical solution of the present invention, without changing the essential spirit of the present invention, a person skilled in the art can propose a variety of interchangeable structural methods and implementation methods. Therefore, the following specific embodiments and drawings are only illustrative of the technical solution of the present invention and should not be regarded as the entire present invention or as a limitation or restriction of the technical solution of the present invention.

[0029] like Figure 1 As shown, as the steel pipe automatic loading and unloading manipulator of the present invention, it includes a fixed frame 1, a support plate 2 and a track 3. The fixed frame 1 is located between the support plate 2 and the track 3. There are two support plates 2, and the support plates 2 pass through the fixed frame 1. A servo motor 9 is provided on one side of the fixed frame 1. Figure 2 As shown, the output end of the servo motor 9 is connected to a vertical threaded rod 10, and a threaded block 11 is threaded on the threaded rod 10. The end of the threaded block 11 is provided with a working box 6 located in the fixed frame 1, and one end of the working box 6 is provided with a slider 12 that is slidably connected to the other side of the fixed frame 1. The servo motor 9 drives the threaded block 11 to move on the threaded rod 10, thereby driving the working box 6 to rise and fall in the fixed frame 1.

[0030] A driving motor 15 is provided on one side of the working box 6. Figure 3As shown, the output end of the driving motor 15 is connected to a bidirectional screw rod 16, and a moving block 17 is symmetrically threaded on the bidirectional screw rod 16. The end of the moving block 17 is provided with an electric telescopic rod 14, and the output end of the electric telescopic rod 14 is provided with a grabbing plate 13 facing the track 3, and the grabbing plate 13 is completely located above the support plate 2, which is conducive to the stable loading work. The driving motor 15 drives the two moving blocks 17 to move in opposite directions on the bidirectional screw rod 16, thereby driving the two grabbing plates 13 to move in opposite directions and then changing the distance between the two grabbing plates 13.

[0031] like Figure 3 As shown, two corners with inner corners facing upwards are set on the side of the grabbing plate 13 close to the track 3, and the part between the first corner and the second corner of the grabbing plate 13 is in a horizontal state. A hanger 4 is hung on the grabbing plate 13, and a detachable extension rod 7 is set at the bottom of both sides of the hanger 4, and a number of steel pipes 5 are inserted between the extension rods 7 on both sides. A manipulator is formed by two grabbing plates 13, and the grabbing plate 13 is driven down to pass through the hanger 4 by the servo motor 9. The hanger 4 and the steel pipe 5 on the support plate 2 are grabbed by the servo motor 9 and the electric telescopic rod 14 to carry out the loading work. The horizontal part of the grabbing plate 13 provides a space for the hanger 4, so that the hanger 4 and the steel pipe 5 can be stably hung on the grabbing plate 13 when the grabbing plate 13 is loading. The spacing between the grabbing plates 13 on both sides is not less than half of the length of the hanger 4, ensuring the stability of the grabbing plate 13 when grabbing the hanger 4, thereby ensuring the stable loading work.

[0032] like Figure 4 As shown, the track 3 is connected end to end, a sensor is provided on the track 3, and a number of connecting rods 19 are provided at the bottom of the track 3 for mechanical movement along the track 3, and a crossbeam 18 is suspended at the bottom of every two connecting rods 19, and hooks 8 are provided on both sides of the hanger 4. The electric telescopic rod 14 cooperates with the servo motor 9 to move the hanger 4 close to the crossbeam 18 and hang the hook 8 on the crossbeam 18 to perform the unloading work. The straight-line distance between the hook 8 and the crossbeam 18 is smaller than the straight-line distance between the grab plate 13 and the crossbeam 18, so that the hook 8 contacts the crossbeam 18 first to ensure that the hook 8 can be stably hung on the crossbeam 18, avoiding the grab plate 13 interfering with the hook 8 hanging on the crossbeam 18, and the spacing between the two connecting rods 19 is equal to the spacing between the two hooks 8, so that no matter whether the inner spacing between the two connecting rods 19 is equal to the inner spacing between the two hooks 8 or the outer spacing between the two connecting rods 19 is equal to the inner spacing between the two hooks 8, the hook 8 all contacts the connecting rod 19 to ensure that the hook 8 will not move arbitrarily when hanging on the crossbeam 18, thereby ensuring the stable progress of the subsequent conveying work.

[0033] When in use, the hanger 4 and the steel pipe 5 are placed on the two support plates 2 and the hanger 4 is located under the grabbing plate 13. The servo motor 9 is used to drive the grabbing plate 13 to descend to the bottom of the grabbing plate 13. The electric telescopic rod 14 drives the grabbing plate 13 to move while the servo motor 9 drives the grabbing plate 13 to rise, so as to grab the hanger 4 to complete the loading work. After rising to a certain height, the sensor moves the crossbeam 18 to the position corresponding to the hanger 4, and the electric telescopic rod 14 drives the grabbing plate 13 and the hanger 4 close to the crossbeam 18. The servo motor 9 works to make the hook 8 hang on the crossbeam 18. The servo motor 9 drives the grabbing plate 13 to descend so that the grabbing plate 13 is separated from the hanger 4 to complete the unloading work. Finally, the connecting rod 19 mechanically moves along the track 3 to drive the crossbeam 18, the hanger 4 and the steel pipe 5 to the designated position to complete the transportation work.

[0034] The technical scope of the present invention is not limited to the contents described above. Those skilled in the art can make various deformations and modifications to the above embodiments without departing from the technical concept of the present invention, and these deformations and modifications should all fall within the scope of protection of the present invention.

Claims

1. Fully automatic loading and unloading robot for steel pipes, characterized by: The invention comprises a fixed frame (1), wherein a liftable working box (6) is arranged in the fixed frame (1), at least two grab plates (13) with adjustable horizontal positions are arranged on one side of the working box (6), a track (3) connected end to end is arranged on one side of the fixed frame (1), and the grab plate (13) is located between the fixed frame (1) and the track (3), a side of the grab plate (13) close to the track (3) is provided with a folded corner with an inner corner facing upward, a plurality of beams (18) that move mechanically along the track (3) are arranged on the track (3), a hanger (4) with a plurality of steel pipes (5) inserted therein is hung on the grab plate (13), and hooks (8) for hanging on the beam (18) are arranged on both sides of the hanger (4).

2. The fully automatic steel pipe loading and unloading robot according to claim 1 is characterized in that: The grabbing plate (13) is provided with two folded corners on one side close to the track (3), and the portion between the first folded corner and the second folded corner of the grabbing plate (13) is in a horizontal state.

3. The fully automatic steel pipe loading and unloading robot according to claim 2 is characterized in that: The distance between the grab plates (13) on both sides is not less than half the length of the hanger (4).

4. The fully automatic steel pipe loading and unloading robot according to claim 3 is characterized in that: The straight-line distance between the hook (8) and the crossbeam (18) is smaller than the straight-line distance between the grab plate (13) and the crossbeam (18).

5. The fully automatic steel pipe loading and unloading robot according to claim 4 is characterized in that: The crossbeams (18) are all suspended on the track (3) through two connecting rods (19) that move mechanically along the track (3), and the distance between the two connecting rods (19) is equal to the distance between the two hooks (8).

6. The fully automatic steel pipe loading and unloading robot according to claim 1 is characterized in that: A support plate (2) for placing the hanger (4) is provided on one side of the fixing frame (1), and the grabbing plate (13) is completely located above the support plate (2).

7. The fully automatic steel pipe loading and unloading robot according to claim 6 is characterized in that: A driving motor (15) is provided on one side of the working box (6); the output end of the driving motor (15) is connected to a bidirectional screw rod (16); a moving block (17) is symmetrically threaded on the bidirectional screw rod (16); and an electric telescopic rod (14) whose output end is connected to the grabbing plate (13) is provided at the end of the moving block (17).

8. The fully automatic steel pipe loading and unloading robot according to claim 7 is characterized in that: A servo motor (9) is provided in one side of the fixing frame (1), and an output end of the servo motor (9) is connected to a vertical threaded rod (10) in a transmission manner. A threaded block (11) connected to one end of the working box (6) is provided on the threaded rod (10), and a slider (12) slidably connected to the other side of the fixing frame (1) is provided at the other end of the working box (6).

9. The fully automatic steel pipe loading and unloading robot according to claim 1 is characterized in that: The bottoms of both sides of the hanger (4) are provided with detachable extension rods (7), and a plurality of steel pipes (5) are inserted between the extension rods (7) on both sides.

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