Intelligent Flexible Manipulator

Abstract

The present invention is an intelligent flexible robotic arm, which includes a base, a first fixed seat, a first movable frame, a first idler, a first cylinder, a second fixed seat, a second movable frame, a second idler and a second cylinder. Its characteristics are: it further includes a first delivery manipulator, the first delivery manipulator is placed between the first fixed seat and the adhesive extruder, the first lifting manipulator is placed on the base, and the first cutter assembly is placed on the first movable frame; the second delivery manipulator is placed on the base, between the second fixed seat and the plastic extruder, the second lifting manipulator is placed on the base, and the second cutter assembly is placed on the second movable frame; a position sensor is arranged on the base, and the controller is respectively signal-connected to the first cylinder, the second cylinder, the first delivery manipulator, the first lifting manipulator, the first cutter assembly, the second delivery manipulator, the second lifting manipulator and the second cutter assembly, the position sensor, the adhesive extruder and the plastic extruder.

Description

Technical Field

[0001] The present invention relates to mechanical manufacturing, and particularly to the technical field of pipeline manufacturing, and is an intelligent flexible robotic arm. Background Art

[0002] Pipeline transportation is a long-distance transportation method that uses pipelines as transportation tools for transporting liquid and gaseous materials, and has the advantages of large transportation volume, less land occupation, short construction period for pipeline transportation, low cost, safe and reliable pipeline transportation, strong continuity, less energy consumption, low cost, and good benefits for pipeline transportation. As a kind of steel-plastic composite pipe, the 3PE composite pipe has a plastic powder layer, an adhesive layer, and an anti-corrosion layer from the inside to the outside on the outer layer of the metal pipe. During the process of winding the adhesive layer and the anti-corrosion layer, the adhesive tape and the anti-corrosion tape are relatively soft and have a certain temperature after being extruded from the extruder. Due to their relatively soft characteristics, they cannot directly enter the gap between the metal pipe and the idler roller, and manual delivery of the adhesive tape is required, manually placed into the gap between the metal pipe and the idler roller, and then the rotation of the metal pipe drives the adhesive tape and the anti-corrosion tape to adhere to the outer wall of the pipe. When the adhesive tape and the anti-corrosion tape pass through the gap between the metal pipe and the idler roller, they still cannot be wound upward, and manual lifting and pressing of the adhesive tape and the anti-corrosion tape passing through the gap between the metal pipe and the idler roller are required until the adhesive tape and the anti-corrosion tape bypass the highest point of the metal pipe to complete the production of the 3PE pipe. When the entire metal pipe is completely wrapped with the adhesive tape and the anti-corrosion tape, manual cutting of the materials at the outlet of the extruder for the adhesive tape and the anti-corrosion tape is required. These three actions are somewhat related, and in the actual production process, it is almost impossible for a single worker to complete these three actions simultaneously. The existing intelligent flexible robotic arms can only solve single, normal-temperature working conditions in a targeted manner and cannot meet the requirements for use under high-temperature and fast continuous working conditions. Therefore, for the processing of 3PE composite pipes that require both hot processing procedures and fast continuous operation, the existing technology cannot meet the processing requirements. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the existing technology and provide an intelligent flexible robotic arm.

[0004] The solution of the present invention to solve the technical problem is: An intelligent flexible robotic arm, which includes a base, a first fixed seat, a first movable frame, a first idler roller, a first cylinder, a second fixed seat, a second movable frame, a second idler roller and a second cylinder. The base is located behind the metal pipe spraying station. One end of the base close to the spraying station is the metal pipe inlet, and the other end is the metal pipe outlet. The first fixed seat is placed on the base at the metal pipe inlet. The first movable frame is placed on the first fixed seat and is hinged. The first idler roller is placed on the first movable frame and is hinged. The first cylinder is placed between the first fixed seat and the first movable frame. The lower end of the first cylinder is fixedly connected to the first fixed seat, and the upper end is hinged to the first movable frame. The second fixed seat is placed on the base between the first fixed seat and the metal pipe outlet. The second movable frame is placed on the second fixed seat and is hinged. The second idler roller is placed on the second movable frame and is hinged. The second cylinder is placed between the second fixed seat and the second movable frame. The lower end of the second cylinder is fixedly connected to the second fixed seat, and the upper end is hinged to the second movable frame. Its characteristics are: It also includes a first delivery manipulator, a first lifting manipulator, a first cutting knife assembly, a second delivery manipulator, a second lifting manipulator, a second cutting knife assembly, a position sensor and a controller. The first delivery manipulator is placed on the base on one side of the metal pipe between the first fixed seat and the adhesive extruder, and is used to deliver the adhesive tape to between the first idler roller and the metal pipe. The first lifting manipulator is placed on the base on the other side of the metal pipe, and is used to lift the adhesive tape delivered between the first idler roller and the metal pipe upward to bypass the highest point of the metal pipe. The first cutting knife assembly is placed on the first movable frame between the first delivery manipulator and the metal pipe, and is used to cut the adhesive tape. The second delivery manipulator is placed on the base on one side of the metal pipe between the second fixed seat and the plastic extruder, and is used to deliver the anticorrosive tape to between the second idler roller and the metal pipe. The second lifting manipulator is placed on the base on the other side of the metal pipe, and is used to lift the anticorrosive tape delivered between the second idler roller and the metal pipe upward to bypass the highest point of the metal pipe. The second cutting knife assembly is placed on the second movable frame between the second delivery manipulator and the metal pipe, and is used to cut the anticorrosive tape. A position sensor is set at the metal pipe outlet on the base, and is used to feedback the initial position and the end position of the metal pipe. The signal output ends of the controller are respectively signal-connected to the first cylinder, the second cylinder, the first delivery manipulator, the first lifting manipulator, the first cutting knife assembly, the second delivery manipulator, the second lifting manipulator and the second cutting knife assembly. The signal input end of the controller is signal-connected to the position sensor. The controller is respectively bidirectionally signal-connected to the adhesive extruder and the plastic extruder.

[0005] The first delivery manipulator and the second delivery manipulator have the same structure, and both include a base, a connecting arm, a base rotating disk, a large arm rotating disk, a large arm, a base motor, a large arm motor, a large arm cylinder, a rotating disk, a turntable motor, a large joint, a gripper, a gripper cylinder and a gripper joint. The base is placed on one side of the metal pipe between the base and the adhesive extruder. The lower end of the connecting arm is fixedly connected to the base through the base rotating disk, and the upper end is fixedly connected to the large arm through the large arm rotating disk. The base rotating disk is driven to rotate by the base motor, and the large arm rotating disk is driven to rotate by the large arm motor. The cylinder body of the large arm cylinder is placed on the connecting arm or the base rotating disk and hinged, and the piston rod is hinged to the large arm, and is used to drive the large arm to swing. The upper end of the large arm is fixedly connected to the large joint through the rotating disk. The rotating disk is driven to rotate by the turntable motor. The gripper joint and the large joint are fixedly connected through the gripper cylinder, and are used for the telescoping of the gripper and its gripper joint. A gripper is arranged at the front end of the gripper joint, and is used to hold the adhesive tape or the anticorrosion tape for delivery. The base motor, the large arm motor, the turntable motor, the large arm cylinder and the gripper cylinder are respectively signal-connected to the signal output end of the controller.

[0006] The first lifting manipulator and the second lifting manipulator have the same structure, and both include a bottom plate, a fixing plate, a lifting component, a swinging component, a pitching component, a clamping component and a solenoid valve. The bottom plate is placed on the other side of the metal pipe on the base. The fixing plate is placed above the bottom plate. The lifting component is placed between the bottom plate and the fixing plate. The lower end of the lifting component is fixedly connected to the bottom plate, and the upper end is fixedly connected to the fixing plate. The rear end and the middle of the swinging component are respectively hinged to the fixing plate, and the front end extends outside the fixing plate. The rear end of the pitching component is hinged to the middle of the swinging component, and the middle is hinged to the front end of the swinging component. The clamping component is placed at the front end of the pitching component and fixedly connected. The solenoid valve is placed on the bottom plate and fixedly connected. The solenoid valve is used to control the air circuits of the lifting component, the swinging component, the pitching component and the clamping component.

[0007] The lifting component is a telescopic rod, and the lower end of the telescopic rod is fixedly connected to the bottom plate, and the upper end is fixedly connected to the fixing plate.

[0008] The swinging component includes a connecting rod, a swing arm and a swinging cylinder. The rear end of the connecting rod is hinged to the fixing plate. The swing arm is placed on the fixing plate and hinged. The front end of the swing arm extends outside the fixing plate. The rear end of the swing arm is hinged to the front end of the connecting rod, and the hinge point is located between the hinge point of the rear end of the connecting rod and the fixing plate and the hinge point of the swing arm and the fixing plate. The swinging cylinder is placed on the side of the connecting rod. The cylinder body of the swinging cylinder is hinged to the fixing plate, and the piston rod is hinged to the middle of the connecting rod.

[0009] The pitching component includes a connecting block and a pitching cylinder. The middle of the connecting block is hinged to the front end of the swing arm of the swinging component. The pitching cylinder is placed on the side of the swing arm of the swinging component. The cylinder body of the pitching cylinder is hinged to the swing arm of the swinging component, and the piston rod is hinged to the lower end of the connecting block.

[0010] The clamping component includes pneumatic fingers, an upper clamping block and a lower clamping block. The pneumatic fingers are placed in front of the pitching component, above the hinge point of the connecting block and the swing arm of the swinging component and are fixedly connected. The upper clamping block is located in front of the pneumatic fingers and is fixedly connected. The lower clamping block is located in front of the pneumatic fingers and below the upper clamping block and is fixedly connected.

[0011] The first cutting tool assembly and the second cutting tool assembly have the same structure, and both include a slide table, a tool holder and a cutting tool. The slide table is placed between the first movable frame or the second movable frame, the first delivery manipulator or the second delivery manipulator and the metal tube. The tool holder is placed on the slide table, and the tool holder is fixedly connected to the slider of the slide table. The cutting tool is placed on the tool holder and is fixedly connected.

[0012] The usage process of the present invention is as follows: When the metal pipe is about to enter the adhesive tape winding station from the metal pipe inlet, the position sensor of the intelligent flexible robotic arm of the present invention inputs a signal into the controller, and the controller outputs signals to the first cutter assembly and the second cutter assembly to clean the waste materials in front of the extrusion outlets of the adhesive extruder and the plastic extruder; when the metal pipe enters the adhesive tape winding station from the metal pipe inlet, the position sensor of the intelligent flexible robotic arm of the present invention inputs a signal into the controller, and the controller outputs signals to the adhesive extruder and the plastic extruder to start extruding the adhesive tape and the anti-corrosion tape successively. When the adhesive tape and the anti-corrosion tape are respectively extruded from the extrusion outlets of the extruders, the first cutter assembly and the second cutter assembly receive the signals transmitted by the controller and cut the ends of the adhesive tape and the anti-corrosion tape respectively. The first delivery manipulator and the second delivery manipulator respectively receive the signals sent by the controller, clamp the adhesive tape and the anti-corrosion tape respectively and deliver them towards the metal pipe, so that the adhesive tape enters the gap between the first idler roller and the metal pipe, and the anti-corrosion tape enters the gap between the second idler roller and the metal pipe. Under the rotation of the metal pipe, first drive the adhesive tape to adhere to the sprayed coating on the wall of the metal pipe, and then drive the anti-corrosion tape to adhere to the outside of the adhesive tape on the metal pipe; after the adhesive tape passes through the gap between the first idler roller and the metal pipe, due to the extrusion of the adhesive tape, the adhesive tape with heat begins to become hard and has a certain rigid strength. Since the metal pipe is still moving forward on the production line, the adhesive tape in the gap will continuously move forward due to the rotational force until the front end of the adhesive tape forms a cantilever structure. The first lifting manipulator receives the signal output by the controller, and the clamping component of its first lifting manipulator clamps the adhesive tape and lifts it upward, and at the same time delivers it above the metal pipe, so that the adhesive tape is released after passing over the highest point of the metal pipe. The adhesive tape passing over the highest point of the metal pipe is driven by the rotating metal pipe to adhere to the sprayed coating on the wall of the metal pipe to realize the winding of the adhesive tape. And the anti-corrosion tape in the gap will continuously move forward due to the rotational force until the front end of the anti-corrosion tape forms a cantilever structure. The second lifting manipulator receives the signal output by the controller, and the clamping component of its second lifting manipulator clamps the anti-corrosion tape and lifts it upward, and at the same time delivers it above the metal pipe, so that the anti-corrosion tape is released after passing over the highest point of the metal pipe. The anti-corrosion tape passing over the highest point of the metal pipe is driven by the rotating metal pipe to adhere to the adhesive tape on the metal pipe to realize the winding of the anti-corrosion tape. When the winding of one metal pipe is completed, the controller outputs signals to the first cutter assembly and the second cutter assembly respectively. The first cutter assembly cuts the adhesive tape first, and then the second cutter assembly cuts the anti-corrosion tape, and thus the winding of the adhesive tape and the anti-corrosion tape of one 3PE pipe can be completed.

[0013] The beneficial effects of the present invention are as follows: Its first delivery manipulator can effectively replace workers to traction and deliver the adhesive tape from the extrusion outlet of the extruder to between the metal pipe and the first idler roller. The first lifting manipulator can effectively replace workers to lift and deliver the adhesive tape from the gap to the highest point of the metal pipe. The first cutting knife assembly can clean the extrusion outlet of the extruder and cut the adhesive tape, thus realizing the mechanization of the winding of the adhesive tape. Its second delivery manipulator can effectively replace workers to traction and deliver the anticorrosive tape from the extrusion outlet of the extruder to between the metal pipe and the second idler roller. The second lifting manipulator can effectively replace workers to lift and deliver the anticorrosive tape from the gap to the highest point of the metal pipe. The second cutting knife assembly can clean the extrusion outlet of the extruder and cut the anticorrosive tape, thus realizing the mechanization of the winding of the anticorrosive tape. The controller, position sensor set therein, and the signal connections between the controller and the first cylinder, second cylinder, first delivery manipulator, first lifting manipulator, first cutting knife assembly, second delivery manipulator, second lifting manipulator, second cutting knife assembly, position sensor, adhesive extruder, and plastic extruder can realize the intelligentization of the winding of the adhesive tape and the winding of the anticorrosive tape. It has the advantages of unmanned operation, intelligentization, reasonable structure, and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of the intelligent flexible robotic arm of the present invention;

[0015] Figure 2 is a front view schematic diagram of the first delivery manipulator of the intelligent flexible robotic arm of the present invention;

[0016] Figure 3 is Figure 2 a left view schematic diagram of;

[0017] Figure 4 is a schematic structural diagram of the first lifting manipulator of the intelligent flexible robotic arm of the present invention;

[0018] Figure 5 is a schematic structural diagram of the first cutting knife assembly of the intelligent flexible robotic arm of the present invention.

[0019] In the figure: 1 inlet of threaded steel pipe, 2 first movable frame, 3 first idler, 4 first cutter assembly, 5 first delivery manipulator, 6 second drive assembly, 7 second idler, 8 second delivery manipulator, 9 outlet of threaded steel pipe, 10 second movable frame, 11 second lifting manipulator, 12 second fixed seat, 13 first fixed seat, 14 first lifting manipulator, 15 base, 16 large joint, 17 rotating disk, 18 large arm, 19 large arm motor, 20 base motor, 21 base, 22 base rotating disk, 23 large arm cylinder, 24 connecting arm, 25 large arm rotating disk, 26 jaw, 27 jaw joint, 28 jaw cylinder, 29 bottom plate, 30 flange, 31 telescopic rod, 32 adjusting sleeve, 33 limit block, 34 bearing seat, 35 lower clamping block, 36 upper clamping block, 37 pneumatic finger, 38 connecting block, 39 swing arm, 40 pitching cylinder, 41 rotating shaft, 42 connecting rod, 43 fixing plate, 44 swinging cylinder, 45 solenoid valve, 46 cutter, 47 tool holder, 48 slide table. Detailed implementation manner

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] Refer to Figures 1 to 5, Embodiment 1. An intelligent flexible robotic arm in this embodiment includes a base 15, a first fixed seat 13, a first movable frame 2, a first roller 3, a first cylinder, a second fixed seat 12, a second movable frame 10, a second roller 7 and a second cylinder. The base 15 is located behind the threaded steel pipe spraying station. One end of the base 15 close to the spraying station is the threaded steel pipe inlet 1, and the other end is the threaded steel pipe outlet 9. The first fixed seat 13 is placed on the base 15 at the threaded steel pipe inlet 1. The first movable frame 2 is placed on the first fixed seat 13 and is hinged. The first roller 3 is placed on the first movable frame 2 and is hinged. The first cylinder is placed between the first fixed seat 13 and the first movable frame 2. The lower end of the first cylinder is fixedly connected to the first fixed seat 13, and the upper end is hinged to the first movable frame 2. The second fixed seat 12 is placed on the base 15 between the first fixed seat 13 and the threaded steel pipe outlet 9. The second movable frame 10 is placed on the second fixed seat 12 and is hinged. The second roller 7 is placed on the second movable frame 10 and is hinged. The second cylinder is placed between the second fixed seat 12 and the second movable frame 10. The lower end of the second cylinder is fixedly connected to the second fixed seat 12, and the upper end is hinged to the second movable frame 10. It further includes a first delivery manipulator 5, a first lifting manipulator 14, a first cutting knife assembly 4, a second delivery manipulator 8, a second lifting manipulator 11, a second cutting knife assembly 6, a position sensor and a controller. The first delivery manipulator 5 is placed on the base 15 on one side of the threaded steel pipe between the first fixed seat 13 and the adhesive extruder, and is used to deliver the adhesive tape between the first roller 3 and the threaded steel pipe. The first lifting manipulator 14 is placed on the base 15 on the other side of the threaded steel pipe, and is used to lift the adhesive tape delivered between the first roller 3 and the threaded steel pipe upward to bypass the highest point of the threaded steel pipe. The first cutting knife assembly 4 is placed on the first movable frame 2 between the first delivery manipulator 5 and the threaded steel pipe, and is used to cut the adhesive tape. The second delivery manipulator 8 is placed on the base 15 on one side of the threaded steel pipe between the second fixed seat 12 and the plastic extruder, and is used to deliver the anti-corrosion tape between the second roller 7 and the threaded steel pipe. The second lifting manipulator 11 is placed on the base 15 on the other side of the threaded steel pipe, and is used to lift the anti-corrosion tape delivered between the second roller 7 and the threaded steel pipe upward to bypass the highest point of the threaded steel pipe. The second cutting knife assembly 6 is placed on the second movable frame 10 between the second delivery manipulator 8 and the threaded steel pipe, and is used to cut the anti-corrosion tape. A position sensor is provided on the base 15 at the threaded steel pipe outlet 9, and is used to feedback the initial position and the end position of the threaded steel pipe. The signal output ends of the controller are respectively signal-connected to the first cylinder, the second cylinder, the first delivery manipulator 5, the first lifting manipulator 14, the first cutting knife assembly 4, the second delivery manipulator 8, the second lifting manipulator 11 and the second cutting knife assembly 6. The signal input end of the controller is signal-connected to the position sensor. The controller is respectively bidirectionally signal-connected to the adhesive extruder and the plastic extruder.

[0022] The first delivery manipulator 5 and the second delivery manipulator 8 have the same structure, and both include a base 21, a connecting arm 24, a base rotating disk 22, a large arm rotating disk 25, a large arm 18, a base motor 20, a large arm motor 19, a large arm cylinder 23, a rotating disk 17, a rotating disk motor, a large joint 16, a gripper 26, a gripper cylinder 28 and a gripper joint 27. The base 21 is placed on one side of the threaded steel pipe between the base 15 and the first fixed seat 13 and the adhesive extruder. The lower end of the connecting arm 24 is fixedly connected to the base 21 through the base rotating disk 22, and the upper end is fixedly connected to the large arm 18 through the large arm rotating disk 25. The base rotating disk 22 is driven to rotate by the base motor 20, and the large arm rotating disk 25 is driven to rotate by the large arm motor 19. The cylinder body of the large arm cylinder 23 is placed on the connecting arm 24 or the base rotating disk 22 and is hinged, and the piston rod is hinged to the large arm 18 for driving the large arm 18 to swing. The upper end of the large arm 18 is fixedly connected to the large joint 16 through the rotating disk 17, and the rotating disk 17 is driven to rotate by the rotating disk motor. The gripper joint 27 and the large joint 16 are fixedly connected through the gripper cylinder 28 for the telescoping of the gripper cylinder 28 and its gripper joint 27. A gripper 26 is provided at the front end of the gripper joint 27 for gripping the adhesive tape or the anticorrosion tape for delivery. The base motor 20, the large arm motor 19, the rotating disk motor, the large arm cylinder 23 and the gripper cylinder 28 are respectively signal-connected to the signal output end of the controller.

[0023] The first lifting manipulator 14 and the second lifting manipulator 11 have the same structure, and both include a bottom plate 29, a fixing plate 43, a lifting component, a swinging component, a pitching component, a clamping component and a solenoid valve 45. The bottom plate 29 is placed on the other side of the threaded steel pipe on the base 15. The fixing plate 43 is placed above the bottom plate 29. The lifting component is placed between the bottom plate 29 and the fixing plate 43. The lower end of the lifting component is fixedly connected to the bottom plate 29, and the upper end is fixedly connected to the fixing plate 43. The rear end and the middle of the swinging component are respectively hinged to the fixing plate 43, and the front end extends outside the fixing plate 43. The rear end of the pitching component is hinged to the middle of the swinging component, and the middle is hinged to the front end of the swinging component. The clamping component is placed at the front end of the pitching component and is fixedly connected. The solenoid valve 45 is placed on the bottom plate 29 and is fixedly connected. The solenoid valve 45 is used to control the air circuits of the lifting component, the swinging component, the pitching component and the clamping component.

[0024] The lifting component is a telescopic rod 31. The lower end of the telescopic rod 31 is fixedly connected to the bottom plate 29 through a flange 30, and the upper end is fixedly connected to the fixing plate 43 through an adjusting sleeve 32.

[0025] The swing component includes a connecting rod 42, a swing arm 39, and a swing cylinder 44. The rear end of the connecting rod 42 is hinged to a fixed plate 43. A bearing seat 34 is arranged on the fixed plate 43, and a bearing is built in the bearing seat 34. The swing arm 39 is placed on the bearing on the fixed plate 43 and is fixedly connected to the fixed plate 43 through the bearing. The front end of the swing arm 39 extends outside the fixed plate 43. The rear end of the swing arm 39 and the front end of the connecting rod 42 are eccentrically hinged through a rotating shaft 41, and the hinge point is located between the hinge point of the rear end of the connecting rod 42 and the fixed plate 43 and the hinge point of the swing arm 39 and the fixed plate 43. The swing cylinder 44 is placed on the side of the connecting rod 42. The cylinder body of the swing cylinder 44 is hinged to the fixed plate 43, and the piston rod is hinged to the middle of the connecting rod 42. A limit block 33 is arranged on the side of the swing arm 39 and on the same side as the swing cylinder 44.

[0026] The pitching component includes a connecting block 38 and a pitching cylinder 40. The middle of the connecting block 38 is hinged to the front end of the swing arm 39 of the swing component. The pitching cylinder 40 is placed on the side of the swing arm 39 of the swing component. The cylinder body of the pitching cylinder 40 is hinged to the swing arm 39 of the swing component, and the piston rod is hinged to the lower end of the connecting block 38.

[0027] The clamping component includes a pneumatic finger 37, an upper clamping block 36, and a lower clamping block 35. The pneumatic finger 37 is placed in front of the pitching component, above and fixedly connected to the hinge point of the connecting block 38 and the swing arm 39 of the swing component. The upper clamping block 36 is located in front of the pneumatic finger 37 and is fixedly connected. The lower clamping block 35 is located in front of the pneumatic finger 37 and below the upper clamping block 36 and is fixedly connected.

[0028] The first cutter assembly 4 and the second cutter assembly 6 have the same structure, and both include a slide table 48, a tool holder 47, and a cutter 46. The slide table 48 is a pneumatic slide table. The slide table 48 is placed on the first movable frame 2 or the second movable frame 10, between the first delivery manipulator 5 or the second delivery manipulator 8 and the threaded steel pipe. The tool holder 47 is placed on the slide table 48, and the tool holder 47 is fixedly connected to the slider of the slide table 48. The cutter 46 is placed on the tool holder 47 and is fixedly connected.

[0029] This embodiment is manufactured using existing technologies. The first cylinder, the second cylinder, the position sensor, the controller, the base motor 20, the boom motor 19, the boom cylinder 23, the turntable motor, the jaw cylinder 28, the telescopic rod 31, the swing cylinder 44, the pitching cylinder 40, the pneumatic finger 37, the slide table 48, and the solenoid valve 45 are all commercially available products of existing technologies.

[0030] The usage process of this embodiment is as follows: When the threaded steel pipe is about to enter the adhesive tape winding station from the threaded steel pipe inlet 1, the position sensor of the intelligent flexible robotic arm of this embodiment inputs a signal to the controller, and the controller outputs a signal to the first cutter assembly 4 and the second cutter assembly 6 to clean the waste materials in front of the extrusion outlets of the adhesive extruder and the plastic extruder; When the threaded steel pipe enters the adhesive tape winding station from the threaded steel pipe inlet 1, the position sensor of the intelligent flexible robotic arm of this embodiment inputs a signal to the controller, and the controller outputs a signal to the adhesive extruder and the plastic extruder. The adhesive extruder and the plastic extruder start to extrude the adhesive tape and the anticorrosive tape successively. When the adhesive tape and the anticorrosive tape are respectively extruded from the extrusion outlets of the extruders, the first cutter assembly 4 and the second cutter assembly 6 receive the signals transmitted by the controller and cut the ends of the adhesive tape and the anticorrosive tape respectively. The first delivery manipulator 5 and the second delivery manipulator 8 respectively receive the signals sent by the controller, clamp the adhesive tape and the anticorrosive tape respectively, and deliver them towards the threaded steel pipe, so that the adhesive tape enters the gap between the first idler 3 and the threaded steel pipe, and the anticorrosive tape enters the gap between the second idler 7 and the threaded steel pipe. Under the rotation of the threaded steel pipe, the adhesive tape is first driven to adhere to the sprayed coating on the wall of the threaded steel pipe, and then the anticorrosive tape is driven to adhere to the outside of the adhesive tape on the threaded steel pipe; After the adhesive tape passes through the gap between the first idler 3 and the threaded steel pipe, due to the extrusion of the adhesive tape, the heated adhesive tape begins to become hard and has a certain rigid strength. Since the threaded steel pipe is still moving forward on the production line, the adhesive tape in the gap will continuously move forward due to the rotational force until the front end of the adhesive tape forms a cantilever structure. The first lifting manipulator 14 receives the signal output by the controller, and its clamping component of the first lifting manipulator 14 clamps the adhesive tape and lifts it upward, and at the same time delivers it above the threaded steel pipe. After the adhesive tape exceeds the highest point of the threaded steel pipe, the clamping jaw 26 is released. The adhesive tape exceeding the highest point of the threaded steel pipe is driven by the rotating threaded steel pipe to adhere to the sprayed coating on the wall of the threaded steel pipe to realize the winding of the adhesive tape. And the anticorrosive tape in the gap will continuously move forward due to the rotational force until the front end of the anticorrosive tape forms a cantilever structure. The second lifting manipulator 11 receives the signal output by the controller, and its clamping component of the second lifting manipulator 11 clamps the anticorrosive tape and lifts it upward, and at the same time delivers it above the threaded steel pipe. After the anticorrosive tape exceeds the highest point of the threaded steel pipe, the clamping jaw 26 is released. The anticorrosive tape exceeding the highest point of the threaded steel pipe is driven by the rotating threaded steel pipe to adhere to the adhesive tape on the threaded steel pipe to realize the winding of the anticorrosive tape. When the winding of one threaded steel pipe is completed, the controller outputs signals to the first cutter assembly 4 and the second cutter assembly 6 respectively. The first cutter assembly 4 first cuts the adhesive tape, and the second cutter assembly 6 then cuts the anticorrosive tape, and thus the winding of the adhesive tape and the anticorrosive tape of one 3PE pipe can be completed.

[0031] The present invention is not limited to this specific embodiment. For those skilled in the art, simple reproduction and improvement without creative efforts fall within the scope protected by the claims of the present invention.

Claims

1. An intelligent flexible robotic arm, characterized in that: It includes a base, a first fixed seat, a first movable frame, a first idler, a first cylinder, a second fixed seat, a second movable frame, a second idler and a second cylinder. The base is located behind the metal pipe spraying station. One end of the base close to the spraying station is the metal pipe inlet, and the other end is the metal pipe outlet. The first fixed seat is placed on the base at the metal pipe inlet. The first movable frame is placed on the first fixed seat and hinged. The first idler is placed on the first movable frame and hinged. The first cylinder is placed between the first fixed seat and the first movable frame. The lower end of the first cylinder is fixedly connected to the first fixed seat, and the upper end is hinged to the first movable frame. The second fixed seat is placed on the base between the first fixed seat and the metal pipe outlet. The second movable frame is placed on the second fixed seat and hinged. The second idler is placed on the second movable frame and hinged. The second cylinder is placed between the second fixed seat and the second movable frame. The lower end of the second cylinder is fixedly connected to the second fixed seat, and the upper end is hinged to the second movable frame. It is characterized in that it further includes a first delivery manipulator, a first lifting manipulator, a first cutter assembly, a second delivery manipulator, a second lifting manipulator, a second cutter assembly, a position sensor and a controller. The first delivery manipulator is placed on the base on one side of the metal pipe between the first fixed seat and the adhesive extruder, and is used to deliver the adhesive tape to between the first idler and the metal pipe. The first lifting manipulator is placed on the base on the other side of the metal pipe, and is used to lift the adhesive tape delivered between the first idler and the metal pipe upward to bypass the highest point of the metal pipe. The first cutter assembly is placed on the first movable frame between the first delivery manipulator and the metal pipe, and is used to cut the adhesive tape. The second delivery manipulator is placed on the base on one side of the metal pipe between the second fixed seat and the plastic extruder, and is used to deliver the anticorrosive tape to between the second idler and the metal pipe. The second lifting manipulator is placed on the base on the other side of the metal pipe, and is used to lift the anticorrosive tape delivered between the second idler and the metal pipe upward to bypass the highest point of the metal pipe. The second cutter assembly is placed on the second movable frame between the second delivery manipulator and the metal pipe, and is used to cut the anticorrosive tape. The first cutter assembly and the second cutter assembly have the same structure, and both include a slide table, a tool holder and a cutter. The slide table is placed on the first movable frame or the second movable frame between the first delivery manipulator or the second delivery manipulator and the metal pipe. The tool holder is placed on the slide table, and the tool holder is fixedly connected to the slider of the slide table. The cutter is placed on the tool holder and fixedly connected. A position sensor is set at the metal pipe outlet on the base, and is used to feedback the initial position and the end position of the metal pipe. The signal output ends of the controller are respectively signal-connected to the first cylinder, the second cylinder, the first delivery manipulator, the first lifting manipulator, the first cutter assembly, the second delivery manipulator, the second lifting manipulator and the second cutter assembly. The signal input end of the controller is signal-connected to the position sensor. The controller is respectively bidirectionally signal-connected to the adhesive extruder and the plastic extruder; The first delivery manipulator and the second delivery manipulator have the same structure, and both include a base, a connecting arm, a base rotating disk, a boom rotating disk, a boom, a base motor, a boom motor, a boom cylinder, a rotating disk, a turntable motor, a large joint, a gripper, a gripper cylinder and a gripper joint. The base of the first delivery manipulator is placed on one side of the metal pipe between the base and the adhesive extruder. The base of the second delivery manipulator is placed on one side of the metal pipe between the base and the plastic extruder. The lower end of the connecting arm is fixedly connected to the base through the base rotating disk, and the upper end is fixedly connected to the boom through the boom rotating disk. The base rotating disk is driven to rotate by the base motor, and the boom rotating disk is driven to rotate by the boom motor. The cylinder body of the boom cylinder is placed on the connecting arm or the base rotating disk and is hinged, and the piston rod is hinged to the boom, and is used to drive the boom to swing. The upper end of the boom is fixedly connected to the large joint through the rotating disk. The rotating disk is driven to rotate by the turntable motor. The gripper joint and the large joint are fixedly connected through the gripper cylinder, and are used for the telescoping of the gripper and its gripper joint. A gripper is provided at the front end of the gripper joint, and is used to grip the adhesive tape or the anticorrosion tape for delivery. The base motor, the boom motor, the turntable motor, the boom cylinder and the gripper cylinder are respectively signal-connected to the signal output end of the controller; The first lifting manipulator and the second lifting manipulator have the same structure, and both include a bottom plate, a fixing plate, a telescopic rod, a swinging component, a pitching component, a clamping component and a solenoid valve. The bottom plate is placed on the other side of the metal pipe on the base. The fixing plate is placed above the bottom plate. The telescopic rod is placed between the bottom plate and the fixing plate. The lower end of the telescopic rod is fixedly connected to the bottom plate, and the upper end is fixedly connected to the fixing plate. The swinging component includes a connecting rod, a swing arm and a swinging cylinder. The rear end of the connecting rod is hinged to the fixing plate. The swing arm is placed on the fixing plate and is hinged. The front end of the swing arm extends outside the fixing plate. The rear end of the swing arm is hinged to the front end of the connecting rod. The hinge point is located between the hinge point of the rear end of the connecting rod and the fixing plate and the hinge point of the swing arm and the fixing plate. The swinging cylinder is placed on the side of the connecting rod. The cylinder body of the swinging cylinder is hinged to the fixing plate, and the piston rod is hinged to the middle of the connecting rod. The pitching component includes a connecting block and a pitching cylinder. The middle of the connecting block is hinged to the front end of the swing arm of the swinging component. The pitching cylinder is placed on the side of the swing arm of the swinging component. The cylinder body of the pitching cylinder is hinged to the swing arm of the swinging component, and the piston rod is hinged to the lower end of the connecting block. The clamping component includes a pneumatic finger, an upper clamping block and a lower clamping block. The pneumatic finger is placed in front of the pitching component, above the hinge point of the connecting block and the swing arm of the swinging component and is fixedly connected. The upper clamping block is located in front of the pneumatic finger and is fixedly connected. The lower clamping block is located in front of the pneumatic finger and below the upper clamping block and is fixedly connected. The solenoid valve is placed on the bottom plate and is fixedly connected. The solenoid valve is used to control the air circuits of the telescopic rod, the swinging component, the pitching component and the clamping component.

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