A pipe self-adaptive grabbing device

Abstract

The utility model discloses a pipeline adaptive gripping device belongs to ship engineering and port technical field, and its technical scheme main points include crawler type mobile base, the top fixed connection of crawler type mobile base has industrial logistics mechanical arm, the outside swing joint of industrial logistics mechanical arm has adaptive gripping mechanism, can adopt the crawler type mobile base and industrial logistics mechanical arm of carrying remote control module, cooperate front end adaptive gripping structure to replace 2-3 ship worker's manual hoisting with automatic operation, need not use the steel wire rope on fixed welding frame and hook the pipe mouth, have improved the efficiency, reduced the dangerous nature, and also played the advantage of modern technology in the aspect of safety, automation and intelligent, thereby solved the problem that the original manual operation exists low efficiency, high risk and does not embody the modern technology advantage, can promote the stability, adaptability and safety of gripping.

Description

Technical Field

[0001] This utility model relates to the fields of shipbuilding engineering and port technology, and in particular to a pipeline adaptive gripping device. Background Technology

[0002] With the continuous growth of waterborne hazardous chemical transport, pontoons, as transit hubs between ships and other land vessels, need to complete hazardous chemical pipeline connection operations. However, they face problems such as the impact of wind and waves on connection accuracy, high risk of hazardous chemical leakage, and the need to improve sealing and safe operating procedures, which drive the continuous development of related connection technologies.

[0003] In the current technology, the process of connecting hazardous chemical pipelines on barges requires 2-3 crew members to operate manually. The method involves placing steel wire ropes on a fixed welding frame and hooking them onto the infusion tube opening for manual hoisting. This method is inefficient and dangerous, and does not take advantage of the safety, automation, and intelligence of modern technology.

[0004] To address this, an adaptive pipe gripping device is proposed. Utility Model Content

[0005] The purpose of this invention is to provide a pipeline adaptive gripping device that can solve the problems of low efficiency, high risk, and failure to leverage the advantages of modern technology in terms of safety, automation, and intelligence.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a pipeline adaptive gripping device, comprising a tracked mobile base, an industrial logistics robotic arm fixedly connected to the top of the tracked mobile base, an adaptive gripping mechanism movably connected to the outer side of the industrial logistics robotic arm, an elastic contact component movably connected to the outer side of the adaptive gripping mechanism, the adaptive gripping mechanism comprising a support plate, the support plate being fixedly connected to the right side of the top of the industrial logistics robotic arm, two sets of fixed vertical rods being provided on the right side of the support plate, and the two sets of fixed vertical rods being respectively located on the front and rear sides of the right side of the support plate, two linkage rods being slidably connected to the left side of the support plate, and the two linkage rods being slidably connected to the front and rear sides of the left side of the support plate, and a co-directional drive component being movably connected to the opposite side of the two linkage rods, the elastic contact component being movably connected to the outer side of the fixed vertical rod.

[0007] Preferably, the elastic contact component includes a travel groove, which is formed on one side of the two sets of fixed vertical rods, and a composite telescopic pressure plate is fixedly connected to the inner side of the travel groove.

[0008] Preferably, a compression spring is fixedly connected to the inner side of the composite telescopic pressure plate.

[0009] Preferably, a plastic contact plate is fixedly connected to one side of each of the two sets of composite telescopic pressure plates.

[0010] Preferably, the co-directional drive assembly includes a hydraulic rod, which is fixedly connected to the left side of the bearing plate, and a linkage ring is fixedly connected to the left side of the hydraulic rod.

[0011] Preferably, both sides of the linkage ring are rotatably connected to linkage rods, and the other ends of the two linkage rods are rotatably connected to the opposite side of the two sets of linkage rods.

[0012] Preferably, the right side of the bearing plate is slidably connected to two sets of support slide rails, and the two sets of support slide rails are respectively fixedly connected to the right side of the two linkage rods.

[0013] Preferably, electronic telescopic rods are fixedly connected to the opposite sides of the two sets of support slide rails, and two sets of fixed vertical rods are fixedly connected to the outside of the two sets of electronic telescopic rods, and the two sets of fixed vertical rods are slidably connected to the right side of the two sets of support slide rails.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This application, by setting up an adaptive gripping mechanism, can replace the manual hoisting of 2-3 boatmen with automated operation by using a tracked mobile base equipped with a remote control module and an industrial logistics robotic arm, in conjunction with a front-end adaptive gripping structure. It eliminates the need to use steel wire ropes on a fixed welding frame to hook the pipe opening, thereby improving efficiency, reducing danger, and leveraging the advantages of modern technology in terms of safety, automation, and intelligence. This solves the problems of low efficiency, high danger, and failure to reflect the advantages of modern technology in the original manual operation.

[0016] 2. This application, by setting up an elastic contact component, can provide a travel groove and a composite telescopic pressure plate on the contact side of the fixed vertical rod, including telescopic components and compression springs. This allows the plastic contact plate to first deform and fit against the pipe to increase friction, and then the composite telescopic pressure plate buffers and achieves passive control. Combined with the hydraulic rod to actively adjust the clamping force, it improves the stability, adaptability and safety of the gripping, and solves the problems of unstable gripping, poor adaptability and safety risks that may be caused by the direct compaction of the original fixed vertical rod. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the pipeline adaptive gripping device of this utility model;

[0018] Figure 2 This is a side view of the overall structure of the adaptive pipe gripping device of this utility model;

[0019] Figure 3 This is an overall structural diagram of the adaptive gripping mechanism of this utility model;

[0020] Figure 4 This is an overall structural diagram of the co-directional drive assembly of this utility model;

[0021] Figure 5 This is an overall structural diagram of the elastic contact component of this utility model.

[0022] In the diagram: 1. Tracked mobile base; 2. Industrial logistics robotic arm; 3. Adaptive gripping mechanism; 31. Bearing plate; 32. Fixed vertical rod; 33. Linkage rod; 34. Co-directional drive assembly; 3401. Hydraulic rod; 3402. Linkage ring; 3403. Linkage tie rod; 4. Elastic contact assembly; 41. Stroke groove; 42. Composite telescopic pressure plate; 43. Compression spring; 44. Plastic contact plate; 5. Support slide rail; 6. Electronic telescopic rod. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Please see Figure 1-5 The present invention provides the following technical solution:

[0025] An adaptive gripping device for pipelines includes a tracked mobile base 1. An industrial logistics robotic arm 2 is fixedly connected to the top of the tracked mobile base 1. An adaptive gripping mechanism 3 is movably connected to the outside of the industrial logistics robotic arm 2. An elastic contact component 4 is movably connected to the outside of the adaptive gripping mechanism 3. The adaptive gripping mechanism 3 includes a support plate 31, which is fixedly connected to the right side of the top of the industrial logistics robotic arm 2. Two sets of fixed vertical rods 32 are provided on the right side of the support plate 31, and the two sets of fixed vertical rods 32 are respectively located on the front and rear sides of the right side of the support plate 31. Two linkage rods 33 are slidably connected to the left side of the support plate 31, and the two linkage rods 33 are respectively slidably connected to the front and rear sides of the left side of the support plate 31. A co-directional drive component 34 is movably connected to the opposite side of the two linkage rods 33. The elastic contact component 4 is movably connected to the outside of the fixed vertical rods 32.

[0026] In this embodiment, instead of manually connecting the pipeline, a tracked mobile base 1 equipped with a remote control module, including a controller, industrial camera, and sensors, is used. The top of the base has an industrial logistics robotic arm 2, a mature technology in industrial logistics production, characterized by its wide range of angles, strong load-bearing capacity, and high precision. The front end of the robotic arm 2 has an adaptive gripping structure, mainly consisting of two sets of fixed vertical rods 32, distributed in pairs on both sides of the support plate 31. Each fixed vertical rod 32 is slidably connected to the outside of the support rail 5. An electronic telescopic rod 6 on the outside of the support rail 5 is individually adjusted to its initial position within the support rail 5. The support rail 5 is slidably connected to the gripping side of the support plate 31, and a linkage rod 33 is located on the other side. When gripping hazardous chemical pipelines, no steel wire rope is used. After ensuring the pipeline is horizontal within the four sets of fixed vertical rods 32, the same-direction drive assembly 34 drives the support rail 5 and the four sets of fixed vertical rods 32 to simultaneously contact and grip, achieving adaptive pipeline diameter gripping. Furthermore, the electronic telescopic rod 6 can be individually adjusted to accommodate pipelines of varying thicknesses at the gripping point.

[0027] Specifically, such as Figure 1 , Figure 2 , Figure 5 As shown, the elastic contact component 4 includes a travel groove 41, which is opened on one side of the two sets of fixed vertical rods 32. A composite telescopic pressure plate 42 is fixedly connected to the inner side of the travel groove 41.

[0028] Specifically, such as Figure 1 , Figure 2 , Figure 5 As shown, a compression spring 43 is fixedly connected to the inner side of the composite telescopic pressure plate 42.

[0029] Specifically, such as Figure 1 , Figure 2 , Figure 5 As shown, each of the two sets of composite telescopic pressure plates 42 has a plastic contact plate 44 fixedly connected to one side of the opposite side.

[0030] In this embodiment: the fixed vertical rod 32 has multiple travel grooves 41 inside the contact side. The travel grooves 41 contain a composite telescopic pressure plate 42 composed of two support plates and multiple sets of internal telescopic components. Each telescopic component has a buffer spring 43 inside. The plates are respectively connected to the inner wall of the travel grooves 41 and the plastic contact plate 44 for contacting the pipe. When gripping, the plastic contact plate 44 first contacts the outer wall of the pipe and deforms to fit to increase friction. At this time, it is not completely compacted. When it continues to drive inward at the same time, the composite telescopic pressure plate 42 between the plastic contact plate 44 and the travel grooves 41 will press tightly and retract into the travel grooves 41. The internal spring 43 accumulates elastic potential energy to achieve passive control, while the hydraulic rod 3401 extends to actively adjust the clamping force to achieve active control, thereby protecting the pipe gripping from two aspects.

[0031] Specifically, such as Figure 3 , Figure 4 As shown, the co-directional drive assembly 34 includes a hydraulic rod 3401, which is fixedly connected to the left side of the support plate 31. A linkage ring 3402 is fixedly connected to the left side of the hydraulic rod 3401.

[0032] Specifically, such as Figure 3 , Figure 4 As shown, both sides of the linkage ring 3402 are rotatably connected to linkage rods 3403, and the other ends of the two linkage rods 3403 are rotatably connected to the opposite side of the two sets of linkage rods 33.

[0033] In this embodiment: by activating the hydraulic rod 3401 on the non-gripping side of the bearing plate 31, the hydraulic rod 3401 is supplied by the hydraulic circuit of the tracked mobile base 1. When the hydraulic rod 3401 extends, it drives the linkage ring 3402 away from the bearing plate 31. At this time, the two sets of linkage rods 3403 distributed on both sides of the linkage ring 3402 retract inward, pulling the linkage rod 33 connected to the other end to move inward along the non-gripping surface of the bearing plate 31. The linkage rod 33 is connected to the support slide rail 5, thereby driving the support slide rail 5 and its four sets of fixed vertical rods 32 to move inward simultaneously.

[0034] Specifically, such as Figure 1 , Figure 2 As shown, two sets of support slide rails 5 are slidably connected to the right side of the bearing plate 31, and the two sets of support slide rails 5 are respectively fixedly connected to the right side of the two linkage rods 33.

[0035] Specifically, such as Figure 1 , Figure 2 As shown, electronic telescopic rods 6 are fixedly connected to the opposite sides of the two sets of support slide rails 5, and two sets of fixed vertical rods 32 are fixedly connected to the outside of the two sets of electronic telescopic rods 6, and the two sets of fixed vertical rods 32 are slidably connected to the right side of the two sets of support slide rails 5.

[0036] In this embodiment: the fixed vertical rods 32 are all slidably connected to the outside of the support slide rail 5, and the initial position of the electronic telescopic rod 6 on the outside of the support slide rail 5 is adjusted independently within the support slide rail 5. The independent adjustment of the electronic telescopic rod 6 can adapt to the situation where the diameter of the pipe at the gripping point is different.

[0037] Working Principle: Currently, the connection of hazardous chemical pipelines on barges requires manual operation by 2-3 crew members. This involves using a fixed welded frame with steel wire ropes hooked onto the infusion tube opening for manual lifting. This method is inefficient and highly dangerous, failing to leverage the advantages of modern technology in terms of safety, automation, and intelligence. To avoid these issues, manual pipeline connection is no longer used. Instead, a tracked mobile base 1 equipped with a remote control module, including a controller, industrial camera, and sensors, and an industrial logistics robotic arm 2 mounted on top for gripping the pipeline are used. This industrial logistics robotic arm 2 represents mature technology in industrial logistics production, characterized by a wide range of angles, high load-bearing capacity, and high precision. The front end of the robotic arm 2 is equipped with an adaptive gripping structure. This structure mainly consists of two sets of fixed vertical rods 32, arranged in pairs and distributed on both sides of the support plate 31. Each fixed vertical rod 32 is slidably connected to the outside of the corresponding support slide rail 5, and its initial position within the support slide rail 5 is individually adjusted by an electronic telescopic rod 6 on the outside of the support slide rail 5. The support slide rail 5 is slidably connected to the gripping side of the support plate 31, and a linkage rod 33 for linkage is provided on the other side. When gripping a hazardous chemical pipeline, there is no need to install a steel wire rope. Instead, after ensuring that the pipeline is horizontally located inside the four sets of fixed vertical rods 32, the hydraulic rod 3401 located on the non-gripping side of the support plate 31 is activated. This hydraulic rod 3401 is connected to the hydraulic circuit of the tracked mobile base 1. When the hydraulic rod 3401 extends, it drives the supporting linkage ring 3402 to move away from the bearing plate 31. At this time, the two sets of linkage rods 3403 distributed in a figure-eight pattern on both sides of the linkage ring 3402 shrink their opening size inward along both sides of the linkage rod 33, and pull the linkage rod 33 connected to its other end to move inward along the non-gripping surface of the bearing plate 31. The linkage rod 33 is connected to the support slide rail 5, thus driving the support slide rail 5 and its four sets of fixed vertical rods 32 to move inward simultaneously, and achieving the effect of contact gripping the pipeline. This achieves the purpose of adaptive pipeline diameter gripping. Moreover, the individual adjustment of the electronic telescopic rod 6 can accommodate pipelines of different thicknesses at the gripping point. Furthermore, to increase gripping stability and adaptability... For flexibility and safety, the fixed vertical rod 32 does not directly contact and compact the pipe from both sides. Instead, multiple travel grooves 41 are formed inside the contact side of the fixed vertical rod 32, and a composite telescopic pressure plate 42 is installed inside the travel grooves 41. The composite telescopic pressure plate 42 consists of two supporting plates and multiple sets of telescopic components inside. Each telescopic component is equipped with a buffer spring 43. The plates are respectively connected to the inner wall of the travel grooves 41 and the plastic contact plate 44 for contacting the pipe. During the same-direction gripping process, the plastic contact plate 44 first contacts the outer wall of the pipe and deforms to conform to the shape of the pipe to increase friction. After this deformation, it is not in a fully compacted gripping state, but needs to continue to drive inward simultaneously.The composite telescopic pressure plate 42 between the malleable contact plate 44 and the travel groove 41 will press tightly and retract into the travel groove 41, while the internal compression spring 43 accumulates elastic potential energy, thereby buffering the gripping process and achieving passive control. Meanwhile, the extended hydraulic rod 3401 can actively adjust the clamping force to achieve active control, thus providing protection for the pipeline gripping from two aspects. In summary, this optimizes the connection of hazardous chemical pipelines on barges.

[0038] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A pipe adaptive gripping device, comprising a tracked mobile base (1), characterized in that: An industrial logistics robotic arm (2) is fixedly connected to the top of the tracked mobile base (1). An adaptive gripping mechanism (3) is movably connected to the outside of the industrial logistics robotic arm (2). An elastic contact component (4) is movably connected to the outside of the adaptive gripping mechanism (3). The adaptive gripping mechanism (3) includes a support plate (31). The support plate (31) is fixedly connected to the right side of the top of the industrial logistics robotic arm (2). Two sets of fixed vertical rods (32) are provided on the right side of the support plate (31). The two sets of fixed vertical rods (32) are respectively located on the front and rear sides of the right side of the support plate (31). Two linkage rods (33) are slidably connected to the left side of the support plate (31). The two linkage rods (33) are slidably connected to the front and rear sides of the left side of the support plate (31). A co-directional drive component (34) is movably connected to the opposite side of the two linkage rods (33). The elastic contact component (4) is movably connected to the outside of the fixed vertical rods (32).

2. The pipeline adaptive gripping device according to claim 1, characterized in that: The elastic contact component (4) includes a travel groove (41), which is opened on one side opposite to the two sets of fixed vertical rods (32). A composite telescopic pressure plate (42) is fixedly connected to the inner side of the travel groove (41).

3. The pipeline adaptive gripping device according to claim 2, characterized in that: A compression spring (43) is fixedly connected to the inner side of the composite telescopic pressure plate (42).

4. The pipeline adaptive gripping device according to claim 2, characterized in that: The two sets of composite telescopic pressure plates (42) are fixedly connected to a plastic contact plate (44) on opposite sides.

5. The pipeline adaptive gripping device according to claim 1, characterized in that: The co-directional drive assembly (34) includes a hydraulic rod (3401), which is fixedly connected to the left side of the bearing plate (31), and a linkage ring (3402) is fixedly connected to the left side of the hydraulic rod (3401).

6. The pipeline adaptive gripping device according to claim 5, characterized in that: Both sides of the linkage ring (3402) are rotatably connected to linkage rods (3403), and the other ends of the two linkage rods (3403) are rotatably connected to the opposite side of the two sets of linkage rods (33).

7. The pipeline adaptive gripping device according to claim 1, characterized in that: The right side of the bearing plate (31) is slidably connected to two sets of support slide rails (5), and the two sets of support slide rails (5) are respectively fixedly connected to the right side of the two linkage rods (33).

8. The pipeline adaptive gripping device according to claim 7, characterized in that: Two sets of support slide rails (5) are fixedly connected to electronic telescopic rods (6) on opposite sides. Two sets of fixed vertical rods (32) are fixedly connected to the outside of the two sets of electronic telescopic rods (6), and the two sets of fixed vertical rods (32) are slidably connected to the right side of the two sets of support slide rails (5).

Images