Heavy manipulator for gas pipe fitting

Abstract

The utility model provides a heavy manipulator for a gas pipe fitting, belongs to the technical field of machining, and solves the problems that an existing manipulator is relatively unstable in clamping effect and relatively poor in working reliability. The gas pipe fitting heavy manipulator comprises a support and two clamping jaws, a driving part is fixedly arranged on the support, the gas pipe fitting heavy manipulator is characterized by further comprising a telescopic rod, at least one set of first connecting rods and at least two sets of second connecting rods, the telescopic rod is located between the two clamping jaws, the upper end of the telescopic rod is fixedly connected with the driving part, the first connecting rods are arranged in an X shape in pairs, and the second connecting rods are fixedly connected with the driving part. The upper ends of the two first connecting rods in the same group are hinged to the driving piece, the lower ends of the two first connecting rods in the same group are hinged to the corresponding clamping jaws respectively, the second connecting rods are arranged in a V shape in pairs, the upper ends of the two second connecting rods in the same group are hinged to the corresponding clamping jaws respectively, and the lower ends of the two second connecting rods in the same group are hinged to the lower end of the telescopic rod. According to the heavy manipulator for the gas pipe fitting, the working reliability is improved while the clamping effect of the manipulator is ensured.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of machining technology, and relates to a heavy-duty manipulator for gas pipe fittings. BACKGROUND

[0002] After PE or PPR pipe fittings are extruded, the formed pipe material usually needs to be transferred from the production line to a transport vehicle for subsequent processing and transportation. Traditionally, this process mainly relies on manpower to move the pipe material from the production line to the transport vehicle.

[0003] However, as production demands continue to increase, enterprises are increasingly demanding work efficiency and production safety. In order to reduce the labor intensity of manual operation, improve production efficiency, and reduce the occurrence of human errors, more and more enterprises have begun to use manipulators to grab and move pipe materials.

[0004] To this end, a special gear rack manipulator for aluminum pipe grabbing is disclosed in a Chinese patent application (application number: 201921231039.9), which includes a support and a manipulator component installed in the support. The support is provided with a cylinder seat, and the cylinder seat is connected with a rack. The manipulator part includes a left manipulator and a right manipulator hinged to the support. One end of the left manipulator and the right manipulator has a rack connecting block and is engaged with the rack. The left manipulator and the right manipulator are driven by the cylinder seat to move up and down to grab the pipe material.

[0005] However, the above method has the following defects: 1. The rack and the gear of the manipulator need to be precisely matched to ensure high precision and good transmission effect of the transmission. However, in actual use, especially when handling heavy pipe materials, the contact and friction between the rack and the gear are large. Long-term stress and friction will cause the meshing part of the rack and the gear to gradually wear out. As the wear continues to increase, the transmission precision of the gear and the rack will gradually decrease, which will cause the manipulator to deviate during the grabbing process, affecting the precision of the grabbing action. This makes the manipulator unable to maintain stable grabbing effect, which in turn causes the grabbing error to increase, and the clamping effect of the manipulator is unstable, and the work reliability is poor. 2. Due to the friction and wear between the rack and the gear, the transmission system is prone to slipping under heavy load, which means that the gear and the rack cannot maintain effective engagement during operation, which will cause transmission interruption or significant reduction in efficiency. Especially when handling large pipe materials or other heavy objects, the slipping of the rack and the gear will be more obvious. Once slipping occurs, the manipulator will not be able to stably grab the object, which not only affects the smooth progress of the entire handling operation, but also may cause the object to fall, the clamping effect of the manipulator is unstable, and the work reliability is poor. UTILITY MODEL CONTENTS

[0006] The utility model discloses a heavy -duty manipulator for gas pipe fittings, which aims to solve the above-mentioned problems of the prior art.

[0007] The utility model discloses a heavy -duty manipulator for gas pipe fittings, which aims to solve the above-mentioned problems of the prior art.

[0008] The heavy -duty manipulator for gas pipe fittings replaces the traditional gear and rack meshing transmission with a composite hinge structure composed of connecting rods one and two.

[0009] The above-mentioned heavy -duty manipulator for gas pipe fittings has two connecting rods two in the same group hinged at the lower ends.

[0010] The two connecting rods II in different groups are arranged in parallel along the axial direction of the telescopic rod one by one. The two connecting rods II in the same group are radially symmetrical, and the connecting rods II in different groups are axially parallel. This not only makes the motion trajectories of the two connecting rods II in the same group symmetrical, helps to synchronize the opening and closing actions of the clamping jaws, avoids unilateral stress concentration, but also makes each group of connecting rods II keep synchronous opening and closing during work, increases the bending resistance, and even if a group of connecting rods II fails, the other groups of connecting rods II can still work independently, without affecting the normal work, thereby ensuring excellent clamping effect and improving work reliability.

[0011] The lower ends of the two connecting rods I in each group are respectively hingedly connected to the upper ends of the two connecting rods II in one group. The direct connection of the lower ends of the two connecting rods I in each group to the upper ends of the two connecting rods II in one group not only helps to reduce energy loss and improve transmission efficiency, but also helps to coordinate the connecting rods I and II to achieve stable and reliable opening and closing of the clamping jaws, thereby ensuring excellent clamping effect and improving work reliability.

[0012] The length of the connecting rod I is greater than the length of the connecting rod II. The longer connecting rod I cooperates with the shorter connecting rod II, and the long connecting rod can expand the motion range and ensure stable and continuous motion to a certain extent, and the short connecting rod provides faster operation precision and work response, which helps the clamping jaws to maintain high precision and stability during a larger range of work, thereby ensuring excellent clamping effect and improving work reliability. In addition, through reasonable cooperation of long and short connecting rods, the overall weight and volume can be reduced under the premise of ensuring structural stability, the structure of the manipulator is compact, and the flexibility, response speed and accuracy of the manipulator are improved.

[0013] The connecting rods I and II are symmetrically arranged on both sides of the telescopic rod. The symmetrical layout makes the forces on both sides of the clamping jaws uniform, which not only helps to achieve stable, smooth and accurate opening and closing of the clamping jaws, but also avoids unilateral stress concentration, effectively reduces wear and tear, and improves service life. Even if the components on one side are worn out, the components on the other side can still work normally, thereby ensuring excellent clamping effect and improving work reliability.

[0014] The connecting rods I and II are each provided with a plurality of through holes. The arrangement of the through holes can effectively reduce the overall weight and reduce the burden on the driving system, thereby improving the flexibility, response speed and accuracy of the manipulator. In addition, the through holes can also leave installation positions for subsequent installation of sensors and other auxiliary components.

[0015] The outer side of the two clamping jaws is respectively provided with a protrusion.

[0016] Compared with the prior art, the gas pipe heavy manipulator has the following advantages:

[0017] 1. In the gas pipe heavy manipulator, during operation, sliding friction occurs between the shaft and the shaft hole at the hinge, the contact area is large, the contact pressure of different parts is uniform, the clamping jaw moves stably, self-lubricating bearings or wear-resistant materials can be used, the wear is small, the service life is long, the manipulator can maintain reliable clamping effect for a long time, and the work reliability is improved.

[0018] 2. In the gas pipe heavy manipulator, the plurality of connecting rods one and the plurality of connecting rods two share the load together, when a certain hinge point wears, other connecting rods automatically bear more load, thereby reducing the influence on the overall clamping accuracy and effect, and the gap caused by wear can be compensated by the slight angle offset and position offset of the remaining connecting rods, thereby ensuring excellent clamping effect and improving work reliability.

[0019] 3. In the gas pipe heavy manipulator, the clamping jaw opening and closing is realized by the cooperation of the connecting rod one and the connecting rod two, the machining requirement of the hinge cooperation is low, the damaged parts can be replaced individually, the machining and maintenance are convenient, and the cost is low. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the gas pipe heavy manipulator.

[0021] Figure 2 is a front view of the gas pipe heavy manipulator.

[0022] In the figure, 1 is a support, 2 is a clamping jaw, 3 is a driving part, 4 is an extension rod, 5 is a connecting rod one, 6 is a connecting rod two, 7 is a through hole, and 8 is a protrusion. DETAILED DESCRIPTION

[0023] The following is a specific embodiment of the present application combined with the drawings, which further describes the technical scheme of the present application, but the present application is not limited to these embodiments.

[0024] The specific embodiments described in this paper are only illustrative of the spirit of the present application. Those skilled in the art to which the present application belongs can make various modifications or supplements to the described specific embodiments or use similar ways to replace them, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0025] As Figure 1 And Figure 2 It can be known that the heavy-duty manipulator for gas pipe fittings comprises a support 1 and two clamping jaws 2, a driving member 3 is fixed on the support 1, the manipulator further comprises a telescopic rod 4, a group of connecting rods I 5 and two groups of connecting rods II 6 are respectively arranged on both sides of the telescopic rod 4, the telescopic rod 4 is located between the two clamping jaws 2, the upper end of the telescopic rod 4 is fixedly connected with the driving member 3, the two connecting rods I 5 in the same group are arranged in X shape, the upper ends of the two connecting rods I 5 in the same group are hingedly connected with the driving member 3, and the lower ends are respectively hingedly connected with the corresponding clamping jaws 2, the two connecting rods II 6 in the same group are arranged in V shape, the upper ends of the two connecting rods II 6 in the same group are respectively hingedly connected with the corresponding clamping jaws 2, and the lower ends are all hingedly connected with the lower end of the telescopic rod 4.

[0026] The heavy-duty manipulator for gas pipe fittings replaces the traditional gear and rack meshing transmission with the composite hinge structure composed of the connecting rods I 5 and the connecting rods II 6. When the driving member 3 shortens the telescopic rod 4, the two connecting rods II 6 in the same group are unfolded, the two connecting rods I 5 in the same group are rotated upward, the two clamping jaws 2 are away from each other, and the manipulator is opened. When the driving member 3 lengthens the telescopic rod 4, the two connecting rods II 6 in the same group are folded, the two connecting rods I 5 in the same group are rotated downward, the two clamping jaws 2 are close to each other, and the manipulator is closed.

[0027] The connecting rods I 5 and the connecting rods II 6 are symmetrically arranged on both sides of the telescopic rod 4. The symmetrical layout makes the forces on both sides of the clamping jaws 2 uniform, which not only helps to realize the stable, smooth and accurate opening and closing of the clamping jaws 2, but also avoids unilateral stress concentration, effectively reduces the wear and tear, and improves the service life. Even if the unilateral components are worn out, the components on the other side can still work normally, thereby ensuring excellent clamping effect and improving work reliability.

[0028] The lower ends of the two connecting rods II 6 in the same group are hingedly connected. The lower ends of the two connecting rods II 6 in the same group are hingedly connected to the same node, which reduces the machining precision requirement of a single connecting rod II 6. In addition, the triangular stable frame is constructed, which helps to enhance the bending and torsional resistance, effectively suppresses the structural deformation when clamping heavy workpieces, and avoids the misplacement of the clamping jaws 2 caused by partial load, thereby ensuring excellent clamping effect and improving work reliability.

[0029] The connecting rods II 6 in different groups are arranged in parallel along the axis of the telescopic rod 4. The two connecting rods II 6 in the same group are radially symmetrical along the telescopic rod 4, and the connecting rods II 6 in different groups are axially parallel along the telescopic rod 4. The symmetrical motion trajectories of the two connecting rods II 6 in the same group not only help to synchronize the opening and closing actions of the clamping jaws 2, but also avoid unilateral stress concentration. In addition, the groups of connecting rods II 6 remain synchronous in work, which not only increases the bending resistance, but also ensures that even if a group of connecting rods II 6 fails, the other groups of connecting rods II 6 can still work independently, without affecting the normal work, thereby ensuring excellent clamping effect and improving work reliability.

[0030] The lower ends of the two connecting rods one 5 in each group are respectively hingedly connected with the upper ends of the two connecting rods two 6 in one of the groups. The lower ends of the two connecting rods one 5 in each group are respectively directly connected with the upper ends of the two connecting rods two 6 in one of the groups, which not only helps to reduce energy loss and improve transmission efficiency, but also helps to coordinate the two connecting rods one 5 and the two connecting rods two 6 to jointly achieve stable and reliable opening and closing of the clamping jaws 2, thereby ensuring excellent clamping effect and improving work reliability.

[0031] The length of the connecting rod one 5 is greater than the length of the connecting rod two 6. The longer connecting rod one 5 cooperates with the shorter connecting rod two 6, the long connecting rod can expand the movement range and ensure stable and continuous movement to a certain extent, and the short connecting rod provides faster operation precision and work response, which helps the clamping jaws 2 to maintain high precision and stability when working in a larger range, thereby ensuring excellent clamping effect and improving work reliability. In addition, through reasonable cooperation of long and short connecting rods, the overall weight and volume can be reduced under the premise of ensuring structural stability, the mechanical hand structure is compact, and its flexibility, response speed and accuracy are improved.

[0032] A plurality of through holes 7 are arranged on the connecting rod one 5 and the connecting rod two 6. The arrangement of the through holes 7 can effectively reduce the overall weight and reduce the burden on the driving system, thereby improving the flexibility, response speed and accuracy of the mechanical hand. In addition, the through holes 7 can also leave installation positions for subsequent installation of sensors and other auxiliary components.

[0033] The outer sides of the two clamping jaws 2 are respectively provided with protrusions 8. The protrusions 8 can be embedded in the corresponding grooves on the workpiece to be clamped, which not only plays a positioning role and effectively improves the grabbing precision, but also helps to make the clamping operation more stable and reliable, thereby ensuring excellent clamping effect and improving work reliability.

[0034] When the driving member 3 shortens the telescopic rod 4, the lower end of the connecting rod two 6 is hingedly connected with the lower end of the telescopic rod 4 and moves upward, and since the two connecting rod two 6 in the same group are arranged in a V shape, the upward movement of the lower end of the connecting rod two 6 will cause the upper end to expand outward, thereby pushing the two clamping jaws 2 away from each other. At the same time, the upper end of the connecting rod one 5 is hingedly connected with the driving member 3, the height of the driving member 3 does not change, and the height of the upper end of the connecting rod one 5 also does not change, while the lower end of the connecting rod one 5 expands outward with the clamping jaws 2, i.e. the lower ends of the two connecting rod one 5 in the same group rotate clockwise and counterclockwise upward, which further assists the upward movement and outward opening of the two clamping jaws 2, and completes the opening action of the mechanical hand. When the driving member 3 lengthens the telescopic rod 4, the lower end of the connecting rod two 6 is hingedly connected with the lower end of the telescopic rod 4 and moves downward, and since the two connecting rod two 6 in the same group are arranged in a V shape, the downward movement of the lower end of the connecting rod two 6 will cause the upper end to contract inward, thereby pulling the two clamping jaws 2 closer to each other. At the same time, the lower end of the connecting rod one 5 contracts inward with the clamping jaws 2, i.e. the lower ends of the two connecting rod one 5 in the same group rotate clockwise and counterclockwise downward, which further assists the downward movement and inward closing of the two clamping jaws 2, and completes the closing action of the mechanical hand.

[0035] During working, sliding friction occurs between the shaft and the shaft hole at the hinge, the contact surface is large, the contact pressure of different parts is relatively uniform, the action of the clamping jaw 2 is stable, self-lubricating bearings or wear-resistant materials can be used, wear is small, service life is long, the manipulator can maintain reliable clamping effect for a long time, and the working reliability is improved. The plurality of link bars one 5 and the plurality of link bars two 6 share the load together, when a certain hinge point wears, other link bars automatically bear more load, thereby reducing the influence on the overall clamping precision and effect, and the gap caused by wear can be compensated by the slight angle offset and position offset of the remaining link bars, thereby ensuring excellent clamping effect and improving working reliability. The clamping jaw 2 is opened and closed through the cooperation of the link bar one 5 and the link bar two, the machining requirement of the hinge cooperation is low, the damaged parts can be replaced individually, the machining and maintenance are convenient, and the cost is low.

[0036] The specific embodiments described herein are merely illustrative of the spirit of the present application. Those skilled in the art of the present application can make various modifications or supplements to the described specific embodiments or use similar ways to replace, but will not deviate from the spirit of the present application or exceed the scope defined by the appended claims.

[0037] Although the terms such as support 1, clamping jaw 2, driving member 3, telescopic rod 4, link bar one 5, link bar two 6, through hole 7, protruding block 8 are used more in this paper, but the possibility of using other terms is not excluded. Using these terms is only to more conveniently describe and explain the essence of the present application; it is contrary to the spirit of the present application to interpret them as any kind of additional limitation.

Claims

1. A heavy-duty robot for gas pipe fittings, comprising a support (1) and two jaws (2), a driving member (3) being fixed on the support (1), characterized in that, The mechanical hand further comprises a telescopic rod (4), at least one set of linkages I (5) and at least two sets of linkages II (6), the telescopic rod (4) is located between the two clamping jaws (2), the upper end of the telescopic rod (4) is fixedly connected with the driving member (3), the two linkages I (5) in each set are arranged in an X shape, the upper ends of the two linkages I (5) in the same set are hingedly connected with the driving member (3), and the lower ends are respectively hingedly connected with the corresponding clamping jaws (2), the two linkages II (6) in each set are arranged in a V shape, the upper ends of the two linkages II (6) in the same set are respectively hingedly connected with the corresponding clamping jaws (2), and the lower ends are all hingedly connected with the lower end of the telescopic rod (4).

2. A heavy duty robot for gas pipe according to claim 1, characterized in that, The lower ends of the two linkages II (6) in the same set are hingedly connected.

3. A heavy duty robot for gas pipe according to claim 1 or 2, characterized in that The linkages II (6) in different sets are arranged in parallel one by one along the axis of the telescopic rod (4).

4. A heavy duty robot for gas pipe according to claim 3, characterized in that, The lower ends of the two linkages I (5) in each set are respectively hingedly connected with the upper ends of the two linkages II (6) in the same set.

5. A heavy duty robot for gas pipe according to claim 4, characterized in that, The length of the linkage I (5) is greater than the length of the linkage II (6).

6. A heavy duty robot for gas pipe according to claim 5, characterized in that, The linkage I (5) and the linkage II (6) are symmetrically arranged on both sides of the telescopic rod (4).

7. A heavy duty robot for gas pipe according to claim 6, characterized in that, A plurality of through holes (7) are arranged on the linkage I (5) and the linkage II (6).

8. A heavy duty robot for gas pipe according to claim 7, characterized in that, The outer sides of the two clamping jaws (2) are respectively provided with protrusions (8).

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