No one mentioned this, but in conjunction to the other responses, you can also get the apk file from your bin directory to your phone or tablet by putting it on a web site and just downloading it.
Your device will complain about installing it after you download it. Your device will advise you or a risk of installing programs from unknown sources and give you the option to bypass the advice.
Your question is very specific. You don't have to pull it from your emulator, just grab the apk file from the bin folder in your project and place it on your real device.
Most people are giving you valuable information for the next step (signing and publishing your apk), you are not required to do that step to get it on your real device.
Downloading it to your real device is a simple method.