Lifting and transporting device for small watershed water conservancy pipeline

Abstract

The utility model relates to a lifting and transporting device for a small watershed water conservancy pipeline. The robot comprises a rack, an X-direction single-axis robot, a Z-direction single-axis robot and a Z-direction electric cylinder, the rack comprises two sets of trusses arranged in parallel, each truss comprises a base, a supporting column and a top plate, the bases are arranged at the lower ends of the supporting columns, the top plates are arranged at the upper ends of the supporting columns, linear guide rail pairs and racks which are arranged in parallel are arranged on the top plates, and a Y-direction sliding seat is arranged between the two sets of trusses. Two ends of the Y-direction sliding seat are respectively arranged on the linear guide rail pairs of the two groups of trusses; the X-direction single-axis robot is arranged on the front side face of the Y-direction sliding base, the Z-direction single-axis robot is arranged on a sliding base of the X-direction single-axis robot, and a first adapter plate is arranged on a sliding base of the Z-direction single-axis robot. And the Z-direction electric cylinder is arranged on the first adapter plate. The pipeline lifting and transporting device can automatically lift and transport pipelines, the working efficiency of the pipeline lifting and transporting device is greatly improved, and the labor intensity of operators is reduced.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of hydraulic engineering, especially relates to a small watershed water conservancy pipeline lifting transportation device. BACKGROUND

[0002] The existing small watershed water conservancy pipeline lifting transportation mostly adopts manual operation, which greatly reduces work efficiency and increases labor intensity of operators. INVENTION CONTENTS

[0003] To solve the above technical problems in the prior art, the utility model provides a small watershed water conservancy pipeline lifting transportation device, which can automatically realize pipeline lifting transportation, greatly improves work efficiency and reduces labor intensity of operators.

[0004] The technical solution of the utility model is as follows: the utility model is a small watershed water conservancy pipeline lifting transportation device, which is characterized by comprising a rack, an X-direction single-shaft robot, a Z-direction single-shaft robot and a Z-direction electric cylinder; the rack comprises two groups of parallel trusses; the truss comprises a base, a support column and a top plate; the base is arranged at the lower end of the support column, and the top plate is arranged at the upper end; the top plate is provided with linear guide pairs and a rack arranged in parallel; a Y-direction sliding seat is arranged between the two groups of trusses; the Y-direction sliding seat is arranged on the linear guide pairs of the two groups of trusses at both ends; a Y-direction driving device for driving the Y-direction sliding seat to move along the linear guide pairs is arranged on the side surface of the Y-direction sliding seat; the X-direction single-shaft robot is arranged on the front side surface of the Y-direction sliding seat; the Z-direction single-shaft robot is arranged on the sliding seat of the X-direction single-shaft robot; a first adapter plate is arranged on the sliding seat of the Z-direction single-shaft robot; the Z-direction electric cylinder is arranged on the first adapter plate; a second adapter plate is arranged on the Z-direction electric cylinder; rear and front electric clamping jaws are arranged on the bottom surface of the second adapter plate.

[0005] Further, the Y-direction driving device comprises a Y-direction driving motor, a Y-direction speed reducer, a driving pulley, a transmission shaft, a driven pulley and a gear; the Y-direction driving motor is connected with the Y-direction speed reducer; the Y-direction speed reducer is installed on the rear side surface of the Y-direction sliding seat; the driving pulley is arranged on the output shaft of the Y-direction speed reducer; the transmission shaft is installed on the bearing seat through bearings; the bearing seat is arranged on the rear side surface of the Y-direction sliding seat; the driven pulley is arranged on the transmission shaft; the driven pulley is connected with the driving pulley through a synchronous toothed belt; gears are arranged at both ends of the transmission shaft; the gears at both ends of the transmission shaft are engaged with the racks of the two groups of trusses.

[0006] Further, the lifting and transporting device for small watershed water conservancy pipeline further comprises a Y-direction bracket, a Y-direction drag chain, an X-direction bracket, a connecting plate, a Y-direction drag chain, an X-direction drag chain and a Z-direction drag chain, the Y-direction bracket is arranged on the side surface of the top end of the rack, the X-direction bracket is arranged on the Y-direction sliding seat, one end of the Y-direction drag chain is arranged in the Y-direction bracket, and the other end is arranged on the X-direction bracket, the connecting plate is arranged on the rear side surface of the Z-direction single-shaft robot, one end of the X-direction drag chain is arranged in the X-direction bracket, and the other end is arranged on the connecting plate, one end of the Z-direction drag chain is arranged on the connecting plate, and the other end is arranged on the first adapter plate.

[0007] Further, the lifting and transporting device for small watershed water conservancy pipeline further comprises a wiring groove arranged on the outer side of the truss.

[0008] Further, limit blocks are arranged at the front and rear ends of the linear guide pairs.

[0009] Further, the top plate is provided with a top seat, and the linear guide pairs and the rack are arranged in parallel on the top seat.

[0010] Further, the linear guide pairs are two groups arranged in parallel, and the rack is arranged between the two groups of linear guide pairs.

[0011] Further, two rear fingers are arranged on the rear electric clamping jaw, and two front fingers are arranged on the front electric clamping jaw.

[0012] Further, V-shaped grooves are arranged on the rear fingers and the front fingers.

[0013] The lifting and transporting device for small watershed water conservancy pipeline comprises a rack, an X-direction single-shaft robot, a Z-direction single-shaft robot and a Z-direction electric cylinder, the rack comprises two groups of parallel trusses, the truss comprises a base, a support column and a top plate, the base is arranged at the lower end of the support column, the top plate is arranged at the upper end, the top plate is provided with linear guide pairs and a rack arranged in parallel, Y-direction sliding seats are arranged between the two groups of trusses, the Y-direction sliding seats are arranged on the linear guide pairs of the two groups of trusses at two ends, respectively, and Y-direction driving devices capable of driving the Y-direction sliding seats to move along the linear guide pairs are arranged on the side surface of the Y-direction sliding seat; the X-direction single-shaft robot is arranged on the front side surface of the Y-direction sliding seat, the Z-direction single-shaft robot is arranged on the sliding seat of the X-direction single-shaft robot, a first adapter plate is arranged on the sliding seat of the Z-direction single-shaft robot; the Z-direction electric cylinder is arranged on the first adapter plate; a second adapter plate is arranged on the Z-direction electric cylinder, and rear electric clamping jaws and front electric clamping jaws are arranged on the bottom surface of the second adapter plate at two sides, respectively. The Y-direction linear motion is at the bottom layer, the X-direction linear motion is on the Y-direction linear motion, and the Z-direction linear motion is on the X-direction linear motion, different heights correspond to different diameters of small watershed water conservancy pipelines of different specifications, and the larger the diameter is, the higher the Z-direction electric cylinder is. Therefore, the lifting and transporting device for small watershed water conservancy pipeline can automatically realize the lifting and transporting of the pipeline, greatly improves the working efficiency and reduces the labor intensity of the operator. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 Structure side view of the embodiment of the utility model;

[0015] Fig. 2 Structure front view of the embodiment of the utility model;

[0016] Fig. 3 Structure plan view of the embodiment of the utility model;

[0017] Fig. 4 Structure left view of the embodiment of the utility model;

[0018] Fig. 5 Structure rear view of the embodiment of the utility model.

[0019] The sign of the drawing is explained as follows:

[0020] 1, rack; 2, Y direction sliding base; 3, left linear guide pair; 4, right linear guide pair; 5, left rack; 6, right rack; 7, Y direction drive motor; 8, Y direction speed reducer; 9, driving pulley; 10, driven pulley; 11, bearing seat; 12, synchronous toothed belt; 13, transmission shaft; 14, left gear; 15, right gear; 16, wire slot; 17, Y direction bracket; 18, X direction drag chain; 19, X direction single-shaft robot; 20, Z direction single-shaft robot; 21, X direction bracket; 22, Z direction drag chain; 23, first adapter plate; 24, Z direction electric cylinder; 25, Y direction drag chain; 26, second adapter plate; 27, rear electric clamping jaw; 28, front electric clamping jaw; 29, rear finger; 30, front finger; 31, connecting plate. Specific implementation

[0021] The utility model will be described further in detail below in combination with the drawings and specific embodiments.

[0022] Referring to Figs. 1 to 5The structure of this utility model includes a frame 1, a Y-axis slide 2, a Y-axis drive device, an X-axis single-axis robot 19, a Z-axis single-axis robot 20, and a Z-axis electric cylinder 24. The frame 1 is composed of two sets of trusses, left and right, and each set of trusses is assembled from a base, a support column, a top plate, and a top seat. The base is located at the lower end of the support column, and the top plate is located at the upper end. A top seat is provided on the top plate. A left linear guide pair 3 and a left rack 5 arranged in parallel are fixedly installed on the top surface of the top seat of the left truss; the top surface of the top seat of the right truss... The upper part is fixedly installed with a right linear guide pair 4 and a right rack 6 arranged in parallel; there are two sets of left linear guide pairs 3 arranged in parallel, with a left rack 5 positioned between the two sets of left linear guide pairs 3; there are also two sets of right linear guide pairs 4 arranged in parallel, with a left rack 6 positioned between the two sets of right linear guide pairs 4; the left side of the Y-axis slide block 2 is installed on the left linear guide pair 3, and the right side is installed on the right linear guide pair 4; limit blocks are fixedly installed at both ends of the left linear guide pair 3 and the right linear guide pair 4 to limit the movement of the Y-axis slide block 2. The Y-axis drive device is located on the side of the Y-axis slide and can drive the Y-axis slide to move along the linear guide pair. The Y-axis drive device includes a Y-axis drive motor 7, a Y-axis reducer 8, a drive pulley 9, a transmission shaft 13, a driven pulley 10, and gears. The Y-axis drive motor 7 is mounted on the Y-axis reducer 8, which is mounted on the rear side of the Y-axis slide 2. The drive pulley 9 is mounted on the output shaft of the Y-axis reducer 8. The two ends of the transmission shaft 13 are mounted on bearing seats 11 via bearings, and the bearing seats 11 are fixedly mounted on the rear side of the Y-axis slide 2. The driven pulley 10 is fixedly mounted on the transmission shaft 13 and is connected to the drive pulley 9 via a synchronous toothed belt 12. The gears include a left gear 14 and a right gear 15, with the left gear 14 fixedly mounted on the right side. A left gear 14 is installed on the left side of the drive shaft 13 and meshes with the left rack 5; a right gear 15 is fixedly installed on the right side of the drive shaft 13 and meshes with the right rack 6; an X-axis single-axis robot 19 is installed on the front side of the Y-axis slide 2; a Z-axis single-axis robot 20 is installed on the slide of the X-axis single-axis robot 19, and a first adapter plate 23 is installed on the slide of the Z-axis single-axis robot 20; a Z-axis electric cylinder 24 is installed on the first adapter plate 23; a second adapter plate 26 is installed on the Z-axis electric cylinder 24, and a rear electric gripper 27 and a front electric gripper 28 are fixedly installed on the bottom surface of the second adapter plate 26; two rear fingers 29 are installed on the rear electric gripper 27; two front fingers 30 are installed on the front electric gripper 28. Both the rear fingers 29 and the front fingers 30 have "V"-shaped grooves.

[0023] The structure of this utility model embodiment further includes: a cable tray 16, a Y-axis bracket 17, an X-axis bracket 21, a Y-axis cable chain 25, a connecting plate 31, an X-axis cable chain 18, and a Z-axis cable chain 22. The cable tray 16 is installed on the left side of the frame 1 and is used for routing cables such as power and signal lines. The Y-axis bracket 17 is fixedly installed on the left side of the top of the frame 1. The X-axis bracket 21 is fixedly installed on the Y-axis slide 2. One end of the Y-axis cable chain 25 is fixedly installed inside the Y-axis bracket 21 and the other end of the Y-axis cable chain 25 is fixedly installed on the X-axis bracket 21. The connecting plate 31 is fixedly installed on the rear side of the Z-axis single-axis robot 20. One end of the X-axis cable chain 18 is fixedly installed inside the X-axis bracket 21 and the other end of the X-axis cable chain 18 is fixedly installed on the connecting plate 31. One end of the Z-axis cable chain 22 is fixedly installed on the connecting plate 31 and the other end of the Z-axis cable chain 22 is fixedly installed on the first adapter plate 23.

[0024] The X-axis single-axis robot 19 and the Z-axis single-axis robot 20 both adopt existing single-axis robots, which are linear motion modules capable of linear reciprocating motion. The Y-axis cable chain 25, the X-axis cable chain 18, and the Z-axis cable chain 22 all adopt existing cable chain structures and are used for wiring harness operations during linear motion.

[0025] The working principle of this utility model is as follows:

[0026] The Y-axis drive motor 7 drives the Y-axis reducer 8 to rotate. The drive pulley 9 on the Y-axis reducer 8 drives the drive shaft 13, which is equipped with the driven pulley 10, through the synchronous toothed belt 12. Thus, the left end of the drive shaft 13 meshes with the left rack 5 through the left gear 14, thereby pushing the left end of the Y-axis slide 2 to move back and forth along the left linear guide pair 3. The right end of the synchronous drive shaft 13 meshes with the right rack 6 through the right gear 15, thereby synchronously pushing the right end of the Y-axis slide 2 to move back and forth along the right linear guide pair 4. The X-axis single-axis robot 19 drives the Z-axis single-axis robot 20 mounted on it to move left and right. The Z-axis single-axis robot 20 drives the Z-axis electric cylinder 24 mounted on it to move up and down. The Z-axis electric cylinder 24 can realize the height adjustment of pipes of different specifications within a small range. The rear electric gripper 27 can realize the gripping operation of the pipe through the rear finger 29 and the front electric gripper 28 through the front finger 30.

[0027] The content of this utility model and the technical content not specifically described in the above embodiments are the same as the prior art.

[0028] The above are merely specific embodiments disclosed in this utility model, but the scope of protection disclosed in this utility model is not limited thereto. The scope of protection disclosed in this utility model shall be determined by the scope of protection of the claims.

Claims

1. A lifting and transporting device for small watershed water pipes, characterized by: The small watershed water conservancy pipeline lifting transportation device comprises a rack, an X single-axis robot, a Z single-axis robot and a Z electric cylinder, the rack comprises two groups of parallel trusses, the truss comprises a base, a support column and a top plate, the base is arranged at the lower end of the support column, the top plate is arranged at the upper end, linear guide rail pairs and racks arranged in parallel are arranged on the top plate, a Y sliding seat is arranged between the two groups of trusses, the two ends of the Y sliding seat are respectively arranged on the linear guide rail pairs of the two groups of trusses, and Y driving devices for driving the Y sliding seat to move along the linear guide rail pairs are arranged on the side surface of the Y sliding seat; the X single-axis robot is arranged on the front side surface of the Y sliding seat, the Z single-axis robot is arranged on the sliding seat of the X single-axis robot, and a first adapter plate is arranged on the sliding seat of the Z single-axis robot; the Z electric cylinder is arranged on the first adapter plate. A second adapter plate is arranged on the Z electric cylinder, and rear electric clamps and front electric clamps are arranged on the two sides of the bottom surface of the second adapter plate.

2. A lifting and transporting device for small watershed water pipes, characterized by: The small watershed water conservancy pipeline lifting transportation device comprises a rack, an X single-axis robot, a Z single-axis robot and a Z electric cylinder, the rack comprises two groups of parallel trusses, the truss comprises a base, a support column and a top plate, the base is arranged at the lower end of the support column, the top plate is arranged at the upper end, linear guide rail pairs and racks arranged in parallel are arranged on the top plate, a Y sliding seat is arranged between the two groups of trusses, the two ends of the Y sliding seat are respectively arranged on the linear guide rail pairs of the two groups of trusses, and Y driving devices for driving the Y sliding seat to move along the linear guide rail pairs are arranged on the side surface of the Y sliding seat; the X single-axis robot is arranged on the front side surface of the Y sliding seat, the Z single-axis robot is arranged on the sliding seat of the X single-axis robot, and a first adapter plate is arranged on the sliding seat of the Z single-axis robot; the Z electric cylinder is arranged on the first adapter plate. A second adapter plate is arranged on the Z electric cylinder, and rear electric clamps and front electric clamps are arranged on the two sides of the bottom surface of the second adapter plate.

3. The lift transport device for small watershed water conduit according to claim 2, characterized in that: The small watershed water conservancy pipeline lifting transportation device further comprises a Y bracket, an X bracket, a connecting plate, an X drag chain, a Y drag chain and a Z drag chain, the Y bracket is arranged on the side surface of the top end of the rack; the X bracket is arranged on the Y sliding seat; one end of the Y drag chain is arranged in the Y bracket, and the other end is arranged on the X bracket; the connecting plate is arranged on the rear side surface of the Z single-axis robot; one end of the X drag chain is arranged in the X bracket, and the other end is arranged on the connecting plate; one end of the Z drag chain is arranged on the connecting plate, and the other end is arranged on the first adapter plate.

4. The lift transport device for small watershed water conduit according to claim 3, characterized in that: The small watershed water conservancy pipeline lifting transportation device further comprises a wiring groove, and the wiring groove is arranged on the outer side of the truss.

5. The lift transport device for small watershed water conduit according to any one of claims 1 to 4, characterized in that: Limiting blocks are arranged at the front and rear ends of the linear guide rail pairs.

6. The lift transport device for small watershed water conduit according to claim 5, characterized in that: A top base is arranged on the top plate, and the linear guide rail pairs and the racks are arranged in parallel on the top base.

7. The lift transport device for small watershed water conduit according to claim 6, characterized in that: The linear guide rail pairs are two groups arranged in parallel, and the racks are arranged between the two groups of linear guide rail pairs.

8. The lift transport device for small watershed water conduit according to claim 7, characterized in that: Two rear fingers are arranged on the rear electric clamps; two front fingers are arranged on the front electric clamps.

9. The lift transport device for small watershed water conduit according to claim 8, characterized in that: "V"-shaped grooves are formed in the rear fingers and the front fingers.

Images