Manipulator for carrying pipes

Abstract

The utility model relates to the field of manipulators, in particular to a manipulator for carrying pipes, which comprises a truss. The number of the trusses is two, a first moving mechanism is arranged at the upper ends of the trusses, a vertical plate is fixedly connected to the side wall of the first moving mechanism, and a vertically-arranged first linear module is fixedly connected to the side end of the vertical plate. Through the design of a double-clamping structure, the adaptability of the mechanical arm to different types of pipe bodies is remarkably improved, the three-clamping-jaw mechanical arm can directly clamp the outer wall of the pipe body, the eccentric column and the sliding rod are matched to penetrate into the inner wall of the pipe body to achieve stable grabbing, the two modes are complementary, and the clamping effect is good. The mechanical arm is simple in structure and can adapt to pipe bodies of various specifications such as steel pipes and plastic pipes without replacing the clamp, meanwhile, the limiting barrel and the sliding rod can slide along the inner wall of the inclined frame through the adjustable design of the inclined frame and the second moving mechanism, the pipe bodies of different heights can be flexibly matched, and the problems that a traditional mechanical arm is single in clamping structure and poor in adaptability are effectively solved.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, specifically relating to a robotic arm used for handling pipes. Background Technology

[0002] In modern industrial production, the handling of pipes (such as steel pipes, plastic pipes, concrete pipes, etc.) is widely used in petrochemical, construction, and manufacturing industries. Traditional pipe handling operations mainly rely on manual labor or specialized mechanical equipment. However, with the improvement of industrial automation, robotic arms have gradually become the mainstream choice due to their high efficiency and safety.

[0003] Currently, trusses are typically used in conjunction with robotic arms to move tubes. However, the existing gripping structures of robotic arms are not quick to adapt to different types of tubes, making it inconvenient to move stacked tubes, and further improvements are needed. Utility Model Content

[0004] To overcome the problem that the existing gripping structure of robotic arms is difficult to adapt quickly to different types of pipes and is inconvenient when handling stacked pipes, a robotic arm for handling pipes is proposed.

[0005] The technical solution of this utility model is as follows: a robotic arm for transporting pipes, including a truss; two trusses are provided, a first moving mechanism is provided at the upper end of the truss, a vertical plate is fixedly connected to the side wall of the first moving mechanism, a vertically arranged first linear module is fixedly connected to the side end of the vertical plate, a horizontally arranged second linear module is fixedly connected to the moving end of the first linear module, a vertically arranged block is fixedly connected to the moving end of the second linear module, a first motor is fixedly connected to one side of the block, the output shaft of the first motor passes through the block and is fixedly connected to a rotating plate, a three-claw robotic arm is fixedly connected to one side of the rotating plate, and a camera is fixedly connected to the side end of the block;

[0006] The rotating plate is equipped with a clamping mechanism, which includes an inclined frame, a second moving mechanism, a third motor, a limiting cylinder, an eccentric block, an eccentric column, and a sliding rod. Two inclined frames are fixed to the side wall of the rotating plate. The second moving mechanism is located on the side of the inclined frame closer to the truss. A first moving block is installed on the second moving mechanism. A third motor is fixed to the side of the first moving block closer to the truss. A limiting cylinder is fixed to the side of the first moving block away from the truss. The output shaft of the third motor passes through the first moving block and is fixed to one end of a long rod. An eccentric block is fixed to the other end of the long rod. An eccentric column is fixed to the side of the eccentric block away from the truss.

[0007] A sliding rod is fixedly connected to one side of the other first moving block. The sliding rod and the limiting cylinder slide along the inner walls of the two inclined frames respectively.

[0008] Furthermore, the first moving mechanism includes a fixed seat, a second lead screw, a fourth motor, and a second moving block; two fixed seats are fixedly connected to the upper end of the truss, and a second lead screw is rotatably installed between the two fixed seats. A fourth motor is fixedly connected to the side end of one of the fixed seats, and the output shaft of the fourth motor is fixedly connected to one end of the second lead screw. A second moving block is threadedly installed on the side wall of the second lead screw, and the side end of the second moving block is fixedly connected to the side wall of the vertical plate.

[0009] Furthermore, the second moving mechanism includes a support, a second motor, and a first lead screw; two supports are fixedly connected to the side of the inclined frame near the truss, and a first lead screw is rotatably installed between the two supports. A second motor is fixedly connected to the side end of one of the supports, and the output shaft of the second motor passes through one of the supports and is fixedly connected to one end of the first lead screw. A first moving block is threaded onto the side wall of the first lead screw.

[0010] Furthermore, the outer diameter of the limiting cylinder is equal to the outer diameter of the sliding rod.

[0011] Furthermore, the outer diameter of the eccentric column is equal to the outer diameter of the slide rod.

[0012] Furthermore, the two slanted frames are parallel to each other, and the ends of the two slanted frames that are close to each other are three centimeters apart.

[0013] Furthermore, when the slide bar is moved downwards to the bottom by the second moving mechanism, the lower end of the slide bar is flush with the lower end of the three-gripper manipulator.

[0014] Furthermore, the side wall of the long rod fits into the inner wall of the limiting cylinder.

[0015] The beneficial effects of this utility model are:

[0016] 1. The dual gripping structure design significantly improves the adaptability of the robot to different types of pipes. The three-claw robot can directly grip the outer wall of the pipe, while the cooperation of the eccentric column and the sliding rod achieves stable gripping by penetrating the inner wall of the pipe. The two methods complement each other, and can adapt to various specifications of pipes such as steel pipes and plastic pipes without changing the gripper. At the same time, the adjustable design of the inclined frame and the second moving mechanism allows the limiting cylinder and the sliding rod to slide along the inner wall of the inclined frame, flexibly matching pipes of different heights, effectively solving the problem of the single gripping structure and poor adaptability of traditional robot arms.

[0017] 2. To address the problem of inconvenient handling of stacked tubes, this utility model utilizes an eccentric column and sliding rod inner wall clamping method to precisely grasp the tubes deep inside the stack, avoiding the drawbacks of external clamping being limited by the stacking structure. Through the coordinated movement of the truss, the first moving mechanism, and the dual linear module, combined with the existing truss moving components, the position and height of the robotic arm can be quickly adjusted. Combined with the visual positioning function of the camera, the efficiency and safety of stacking handling are further improved, reducing the risk of collision between tubes and manual intervention during handling. Attached Figure Description

[0018] Figure 1 The diagram shown is a three-dimensional structural schematic of this utility model;

[0019] Figure 2 The diagram shown is a three-dimensional structural schematic of the slanted frame of this utility model.

[0020] Figure 3 The diagram shown is a three-dimensional structural schematic of the eccentric column of this utility model.

[0021] Figure 4 The diagram shown is a three-dimensional structural schematic of the slide bar of this utility model;

[0022] Figure 5 The diagram shown is a three-dimensional structural schematic of the first moving mechanism of this utility model.

[0023] The labels in the attached diagram are as follows: 1. Truss; 2. Vertical plate; 3. First linear module; 4. Second linear module; 5. Vertical block; 6. First motor; 7. Rotating plate; 8. Three-claw robotic arm; 9. Camera; 10. Slanted frame; 11. Support; 12. Second motor; 13. First lead screw; 14. First moving block; 15. Third motor; 16. Limiting cylinder; 17. Eccentric block; 18. Eccentric column; 19. Sliding rod; 20. Fixed seat; 21. Second lead screw; 22. Fourth motor; 23. Second moving block. Detailed Implementation

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Please see Figures 1-5 This utility model provides an embodiment: a robotic arm for transporting pipes, including a truss 1; two trusses 1 are provided, the upper end of the truss 1 is provided with a first moving mechanism, the side wall of the first moving mechanism is fixedly connected with a vertical plate 2, the side end of the vertical plate 2 is fixedly connected with a vertically arranged first linear module 3, the moving end of the first linear module 3 is fixedly connected with a horizontally arranged second linear module 4, the moving end of the second linear module 4 is fixedly connected with a vertically arranged block 5, one side of the block 5 is fixedly connected with a first motor 6, the output shaft of the first motor 6 passes through the block 5 and is fixedly connected with a rotating plate 7, one side of the rotating plate 7 is fixedly connected with a three-claw robotic arm 8, and the side end of the block 5 is fixedly connected with a camera 9.

[0026] The rotating plate 7 is equipped with a clamping mechanism, which includes an inclined frame 10, a second moving mechanism, a third motor 15, a limiting cylinder 16, an eccentric block 17, an eccentric column 18, and a sliding rod 19. Two inclined frames 10 are fixed to the side wall of the rotating plate 7. The second moving mechanism is provided on the side of the inclined frame 10 near the truss 1. A first moving block 14 is installed on the second moving mechanism. The third motor 15 is fixed to the side of the first moving block 14 near the truss 1. The limiting cylinder 16 is fixed to the side of the first moving block 14 away from the truss 1. The output shaft of the third motor 15 passes through the first moving block 14 and is fixed to one end of a long rod. The other end of the long rod is fixed to the eccentric block 17. The eccentric column 18 is fixed to the side of the eccentric block 17 away from the truss 1.

[0027] A sliding rod 19 is fixedly connected through one side of another first moving block 14. The sliding rod 19 and the limiting cylinder 16 slide along the inner walls of the two inclined frames 10 respectively.

[0028] In use, two trusses 1 are mounted on a movable component (not shown) in the prior art. Activating the movable component (not shown) moves the two trusses 1 closer together or further apart. When gripping the tube, the position of the two trusses 1 is adjusted by activating the movable component (not shown) according to the position of the tube. Then, the first moving mechanism is activated to move the upright plate 2. The first linear module 3 is activated to adjust the height of the second linear module 4. The second linear module 4 is activated to adjust the position of the upright block 5. The first motor 6 is activated to adjust the angle of the rotating plate 7. The three-jaw manipulator 8 is activated to grip the tube. Alternatively, another gripping method is provided: activating the second moving mechanism on the inclined frame 10 moves the first moving block 14. The first moving block 14 is divided into upper and lower parts. When the third motor 15 on one of the first moving blocks 14 is turned on, the third motor 15 drives the eccentric block 17 to rotate through the long rod, and the eccentric column 18 will rotate. By using the eccentric column 18 and the sliding rod 19 to fit against the inner wall of the tube, and in conjunction with the eccentric column 18 and the sliding rod 19 on the other set of trusses 1, the tube can be transported. In addition, the limiting cylinder 16 and the sliding rod 19 can slide along the inner wall of the two inclined frames 10, which can transport tubes of different heights. It is easy to use. The three-claw manipulator 8 is existing technology, and its usage method will not be described in detail. In conjunction with the eccentric column 18 and the sliding rod 19 to clamp the inner wall of the tube, it is convenient to quickly transport stacked objects.

[0029] Please see Figure 1 and Figure 5In this embodiment, the first moving mechanism includes a fixed base 20, a second lead screw 21, a fourth motor 22, and a second moving block 23. Two fixed bases 20 are fixedly connected to the upper end of the truss 1, and the second lead screw 21 is rotatably installed between the two fixed bases 20. The fourth motor 22 is fixedly connected to the side end of one of the fixed bases 20, and the output shaft of the fourth motor 22 is fixedly connected to one end of the second lead screw 21. The second moving block 23 is threadedly installed on the side wall of the second lead screw 21, and the side end of the second moving block 23 is fixedly connected to the side wall of the upright plate 2. By turning on the fourth motor 22 to drive the second lead screw 21, the upright plate 2 is moved smoothly by the second moving block 23, which can achieve high-precision lateral positioning, thereby ensuring that the robot accurately reaches the working position.

[0030] Please see Figure 1 and Figure 2 In this embodiment, the second moving mechanism includes a support 11, a second motor 12, and a first lead screw 13. Two supports 11 are fixedly connected to the side of the inclined frame 10 near the truss 1. The first lead screw 13 is rotatably installed between the two supports 11. The second motor 12 is fixedly connected to the side end of one of the supports 11. The output shaft of the second motor 12 passes through one of the supports 11 and is fixedly connected to one end of the first lead screw 13. A first moving block 14 is threaded onto the side wall of the first lead screw 13. The second motor 12 is turned on to drive the first lead screw 13. The height of the clamping mechanism is precisely adjusted by the first moving block 14 to ensure that the limiting cylinder 16 and the sliding rod 19 on the inclined frame 10 can be accurately inserted into the tubes of different heights.

[0031] Please see Figure 1 , Figure 3 and Figure 4 In this embodiment, the outer diameter of the limiting cylinder 16 and the outer diameter of the sliding rod 19 are equal. The design of equal outer diameter ensures that the limiting cylinder 16 and the sliding rod 19 are subjected to uniform force when sliding in the inclined frame 10, which improves the stability during use.

[0032] Please see Figure 1 and Figure 3 In this embodiment, the outer diameter of the eccentric column 18 and the outer diameter of the slide rod 19 are equal. The equal outer diameter makes the eccentric column 18 and the slide rod 19 fit more tightly against the inner wall of the tube, and the force is evenly distributed when clamping, preventing the tube from deforming or slipping.

[0033] Please see Figures 1-3 In this embodiment, the two inclined frames 10 are parallel to each other, and the ends of the two inclined frames 10 that are close to each other are three centimeters apart. The parallel design ensures that the sliding trajectory of the slide rod 19 and the limiting cylinder 16 is consistent.

[0034] Please see Figure 1 and Figure 4In this embodiment, when the slide bar 19 is moved downward to the bottom by the second moving mechanism, the lower end of the slide bar 19 is flush with the lower end of the three-claw manipulator 8. The flush height design allows the two gripping methods to be switched without additional adjustment, improving work efficiency and adapting to the rapid switching of different scenarios.

[0035] Please see Figure 1 and Figure 3 In this embodiment, the side wall of the long rod and the inner wall of the limiting cylinder 16 are fitted together. The fitted design reduces the shaking when the long rod rotates, ensuring the rotational stability of the eccentric block 17 and the eccentric column 18, thereby improving the clamping effect.

[0036] Working principle: When in use, the two trusses 1 are installed on the existing moving component (not shown). The moving component (not shown) is activated to make the two trusses 1 move closer or further apart. When gripping the tube, the position of the two trusses 1 is adjusted by activating the moving component (not shown) according to the position of the tube.

[0037] Then, the first moving mechanism is activated, and the fourth motor 22 is turned on to drive the second lead screw 21 to rotate, which in turn drives the second moving block 23 to move laterally on the truss 1, thereby moving the upright plate 2 along the truss 1 to the target position.

[0038] Next, the vertical height of the second straight module 4 is adjusted by the first straight module 3, and the horizontal position of the upright block 5 is adjusted by the second straight module 4 so that the camera 9 is aimed at the pipe to be transported for visual positioning.

[0039] Select the clamping method according to the tube type: If the three-claw manipulator 8 is used, start the first motor 6 to drive the rotating plate 7 to rotate, and after adjusting the angle of the three-claw manipulator 8, clamp the outer wall of the tube.

[0040] If it is necessary to clamp the inner wall of the stack or a specific tube, the second moving mechanism on the inclined frame 10 is activated. The second motor 12 drives the first lead screw 13 to rotate, which drives the first moving block 14 to slide along the inclined frame 10, so that the limiting cylinder 16 and the sliding rod 19 are inserted into the tube. Then the third motor 15 is activated, which drives the eccentric block 17 to rotate through the long rod. The eccentric column 18 rotates accordingly and uses the eccentric action to tightly fit the sliding rod 19 and the eccentric column 18 against the inner wall of the tube. This, together with the clamping mechanism on another set of trusses 1, achieves stable clamping.

[0041] Since the limiting cylinder 16 and the sliding rod 19 can slide along the inner wall of the inclined frame 10, they can adapt to tubes of different heights.

[0042] After clamping is completed, the tube is moved to the designated position through the coordinated movement of the first moving mechanism, the first linear module 3 and the second linear module 4. The camera 9 monitors the process in real time to ensure accurate and safe operation.

Claims

1. A robotic arm for handling pipes, comprising a truss (1); characterized in that: Two trusses (1) are provided. The upper end of the truss (1) is provided with a first moving mechanism. The side wall of the first moving mechanism is fixed with a vertical plate (2). The side end of the vertical plate (2) is fixed with a vertically arranged first linear module (3). The moving end of the first linear module (3) is fixed with a horizontally arranged second linear module (4). The moving end of the second linear module (4) is fixed with a vertically arranged block (5). The side of the block (5) is fixed with a first motor (6). The output shaft of the first motor (6) passes through the block (5) and is fixed with a rotating plate (7). The side of the rotating plate (7) is fixed with a three-claw manipulator (8). The side end of the block (5) is fixed with a camera (9). The rotating plate (7) is provided with a clamping mechanism, which includes an inclined frame (10), a second moving mechanism, a third motor (15), a limiting cylinder (16), an eccentric block (17), an eccentric column (18), and a sliding rod (19). Two inclined frames (10) are fixed to the side wall of the rotating plate (7). The second moving mechanism is provided on the side of the inclined frame (10) close to the truss (1). A first moving block (14) is installed on the second moving mechanism. A third motor (15) is fixed to the side of the first moving block (14) close to the truss (1). A limiting cylinder (16) is fixed to the side of the first moving block (14) away from the truss (1). The output shaft of the third motor (15) passes through the first moving block (14) and is fixed to one end of a long rod. An eccentric block (17) is fixed to the other end of the long rod. An eccentric column (18) is fixed to the side of the eccentric block (17) away from the truss (1). Another first moving block (14) has a slide rod (19) fixedly connected to one side through it. The slide rod (19) and the limiting cylinder (16) slide along the inner walls of the two inclined frames (10) respectively.

2. The robotic arm for handling pipes according to claim 1, characterized in that: The first moving mechanism includes a fixed seat (20), a second lead screw (21), a fourth motor (22), and a second moving block (23). Two fixed seats (20) are fixedly connected to the upper end of the truss (1). A second lead screw (21) is rotatably installed between the two fixed seats (20). A fourth motor (22) is fixedly connected to the side end of one of the fixed seats (20). The output shaft of the fourth motor (22) is fixedly connected to one end of the second lead screw (21). A second moving block (23) is threadedly installed on the side wall of the second lead screw (21). The side end of the second moving block (23) is fixedly connected to the side wall of the vertical plate (2).

3. The robotic arm for handling pipes according to claim 1, characterized in that: The second moving mechanism includes a support (11), a second motor (12), and a first lead screw (13); two supports (11) are fixedly connected to the side of the inclined frame (10) near the truss (1), and a first lead screw (13) is rotatably installed between the two supports (11). The second motor (12) is fixedly connected to the side end of one of the supports (11), and the output shaft of the second motor (12) passes through one of the supports (11) and is fixedly connected to one end of the first lead screw (13). A first moving block (14) is threaded onto the side wall of the first lead screw (13).

4. A robotic arm for handling pipes according to claim 1, characterized in that: The outer diameter of the limiting cylinder (16) is equal to the outer diameter of the sliding rod (19).

5. A robotic arm for handling pipes according to claim 1, characterized in that: The outer diameter of the eccentric column (18) is equal to the outer diameter of the slide bar (19).

6. A robotic arm for handling pipes according to claim 1, characterized in that: The two oblique frames (10) are parallel to each other, and the two oblique frames (10) are three centimeters apart at their closest ends.

7. A robotic arm for handling pipes according to claim 1, characterized in that: When the slide bar (19) is moved down to the bottom by the second moving mechanism, the lower end of the slide bar (19) is flush with the lower end of the three-jaw manipulator (8).

8. A robotic arm for handling pipes according to claim 1, characterized in that: The side wall of the long rod fits into the inner wall of the limiting cylinder (16).

Images