An expansion robot

Abstract

The expansion robot described in the present invention belongs to the field of robot intelligent manufacturing technology, and includes a mechanical arm and a tube expander body connected to the operating end of the mechanical arm through a connecting rod; the connecting rod is provided with a buffer part that reduces the operating vibration amplitude of the tube expander body; the operating end of the mechanical arm is provided with a support member that can clamp the buffer part. During the movement of the tube expander body, the support member clamps and fixes the connecting rod with the buffer part as the target area to improve the accuracy of the movement and avoid swinging; when the tube expander body is in operation, the support member is in a loose state, and the vibration amplitude during operation is alleviated by the buffer part, thereby avoiding the influence on the accuracy of the mechanical arm.

Description

Technical Field

[0001] The invention belongs to the technical field of robot intelligent manufacturing, in particular to an expansion robot. Background Art

[0002] There are several methods for connecting heat exchange tubes and tube sheets, including expansion, welding, and expansion and welding. Domestic companies mainly use expansion and welding. In the expansion operation, the traditional operation is to manually adjust the position of the expander body; although manual operation can make fine adjustments, the operation efficiency is slow and the labor intensity is high. By setting the expander body on the robotic arm, the precise slots of the robotic arm are used to improve the operation efficiency. However, the robotic arm is a high-precision intelligent component. Since the expander body vibrates during operation, the vibration amplitude will be transmitted to the robotic arm. After long-term use, the precision positioning of the robotic arm will be reduced, thereby reducing the yield rate. Summary of the invention

[0003] In order to solve the problem that while a mechanical arm is used to improve the operating efficiency of a tube expander body, the vibration amplitude during the operation of the tube expander body may reduce the operating accuracy of the mechanical arm, the present invention provides an expansion robot.

[0004] The present invention is achieved through the following technical solutions:

[0005] An expansion robot comprises a mechanical arm and a tube expander body connected to an operating end of the mechanical arm through a connecting rod;

[0006] The connecting rod is provided with a buffer part for reducing the vibration amplitude of the tube expander body during operation;

[0007] A supporting member capable of clamping the buffer part is provided on the operating end of the mechanical arm.

[0008] Under the action of the connecting rod, the tube expander body is installed at the operating end of the robot arm. Since the robot arm occupies a large space, the connecting rod is used to increase the distance between the robot arm and the tube expander body, thereby reducing the space occupied by the tube expander body when processing the heat exchange tube on the tube sheet; during the movement of the tube expander body, the support member clamps and fixes the connecting rod with the buffer part as the target area, thereby improving the accuracy of movement and avoiding swinging; when the tube expander body is in operation, the support member is in a loose state, and the vibration amplitude during operation is alleviated by the buffer part, thereby avoiding affecting the accuracy of the robot arm.

[0009] A further improvement of the present invention is that the above-mentioned buffer portion is provided at the upper part of the connecting rod. The buffer portion is arranged close to the support member, which can reduce the operation response time of the support member to clamp the connecting rod and improve the operation efficiency. At the same time, since the buffer portion is arranged higher, the distance between the buffer portion and the vibration source increases, so that a part of the vibration amplitude can be offset in terms of distance, weakening the vibration amplitude borne by the buffer portion.

[0010] A further improvement of the present invention is that the above-mentioned buffer portion divides the connecting rod into a first connecting section and a second connecting section in sequence from top to bottom; the buffer portion is a rubber block; in the static state, the axis lines of the first connecting section and the second connecting section are on the same straight line and in a vertical state. In the static state, the vertical state of the connecting rod can reduce the force on the operating end of the robotic arm; the rubber block is located between the first connecting section and the second connecting section, forming a counteracting effect on the vibration amplitude.

[0011] A further improvement of the present invention is that the above-mentioned buffer portion further includes a hinge member connected between the first connecting section and the second connecting section and allowing relative rotation between the first connecting section and the second connecting section; the rubber block is wrapped outside the hinge member. Through the hinge member, firstly, the connection strength between the first connecting section and the second connecting section can be increased; secondly, the relative rotation amplitude between the two components can be increased, and with the increase of the rotation amplitude, the energy transmitted by the vibration amplitude can be weakened; thus reducing the vibration amplitude borne by the rubber block.

[0012] A further improvement of the present invention is that the above-mentioned support member includes a driving screw, an inner cylinder and an outer cylinder; the driving screw is rotatably arranged at the operating end of the robotic arm; the inner cylinder is installed on the robotic arm outside the driving screw; the driving screw drives the outer cylinder coaxially sleeved outside the inner cylinder through a push rod, and the outer cylinder reciprocates along its axis direction; the top end of the first connecting section is connected to the bottom end of the inner cylinder. Under the action of the driving screw and the push rod, through the covering of the outer cylinder on the buffer portion and the clamping and fixing of the second connecting section.

[0013] A further improvement of the present invention is that a guiding groove extending along its axis is opened on the side wall corresponding to the diameter line of the inner cylinder; the push rod passes through the guiding groove and is connected to the outer cylinder, and a screw hole matching with the driving screw is arranged in the middle of the push rod. Through the cooperation of the guiding groove and the push rod, under the action of the driving screw, the outer cylinder moves along the guiding groove.

[0014] A further improvement of the present invention is that the above-mentioned push rod is integrally in a U-shaped. The U-shaped push rod can increase the distance formed between the bottom of the outer cylinder and the bottom of the inner cylinder after the outer cylinder moves downward, so as to ensure the covering of the buffer portion.

[0015] A further improvement of the present invention is that the second connecting section is a table-like structure with a small top and a large bottom; the inner wall of the outer cylinder matches the outer side surface of the second connecting section. The second connecting section with a table-like structure can guide the outer cylinder when the outer cylinder descends.

[0016] A further improvement of the present invention is that the second connecting section is in a prism shape as a whole. The prism-shaped structure can prevent the second connecting section from rotating in the circumferential direction when it is matched with the outer cylinder, so as to ensure the accurate pointing direction of the tube expander body.

[0017] It can be seen from the above technical scheme that the beneficial effects of the present invention are: under the action of the connecting rod, the tube expander body is installed at the operating end of the robot arm. Since the robot arm occupies a large space, the distance between the robot arm and the tube expander body is increased with the help of the connecting rod, thereby reducing the space occupation caused by the tube expander body acting on the heat exchange tube when processing on the tube sheet; during the movement of the tube expander body, the support member clamps and fixes the connecting rod with the buffer part as the target area, thereby improving the movement accuracy and avoiding swinging; when the tube expander body is in operation, the support member is in a loose state, and the vibration amplitude during operation is alleviated by the buffer part, thereby avoiding the influence on the accuracy of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a specific implementation mode of the present invention.

[0020] Figure 2 It is a schematic diagram of the initial state of the connecting rod and the supporting member according to a specific embodiment of the present invention.

[0021] Figure 3 It is a schematic diagram of the operating status of the connecting rod and the supporting member according to a specific embodiment of the present invention.

[0022] Figure 4 It is a first angle exploded schematic diagram of a connecting rod and a supporting member according to a specific embodiment of the present invention.

[0023] Figure 5 It is a second angle exploded schematic diagram of the connecting rod and the supporting member according to a specific embodiment of the present invention.

[0024] Figure 6 It is a schematic diagram of a gear and rack combination according to a specific embodiment of the present invention.

[0025] In the accompanying drawings: 10, mechanical arm, 20, tube expander body, 30, connecting rod, 31, first connecting section, 32, second connecting section, 33, buffer part, 40, support member, 41, driving stud, 42, inner cylinder, 421, guide groove, 422, rack, 43, outer cylinder, 431, gear, 44, push rod, 50, tube sheet, 51, heat exchange tube. DETAILED DESCRIPTION

[0026] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in this specific embodiment. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of them. Based on the embodiments in this patent, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this patent.

[0027] As attached Figure 1-6 As shown, an expansion robot includes a robot arm 10 and a tube expander body 20 connected to the operating end of the robot arm 10 through a connecting rod 30; under the action of the connecting rod 30, the tube expander body 20 is installed at the operating end of the robot arm 10. Since the robot arm 10 occupies a large space, the distance between the robot arm 10 and the tube expander body 20 is increased with the help of the connecting rod 30, so as to reduce the space occupied by the tube expander body 20 when acting on the heat exchange tube 51 on the tube sheet 50.

[0028] The connecting rod 30 is provided with a buffer portion 33 for reducing the vibration amplitude of the tube expander body 20 during operation; the buffer portion 33 is used to offset the vibration generated during the operation of the tube expander body 20 to avoid affecting the accuracy of the robot arm 10.

[0029] The buffer part 33 is arranged at the upper part of the connecting rod 30. The buffer part 33 is arranged close to the support member 40, which can reduce the operation response time of the support member 40 clamping the connecting rod 30, thereby improving the operation efficiency; at the same time, since the buffer part 33 is arranged close to the upper part, the distance between the buffer part 33 and the vibration source is increased, so that a part of the distance can be offset, and the vibration amplitude borne by the buffer part 33 is reduced.

[0030] The buffer part 33 divides the connecting rod 30 into a first connecting section 31 and a second connecting section 32 from top to bottom; the buffer part 33 is a rubber block; in a stationary state, the axis lines of the first connecting section 31 and the second connecting section 32 are on the same straight line and in a vertical state. In a stationary state, the vertical state of the connecting rod 30 can reduce the force on the operating end of the robot arm 10; the rubber block is between the first connecting section 31 and the second connecting section 32, forming a counteracting effect on the vibration amplitude.

[0031] The buffer portion 33 further includes a hinge member connected between the first connection segment 31 and the second connection segment 32 and allowing the first connection segment 31 and the second connection segment 32 to rotate relative to each other; the rubber block is wrapped outside the hinge member. The hinge member can, first, increase the connection strength between the first connection segment 31 and the second connection segment 32; second, increase the relative rotation amplitude between the two components. By increasing the rotation amplitude, the energy of the vibration amplitude transmission can be weakened; thereby reducing the vibration amplitude borne by the rubber block.

[0032] A support member 40 capable of clamping the buffer portion 33 is provided on the operating end of the robotic arm 10. During the movement of the tube expanding machine body 20, the support member 40 clamps and fixes the connecting rod 30 with the buffer portion 33 as the target area, improving the movement accuracy and avoiding swing; when the tube expanding machine body 20 is operating, the support member 40 is in a loose state, and the vibration amplitude during operation is relieved by the buffer portion 33, thereby avoiding the impact on the accuracy of the robotic arm 10.

[0033] The support member 40 includes a driving stud 41, an inner cylinder 42, and an outer cylinder 43; the driving stud 41 is rotatably arranged on the operating end of the robotic arm 10; the inner cylinder 42 is installed on the robotic arm 10 outside the driving stud 41; the driving stud 41 drives the outer cylinder 43 coaxially sleeved outside the inner cylinder 42 through a push rod 44, and the outer cylinder 43 reciprocates along its axis; the top end of the first connection segment 31 is connected to the bottom end of the inner cylinder 42. Under the action of the driving stud 41 and the push rod 44, through the covering of the buffer portion 33 by the outer cylinder 43 and the clamping and fixing of the second connection segment 32.

[0034] A guiding groove 421 extending along its axis is provided on the side wall corresponding to the diameter line of the inner cylinder 42; the push rod 44 passes through the guiding groove 421 and is connected to the outer cylinder 43, and a threaded hole matching the driving stud 41 is provided in the middle of the push rod 44. Through the cooperation of the guiding groove 421 and the push rod 44, under the action of the driving stud 41, the outer cylinder 43 moves along the guiding groove 421.

[0035] The push rod 44 is integrally in a U-shaped structure. The U-shaped push rod 44 can increase the distance formed between the bottom of the outer cylinder 43 and the bottom of the inner cylinder 42 after the downward movement, thereby ensuring the covering of the buffer portion 33.

[0036] The second connection segment 32 is integrally in a frustum-shaped structure with a smaller top and a larger bottom; the inner wall of the outer cylinder 43 cooperates with the outer side surface of the second connection segment 32. The frustum-shaped second connection segment 32 can guide the outer cylinder 43 when the outer cylinder 43 descends.

[0037] The second connecting section 32 is in a prism shape as a whole. The prism-shaped structure can prevent the second connecting section 32 from rotating in the circumferential direction when it is matched with the outer cylinder 43, so as to ensure that the expansion machine body 20 is accurately pointed.

[0038] The outer wall of the inner cylinder 42 is also provided with two racks 422 extending along the axis thereof, and the two racks 422 are distributed on the diameter line of the inner cylinder 42. A gear 431 is rotatably provided on the inner wall of the outer cylinder 43 to cooperate with the rack 422. The cooperation between the gear 431 and the rack 422 increases the stability of the outer cylinder 43 and the inner cylinder 42 during the movement, and always keeps the axis of the outer cylinder 43 and the inner cylinder 42 in a coincident state.

[0039] The angle between the diameter line of the two racks 422 and the diameter line of the two guide grooves 421 is 90°. Reasonable angle distribution makes the inner cylinder 42 have a stronger supporting effect on the outer cylinder 43.

[0040] A motor for driving the driving stud 41 is provided on the operating end of the robot arm 10, and the motor controls the opening and closing time under the controller of the robot arm.

[0041] The movement of the tube expander body 20 driven by the mechanical arm 10 is set in advance according to the coordinate information such as the spacing of the holes on the tube sheet 50 to be processed. The operation and setting principles of the mechanical arm 10 are all conventional mechanical arm working principles in the art.

[0042] An expansion robot described in the present invention enables the expander body to be installed on the operating end of a mechanical arm under the action of a connecting rod. Since the mechanical arm occupies a large space, the distance between the mechanical arm and the expander body is increased with the help of the connecting rod, thereby reducing the space occupied by the expander body when processing the heat exchange tube on the tube sheet; during the movement of the expander body, the support member clamps and fixes the connecting rod with the buffer part as the target area, thereby improving the accuracy of movement and avoiding swinging; when the expander body is in operation, the support member is in a loose state, and the vibration amplitude during operation is alleviated by the buffer part, thereby avoiding affecting the accuracy of the mechanical arm.

[0043] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referenced to each other.

[0044] The terms "upper", "lower", "outer side", "inner side", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish the relative relationship in position if they exist, and do not need to be qualitative. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0045] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An expansion joint robot, It is characterized in that The invention comprises a mechanical arm (10) and a tube expander body (20) connected to an operating end of the mechanical arm (10) via a connecting rod (30); the connecting rod (30) is provided with a buffer portion (33) for reducing the vibration amplitude of the tube expander body (20) during operation; the operating end of the mechanical arm (10) is provided with a support member (40) capable of clamping the buffer portion (33); the buffer portion (33) is arranged on the upper part of the connecting rod (30); the buffer portion (33) divides the connecting rod (30) into a first connecting section (31) and a second connecting section (32) from top to bottom; the buffer portion (33) is a rubber block; in a stationary state, the axis center lines of the first connecting section (31) and the second connecting section (32) are on the same straight line and in a vertical state; the buffer portion (33) also includes a portion connected between the first connecting section (31) and the second connecting section (32) and allowing the first connecting section (31) and the second connecting section (32) to be connected. 32) a hinged member that rotates relatively; the rubber block is wrapped around the outside of the hinged member; the support member (40) comprises a driving stud (41), an inner tube (42) and an outer tube (43); the driving stud (41) is rotatably arranged at the operating end of the mechanical arm (10); the inner tube (42) is mounted on the mechanical arm (10) outside the driving stud (41); the driving stud (41) drives a coaxial sleeve (42) to move through the push rod (44) ) outside the outer cylinder (43), and the outer cylinder (43) reciprocates along the axis direction of the first connecting section (31); the top end of the first connecting section (31) is connected to the bottom end of the inner cylinder (42); a guide groove (421) extending along the axis of the inner cylinder (42) is provided on the side wall corresponding to the diameter line of the inner cylinder (42); the push rod (44) passes through the guide groove (421) and is connected to the outer cylinder (43), and a screw hole matching the driving stud (41) is provided in the middle of the push rod (44).

2. According to claim 1, an expansion joint robot, It is characterized in that The pushing rod (44) is generally in a round shape.

3. According to claim 2, an expansion joint robot, It is characterized in that The second connecting section (32) is in the form of a table-like structure that is smaller at the top and larger at the bottom; the inner wall of the outer cylinder (43) matches the outer side surface of the second connecting section (32).

4. An expansion joint robot according to claim 3, It is characterized in that The second connecting section (32) is in the shape of a prism as a whole.

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