Steel pipe transfer manipulator

Abstract

The utility model relates to a steel pipe transfer manipulator which comprises a transfer base and a transfer clamping jaw part arranged on the transfer base. The transfer clamping jaw part comprises a clamping jaw mounting frame, a first rotating crank, a second rotating crank, a connecting shaft and a clamping jaw component, one end of the first rotating crank is rotationally mounted on the clamping jaw mounting frame, and one end of the connecting shaft is rotationally mounted at the other end of the first rotating crank; one end of the second rotating crank is fixed to the other end of the connecting shaft, and the clamping jaw component is arranged at the other end of the second rotating crank. A first rotating motor used for driving the first rotating crank to rotate is arranged on the clamping jaw mounting frame, and a second rotating motor used for driving the connecting shaft to rotate is arranged on the first rotating crank. The steel pipe transfer manipulator is used for replacing a traditional truss, the precision is high, the clamping efficiency is high, and the problem that the traditional truss is large in occupied space can be effectively solved.

Description

Technical Field

[0001] This application relates to the technical field of steel pipe processing equipment, and in particular to a steel pipe transfer robot. Background Technology

[0002] Steel pipes are mainly used in various applications such as transportation pipelines, engineering structures, thermal equipment, petrochemical industries, and machinery manufacturing. During use, steel pipes need to be bent at different angles using a pipe bending machine. Before entering the pipe bending machine, the steel pipes must first be placed in a pipe gap inspection platform for inspection. After the pipe gap inspection is completed, the steel pipes are then sent into the pipe bending machine for processing.

[0003] Currently, steel pipes are gripped on the pipe seam inspection platform by a truss robot. The truss robot includes a horizontal truss and a vertical truss set on the horizontal truss. The vertical truss is equipped with gripper cylinders, which clamp the steel pipes and then transfer them to the pipe bending machine through the horizontal truss.

[0004] Regarding the aforementioned technologies, the arrangement of horizontal and vertical trusses results in a large space occupied by the entire truss robot, thus requiring certain improvements. Utility Model Content

[0005] To reduce space requirements, this application provides a steel pipe transfer robot.

[0006] The steel pipe transfer robot provided in this application adopts the following technical solution:

[0007] A steel pipe transfer robot includes a transfer base and transfer grippers disposed on the transfer base;

[0008] The transfer gripper includes a gripper mounting bracket, a first rotating crank, a second rotating crank, a connecting shaft, and a gripper component. One end of the first rotating crank is rotatably mounted on the gripper mounting bracket, one end of the connecting shaft is rotatably mounted on the other end of the first rotating crank, one end of the second rotating crank is fixed to the other end of the connecting shaft, and the gripper component is disposed at the other end of the second rotating crank.

[0009] The gripper mounting bracket is equipped with a first rotary motor for driving the first rotating crank to rotate, and the first rotating crank is equipped with a second rotary motor for driving the connecting shaft to rotate.

[0010] Preferably, the axial direction of the connecting shaft is perpendicular to the axial direction of the first rotating crank, the axial direction of the second rotating crank is perpendicular to the axial direction of the connecting shaft, and the first rotating crank and the second rotating crank are parallel.

[0011] Preferably, the gripper component includes a gripper mounting base, a first gripper fixedly mounted on the gripper mounting base, and a second gripper hinged to the gripper mounting base. The first gripper and the second gripper engage in a gripping cooperation. A drive linkage is mounted on the gripper mounting base. The middle part of the drive linkage is movably connected to the gripper mounting base. One end of the drive linkage is hinged to the second gripper. A gripper cylinder for driving the other end of the drive linkage is provided on the gripper mounting base.

[0012] Preferably, the gripper mounting base is provided with a waist-shaped sliding groove, and a rolling wheel is rotatably mounted in the middle of the drive linkage, the rolling wheel slidingly engaging with the waist-shaped sliding groove.

[0013] Preferably, the gripper mounting bracket is slidably disposed on the transfer base, and the transfer base is provided with a transfer drive unit for driving the gripper mounting bracket to slide.

[0014] Preferably, the transfer drive unit includes a drive rack disposed on the transfer base, a drive motor is disposed on the gripper mounting bracket, and a drive gear that meshes with the drive rack is disposed on the output shaft of the drive motor.

[0015] In summary, this application includes at least one of the following beneficial technical effects:

[0016] This application uses a first rotating motor to drive a first rotating crank to rotate, changing the position of the gripper component. A second rotating motor drives a connecting shaft to rotate, further changing the position of the gripper component. By adjusting the position in the two circumferential directions, the gripper component can be stopped at any position. The steel pipe transfer robot of this application occupies little space, has high gripping efficiency, and provides firm and stable gripping. It can meet the gripping and transfer requirements of steel pipes of different diameters. Moreover, its structure is simple and ingenious, which can effectively save the production and manufacturing costs of enterprises. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the installation of the transfer gripper.

[0018] Figure 2 This is a schematic diagram of the transfer gripper section.

[0019] Figure 3 This is a diagram showing the installation of the protective cover.

[0020] Explanation of reference numerals in the attached drawings: 1. Transfer base; 2. Transfer gripper part; 21. Gripper mounting bracket; 22. First rotating crank; 23. Second rotating crank; 24. Connecting shaft; 25. Gripper component; 251. Gripper mounting seat; 252. First gripper; 253. Second gripper; 254. Drive connecting rod; 255. Gripper cylinder; 256. Waist-shaped slide groove; 26. First rotating motor; 27. Second rotating motor; 28. Drive rack; 29. ​​Drive motor; 3. Protective cover. Detailed Implementation

[0021] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0022] A steel pipe transfer robot, referring to Figure 1 and Figure 2 As shown, it includes a transfer base 1 and a transfer gripper 2 provided on the transfer base 1. The transfer gripper 2 is used to grip and transfer the steel pipe on the pipe seam inspection platform and transfer the steel pipe to the pipe bending machine.

[0023] The transfer gripper part 2 includes a gripper mounting frame 21, a first rotating crank 22, a second rotating crank 23, a connecting shaft 24, and a gripper component 25. One end of the first rotating crank 22 is rotatably mounted on the gripper mounting frame 21, one end of the connecting shaft 24 is rotatably mounted on the other end of the first rotating crank 22, one end of the second rotating crank 23 is fixed to the other end of the connecting shaft 24, and the gripper component 25 is disposed at the other end of the second rotating crank 23.

[0024] The axial direction of the connecting shaft 24 is perpendicular to the axial direction of the first rotating crank 22, and the axial direction of the second rotating crank 23 is perpendicular to the axial direction of the connecting shaft 24, so that the first rotating crank 22 and the second rotating crank 23 are parallel.

[0025] The gripper mounting bracket 21 is equipped with a first rotary motor 26 for driving the first rotary crank 22 to rotate, and a second rotary motor 27 is equipped on the first rotary crank 22 for driving the connecting shaft 24 to rotate. The first rotary motor 26 drives the first rotary crank 22 to rotate, and the second rotary motor 27 drives the connecting shaft 24 to rotate. Therefore, by setting the first rotary motor 26 and the second rotary motor 27, not only is the volume occupied by the transfer gripper part 2 reduced, but the transfer distance of the transfer gripper part 2 is not limited.

[0026] The gripper component 25 includes a gripper mounting base 251, a first gripper 252 fixedly mounted on the gripper mounting base 251, and a second gripper 253 hinged to the gripper mounting base 251. The first gripper 252 and the second gripper 253 clamp and cooperate. A drive linkage 254 is mounted on the gripper mounting base 251. The middle part of the drive linkage 254 is movably connected to the gripper mounting base 251. One end of the drive linkage 254 is hinged to the second gripper 253. A gripper cylinder 255 is provided on the gripper mounting base 251. The cylinder body of the gripper cylinder 255 is hinged to the gripper mounting base 251. The output rod of the gripper cylinder 255 is hinged to the other end of the drive linkage 254. The gripper cylinder 255 can drive the other end of the drive linkage 254 to swing, thereby realizing the clamping action of the first gripper 252 and the second gripper 253.

[0027] In the connection between the middle part of the drive link 254 and the gripper mounting base 251, the gripper mounting base 251 is provided with an oblong groove 256, and a rolling wheel is rotatably mounted on the middle part of the drive link 254, and the rolling wheel slides in cooperation with the oblong groove 256.

[0028] In one embodiment, the gripper mounting bracket 21 is slidably disposed on the transfer base 1, and the transfer base 1 is provided with a transfer drive unit for driving the gripper mounting bracket 21 to slide.

[0029] The transfer drive unit includes a drive rack 28 mounted on the transfer base 1. The drive rack 28 is arranged along the length direction of the transfer base 1, which is also the sliding direction of the gripper mounting frame 21. A drive motor 29 is mounted on the gripper mounting frame 21, and a drive gear that meshes with the drive rack 28 is mounted on the output shaft of the drive motor 29.

[0030] The drive motor 29 can drive the drive gear to rotate. The drive gear meshes with the drive rack 28, thereby driving the gripper mounting frame 21 to slide along the transfer base 1, thereby changing the position of the transfer gripper part 2 on the transfer base 1, so as to facilitate the transfer gripper part 2 to grip the steel pipe on the pipe seam inspection platform.

[0031] This application uses a first rotating motor 26 to drive a first rotating crank 22 to rotate, changing the position of the gripper component 25. A second rotating motor 27 drives a connecting shaft 24 to rotate, further changing the position of the gripper component 25. By adjusting the position in the two circumferential directions, the gripper component 25 can be stopped at any position. The steel pipe transfer robot of this application occupies little space, has high gripping efficiency, and provides firm and stable gripping. It can meet the gripping and transfer requirements of steel pipes of different diameters. Moreover, its structure is simple and ingenious, which can effectively save the production and manufacturing costs of enterprises.

[0032] Reference Figure 3As shown, a protective cover 3 is provided on the gripper mounting bracket 21 to cover the transfer gripper part 2. The protective cover 3 serves to protect the transfer gripper part 2.

[0033] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A steel pipe transfer robot, characterized in that, It includes a transfer base (1) and a transfer gripper (2) disposed on the transfer base (1); The transfer gripper (2) includes a gripper mounting bracket (21), a first rotating crank (22), a second rotating crank (23), a connecting shaft (24), and a gripper component (25). One end of the first rotating crank (22) is rotatably mounted on the gripper mounting bracket (21), one end of the connecting shaft (24) is rotatably mounted on the other end of the first rotating crank (22), one end of the second rotating crank (23) is fixed to the other end of the connecting shaft (24), and the gripper component (25) is disposed at the other end of the second rotating crank (23). The gripper mounting bracket (21) is provided with a first rotary motor (26) for driving the first rotary crank (22) to rotate, and the first rotary crank (22) is provided with a second rotary motor (27) for driving the connecting shaft (24) to rotate.

2. The steel pipe transfer robot according to claim 1, characterized in that, The axial direction of the connecting shaft (24) is perpendicular to the axial direction of the first rotating crank (22), and the axial direction of the second rotating crank (23) is perpendicular to the axial direction of the connecting shaft (24). The first rotating crank (22) and the second rotating crank (23) are parallel.

3. The steel pipe transfer robot according to claim 1, characterized in that, The gripper component (25) includes a gripper mounting base (251), a first gripper (252) fixedly mounted on the gripper mounting base (251), and a second gripper (253) hinged on the gripper mounting base (251). The first gripper (252) and the second gripper (253) clamp together. A drive linkage (254) is mounted on the gripper mounting base (251). The middle part of the drive linkage (254) is movably connected to the gripper mounting base (251). One end of the drive linkage (254) is hinged to the second gripper (253). A gripper cylinder (255) is provided on the gripper mounting base (251) for driving the other end of the drive linkage (254) to move.

4. A steel pipe transfer robot according to claim 3, characterized in that, The gripper mounting base (251) is provided with a waist-shaped sliding groove (256), and a rolling wheel is rotatably mounted in the middle of the drive connecting rod (254), and the rolling wheel slides in cooperation with the waist-shaped sliding groove (256).

5. A steel pipe transfer robot according to claim 1, characterized in that, The gripper mounting bracket (21) is slidably disposed on the transfer base (1), and the transfer base (1) is provided with a transfer drive unit for driving the gripper mounting bracket (21) to slide.

6. A steel pipe transfer robot according to claim 5, characterized in that, The transfer drive unit includes a drive rack (28) disposed on the transfer base (1), a drive motor (29) is disposed on the gripper mounting bracket (21), and a drive gear that meshes with the drive rack (28) is disposed on the output shaft of the drive motor (29).

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