Transposition robot for printing on a hose body

Abstract

The application discloses a transposition manipulator for printing on a hose body and particularly relates to the field of hose printing, which comprises a rotating column, the outer surface of the rotating column is provided with a positioning and clamping frame, four groups of sliding cavities are formed in the outer surface of the positioning and clamping frame, a pushing curved rod is slidably connected to the outer surface of the positioning and clamping frame through the four groups of sliding cavities, a small curved rod is hingedly connected to one end of the positioning and clamping frame in the sliding cavity, so that the small curved rod can avoid colliding with the surface when being deflected, the pushing curved rod is hingedly connected to the other end of the small curved rod, first hinge rods are hingedly connected to the two sides of the pushing curved rod, the pushing curved rod can only be deflected outward along the small curved rod, that is, the pushing curved rod is deflected along the small curved rod with the connection position between the small curved rod and the positioning and clamping frame as the center, the hose inner clamping block is opened outward, the hose inner clamping block is tightly attached to the hose after being opened, so that the hose of different diameters and types can be clamped, and the processing cost is saved.

Description

Technical Field

[0001] This invention relates to the field of flexible tube printing technology, and more specifically, to a transfer robot for printing on the body of a flexible tube. Background Technology

[0002] Hose printing is a printing process that utilizes the principle of indirect rubber roller rotation to print images. Currently, hose printing in China is carried out on an assembly line. Tin and lead raw materials are fed into the eight inlets, and the process involves hose punching, thread cutting, applying base color, printing images, drying, capping, filling and sealing, and finally packing. The use of robotic arms for processing facilitates the control of the rollers, rubber rollers and transmission components.

[0003] According to Chinese Patent No. CN106395364B, a pull head is fixedly connected to one end of a piston. The inner hole of the pull head is provided with a compression spring and a sliding shaft. One end of the sliding shaft is connected to the compression spring, and the other end is fixedly connected to a push head, thereby simplifying its operation. By changing the sequence of air connector switching, the pipe can be directly gripped and dispensing, improving work efficiency.

[0004] However, the above solution uses compression springs and sliding shafts to achieve the insertion and removal of the hose. Since there are many types of hose printing and different hose diameters, different push rollers need to be installed to push and grip the hose. The above solution does not clamp hoses of different diameters, so it has low practicality for hose production. Therefore, we propose a positioning robot for hose body printing. Summary of the Invention

[0005] To overcome the aforementioned deficiencies of the prior art, embodiments of the present invention provide a transposition robot for printing on a flexible tube body. By means of a pushing crank that is restricted by a small crank, the pushing crank can only bend outward along the small crank in this direction, that is, it deflects along the small crank about the connection point between the small crank and the positioning clamping frame as the center. The inner clamping block of the flexible tube opens outward, and after the inner clamping block of the flexible tube opens, it fits tightly against the inside of the flexible tube to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a manipulator for printing on the body of a flexible tube, comprising a rotating column, a positioning clamping frame inserted into the outer surface of the rotating column, and four sets of sliding cavities formed on the outer surface of the positioning clamping frame. A pushing crank is slidably connected to the outer surface of the positioning clamping frame through the four sets of sliding cavities. A small crank is hinged to one end of the positioning clamping frame located in the sliding cavity to avoid collision with the surface of the tube when it deflects. The pushing crank is hinged to the other end of the small crank, and first hinge rods are hinged to both sides of the pushing crank.

[0007] Two sets of small springs are fixedly connected to both sides of the push rod. A hose clamping block is fixedly connected between the two sets of small springs, and the hose clamping block has a cavity inside. When the hose clamping block is in the open state, the whole structure is tilted, so the inner wall of the hose will be in close contact with the hose clamping block. At this time, the inner wall of the hose will squeeze the outer surface of the hose clamping block. Multiple sets of friction rubber balls are fixedly connected to the top of the hose clamping block. An inner sliding frame is fixedly connected inside the cavity of the hose clamping block, and a limit block is fixedly connected to the top of the inner sliding frame. Two sets of positioning slide rails are fixedly connected inside the inner sliding frame, and springs are wound around the outer surface of the two sets of positioning slide rails. When the pressure column loses the pressure of the friction rubber balls, the springs return from the squeezed state to the normal state. The elasticity of the springs helps the pressure column quickly... Returning to its original position, a pressure column is fixedly connected to the inner wall of the hose clamping block, and stops are fixedly connected to both sides of the pressure column. The stops limit the position of the pressure column. The pressure column is set in a sliding state between two sets of positioning slide rails. When the hose clamping block and the inner wall of the hose re-fit, as the hose clamping block moves outward, the friction rubber ball moves downward under the reaction pressure of the inner wall of the hose. The friction rubber ball is pressed and drives the pressure column to slide downward along the positioning slide rail. A receiving rod is fixedly connected inside the inner sliding frame, and the pressure column and the receiving rod are set in an inserted state. The pressure column is equivalent to a socket, and the receiving rod is equivalent to a plug. When the pressure column and the receiving rod are inserted, they are energized. At this time, the current signal is transmitted to the PLC control terminal of the robot arm, indicating that the clamping force of the hose clamping block on the hose has reached the requirement.

[0008] In a preferred embodiment, an auxiliary spring is fixedly connected to the outer surface of the positioning clamping frame. The auxiliary spring limits the opening and closing degree of the clamping block inside the hose. The push rod is fixedly connected to one end of the auxiliary spring. A first fixing frame is inserted into one end of the rotating column. A forward and reverse motor is fixedly connected inside the first fixing frame. The rotating column is fixedly connected to the output end of the forward and reverse motor. The forward and reverse motor controls the opening and closing of the clamping block inside the hose by clockwise and counterclockwise rotation.

[0009] In a preferred embodiment, a fixing rod is fixedly connected to one end of the positioning clamping frame. The positioning clamping frame is fixedly installed at one end of the first fixed frame via the fixing rod. An external thread is provided at the end of the rotating column away from the positioning clamping frame. An internal thread sliding frame is connected to the outer surface of the rotating column via the external thread. The forward and reverse motor drives the rotating column to rotate clockwise in place. The internal thread sliding frame cannot rotate due to the fixation of the telescopic rod. Since the internal thread sliding frame and the rotating column are threadedly connected via the external thread, the internal thread sliding frame moves along the external thread along the surface of the rotating column toward one end of the first fixed frame.

[0010] In a preferred embodiment, a positioning hinge block is fixedly connected to the outer surface of the internal threaded sliding frame, and two sets of first hinge rods are hinged to both sides of the positioning hinge block. The first hinge rods are hinged to the outside of the push crank rod, and a telescopic rod is fixedly connected to the top of the internal threaded sliding frame. The telescopic rod is fixedly installed at one end of the first fixed frame.

[0011] In a preferred embodiment, a first gear is fixedly connected to the side of the rotating column away from the internal thread sliding frame. A second gear meshes with the outer surface of the first gear. An auxiliary rotating rod is fixedly connected to the inner cavity of the second gear. The auxiliary rotating rod is fixedly connected to one end of the first fixed frame, and the second gear is located above the first gear. It is noted that the sliding speed of the robot arm support frame is relatively fast, and the end of the tube wall clamping block facing the turntable is longer. That is, the length of the tube wall clamping block facing the turntable is longer than the clamping length of the inner clamping block of the hose, and it will not collide with the outer surface of the turntable, the mounting roller, and the placement cylinder.

[0012] In a preferred embodiment, a curved rotating block is fixedly connected to the end of the auxiliary rotating rod away from the first fixed frame. Hollow sliding blocks are fixedly connected to both sides of the curved rotating block, and a sliding channel is opened inside the hollow sliding block. According to the diameter of the hose, the operator manually pushes the inner sliding channel to slide to the specified position, and then manually rotates it to fix the outer surface. The position between them is fixed, and the clamping distance between them is positioned. The inside of the positioning slide is slidably connected to the pipe wall clamping block through the sliding channel. When the pipe wall clamping block is in close contact with the inner wall of the hose, the surface of the pipe wall clamping block faces one end of the slide rail frame, that is, the opening between the two sets of pipe wall clamping blocks faces one end of the slide rail frame. The curved rotating block rotates clockwise with the auxiliary rotating rod as the center.

[0013] In a preferred embodiment, a threaded hole is provided at the connection between the pipe wall clamping block and the positioning slide. One end of the pipe wall clamping block is connected to a positioning threaded rod through the threaded hole. One end of the first fixed frame is fixedly connected to a robot arm support frame. The bottom end of the robot arm support frame is slidably connected to a sliding positioning frame. The robot arm support frame slides inside the sliding positioning frame. Specifically, there is a conveyor inside the robot arm support frame and the sliding positioning frame. The robot arm support frame is fixedly installed on the conveyor belt of the conveyor.

[0014] In a preferred embodiment, the bottom end of the auxiliary rotating rod is provided with a slide rail frame, the outer surface of the slide rail frame is slidably connected to a conveyor belt, and the slide rail frame transports a flexible hose through the conveyor belt. The hollow sliding block is located above the conveyor belt, the flexible hose falls onto the surface of the conveyor belt, and the slide rail frame is transported to the other end of the processing line through the conveyor belt.

[0015] In a preferred embodiment, a turntable is provided at one end of the rotating column. Multiple sets of mounting rollers are inserted into the outer surface of the turntable, and the multiple sets of mounting rollers are arranged in a ring shape on the outer surface of the turntable. The same number of placement cylinders are inserted into the outer surface of the mounting rollers. A flexible tube with a through-hole is fitted onto the outer surface of the placement cylinder. The diameter of the placement cylinder can be customized according to the different diameters of the flexible tube. Half of the flexible tube is fitted onto the surface of the placement cylinder, and the other half is convenient for the clamping block inside the flexible tube to clamp it later. The placement cylinder rotates with the printing roller used in the printing technology while the turntable is rotating along the mounting roller.

[0016] In a preferred embodiment, a plug-in rotating rod is rotatably connected to the end of the turntable away from the mounting cylinder, and a motor is fixedly connected to one end of the turntable via the plug-in rotating rod. A second fixing frame is fixedly connected to the outer surface of the motor, and the motor rotates the turntable so that the flexible tube can be rotated smoothly for printing.

[0017] The technical effects and advantages of this invention are as follows:

[0018] 1. Due to the restriction of the small curved rod, the pushing curved rod can only bend outward along the small curved rod in this direction. That is, it deflects along the small curved rod about the connection between the small curved rod and the positioning clamping frame. The clamping block inside the hose opens outward and fits tightly inside the hose after opening. This enables clamping of hoses of different diameters and types, saving processing costs.

[0019] 2. The surface of the pipe wall clamping block is made of rubber, which cushions the weight of the contact hose. The hose falls onto the surface of the pipe wall clamping block. As the auxiliary rotating rod drives the pipe wall clamping block to deflect counterclockwise, the hose falls along the curved surface of the pipe wall clamping block onto the surface of the conveyor belt, thereby speeding up the efficiency of hose repositioning, replacing manual operation, and the operation is relatively simple. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the sliding positioning frame of the present invention.

[0021] Figure 2 This is a schematic diagram of the slide rail frame of the present invention.

[0022] Figure 3 For the present invention Figure 2 Enlarged view of the structure of part A.

[0023] Figure 4 For the present invention Figure 2 Enlarged view of the structure of part B.

[0024] Figure 5 This is a schematic diagram of the structure of the second fixing frame of the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of the robotic arm support frame of the present invention.

[0026] Figure 7 For the present invention Figure 6 Enlarged view of the C-section structure.

[0027] Figure 8 For the present invention Figure 6 Enlarged view of the structure of part D.

[0028] Figure 9 This is a schematic diagram of the structure of the hose clamping block of the present invention.

[0029] Figure 10 For the present invention Figure 9 Enlarged view of the E-section structure.

[0030] The attached figures are labeled as follows: 1. Sliding positioning frame; 2. Robotic arm support frame; 3. First fixed frame; 4. Rotating column; 5. First gear; 6. Internal threaded sliding frame; 7. Slide rail frame; 8. Conveyor belt; 9. Second fixed frame; 10. Turntable; 11. Mounting roller; 12. Placement cylinder; 13. Auxiliary rotating rod; 14. Positioning clamping frame; 15. Pushing crank; 16. Hose inner clamping block; 17. Auxiliary spring; 18. Small spring; 19. Sliding cavity; 20. External thread; 21. Telescopic rod; 22. First hinge rod; 23. Curved rotating wheel block; 24. Second gear; 25. Small crank; 26. Hollow sliding block; 27. Positioning slide rail; 28. Pipe wall clamping block; 29. ​​Positioning threaded rod; 30. Positioning hinge block; 31. Inner sliding frame; 32. Friction rubber ball; 33. Pressure column; 34. Positioning slide rail column; 35. Receiving rod. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] refer to Figure 3-10Example 1: A manipulator for printing on a flexible tube body includes a rotating column 4. A positioning clamp 14 is inserted into the outer surface of the rotating column 4, and four sets of sliding cavities 19 are formed on the outer surface of the positioning clamp 14. A pushing crank 15 is slidably connected to the outer surface of the positioning clamp 14 through the four sets of sliding cavities 19. A small crank 25 is hinged to one end of the positioning clamp 14 located in the sliding cavity 19. When the 19 prevents the 12 from deflecting, the 12 collides with the surfaces of 4 and 6. The pushing crank 15 is hinged to the other end of the small crank 25. First hinge rods 22 are hinged to both sides of the pushing crank 15. When the first hinge rods 22 exert a force on the pushing crank 15 towards the first fixed frame 3... The pushing crank 15 is restricted by the small crank 25. In this direction, the pushing crank 15 can only bend outward along the small crank 25, that is, it deflects along the small crank 25 about the connection between the small crank 25 and the positioning clamp 14. At this time, the hose clamping block 16 opens outward. The four sets of hose clamping blocks 16 are in the shape of open petals. This is to correspond to hoses of different diameters and to clamp the hoses according to the different internal diameters. When the first hinge rod 22 generates a pushing force on the pushing crank 15 towards one end of the turntable 10, the four sets of hose clamping blocks 16 are in a contracted state. At this time, the hose clamping blocks 16 no longer clamp the hose.

[0033] Two sets of small springs 18 are fixedly connected to both sides of the push crank 15. A hose clamping block 16 is fixedly connected between the two sets of small springs 18, and the hose clamping block 16 has a cavity inside. When the hose clamping block 16 is in the open state, it is tilted, so the inner wall of the hose will be in close contact with the hose clamping block 16. At this time, the inner wall of the hose will squeeze the outer surface of the hose clamping block 16. Multiple sets of friction rubber balls 32 are fixedly connected to the top of the hose clamping block 16. The friction rubber balls 32 are made of rubber and use their uneven surface to increase the friction with the inner wall of the hose, preventing the hose clamping block 16 from falling out of the hose. When the inner wall of the hose generates a reaction force on the hose clamping block 16, the hose clamping block 16 is subjected to The compression force is transmitted to the small spring 18. The small spring 18 uses its own characteristics to buffer the pressure on the hose clamping block 16, preventing the hose clamping block 16 from being damaged due to excessive bending angle. An inner sliding frame 31 is fixedly connected inside the cavity of the hose clamping block 16, and a limit block is fixedly connected to the top of the inner sliding frame 31. Two sets of positioning slide rails 34 are fixedly connected inside the inner sliding frame 31, and springs are wound around the outer surfaces of the two sets of positioning slide rails 34. When the pressure column 33 loses the pressure of the friction rubber ball 32, the spring returns from the compression state to the normal state. The elastic force of the spring helps the pressure column 33 quickly return to its original position. The inner wall of the hose clamping block 16 is fixedly connected to the pressure column 33, and stops are fixedly connected to both sides of the pressure column 33. Figure 10As shown, the stop block limits the position of the pressure column 33. The pressure column 33 is set in a sliding state between the two sets of positioning slide rail columns 34. When the hose clamping block 16 and the inner wall of the hose are in contact, as the hose clamping block 16 moves outward, the friction rubber ball 32 moves downward under the reaction pressure of the inner wall of the hose. The friction rubber ball 32 is pressed and drives the pressure column 33 to slide downward along the positioning slide rail column 34. The receiving rod 35 is fixedly connected inside the inner sliding frame 31, and the pressure column 33 and the receiving rod 35 are set in a plug-in state. The pressure column 33 is equivalent to a socket, and the receiving rod 35 is equivalent to a plug. When the pressure column 33 and the receiving rod 35 are plugged in, they are in an energized state. At this time, the current signal is transmitted to the PLC control terminal of the robot arm, indicating that the clamping force of the hose clamping block 16 on the hose has reached the requirement.

[0034] A positioning hinge block 30 is fixedly connected to the outer surface of the internally threaded sliding frame 6. Two sets of first hinge rods 22 are hinged to both sides of the positioning hinge block 30. The first hinge rods 22 are hinged to the outside of the pushing crank rod 15. A telescopic rod 21 is fixedly connected to the top of the internally threaded sliding frame 6. The telescopic rod 21 is fixedly installed at one end of the first fixed frame 3. An auxiliary spring 17 is fixedly connected to the outer surface of the positioning clamping frame 14. The auxiliary spring 17 limits the opening and closing degree of the clamping block 16 inside the hose. The pushing crank rod 15 is fixedly connected to one end of the auxiliary spring 17. One end of the rotating column 4 is inserted into a first fixing frame 3. A forward and reverse motor is fixedly connected inside the first fixing frame 3. The rotating column 4 is fixedly connected to the output end of the forward and reverse motor. The forward and reverse motor controls the opening and closing of the clamping block 16 inside the hose by clockwise and counterclockwise rotation. One end of the positioning clamping frame 14 is fixedly connected to a fixing rod. The positioning clamping frame 14 is fixedly installed at one end of the first fixing frame 3 by the fixing rod. The end of the rotating column 4 away from the positioning clamping frame 14 is provided with an external thread 20. The outer surface of the rotating column 4 is connected to an internal thread for sliding through the external thread 20. The internal thread sliding frame 6 is fixed by the telescopic rod 21 and cannot rotate. Since the internal thread sliding frame 6 and the rotating column 4 are connected by an external thread 20, the internal thread sliding frame 6 moves along the external thread 20 along the surface of the rotating column 4 toward one end of the first fixed frame 3. At the same time, the telescopic rod 21 is a telescopic structure and is in a retracted state. The internal thread sliding frame 6 is deflected by the positioning hinge block 30, which causes the first hinge rod 22 to deflect. 2. By generating a pulling force in the direction of the first fixed frame 3 on the pushing crank 15, the pushing crank 15 is restricted by the small crank 25. In this direction, the pushing crank 15 can only bend outward along the small crank 25, that is, it deflects along the small crank 25 about the connection between the small crank 25 and the positioning clamp 14. The hose clamping block 16 opens outward and fits tightly against the inside of the hose after opening. This enables clamping of hoses of different diameters and types, saving processing costs.

[0035] refer to Figure 2-8Example 2: A first gear 5 is fixedly connected to the side of the rotating column 4 away from the internal thread sliding frame 6. A second gear 24 meshes with the outer surface of the first gear 5. An auxiliary rotating rod 13 is fixedly connected to the inner cavity of the second gear 24. The auxiliary rotating rod 13 is fixedly connected to one end of the first fixed frame 3, and the second gear 24 is located above the first gear 5. When the rotating column 4 rotates, it rotates synchronously through the meshing of the first gear 5 and the second gear 24. When the forward and reverse motor rotates counterclockwise, the clamping block 16 inside the hose returns to its previous retracted state, and the internal thread... The sliding frame 6 moves to the other side via a thread, and the telescopic rod 21 changes from a retracted state to an extended state. This causes the hose and the hose inner clamping block 16 to no longer be tightly clamped. Meanwhile, the robotic arm support frame 2 slides in the opposite direction along the interior of the sliding positioning frame 1, causing the rotating column 4 to move away from the turntable 10. It should be noted that the sliding speed of the robotic arm support frame 2 is relatively fast, and the end of the hose wall clamping block 28 facing the turntable 10 is longer. That is, the length of the hose wall clamping block 28 at the end facing the turntable 10 is longer than the clamping length of the hose inner clamping block 16, and it will not interfere with the turntable. 10. When the outer surfaces of the mounting roller 11 and the placement cylinder 12 collide, the hose clamping block 16 moves quickly back to its original position along with the robotic arm support frame 2. The hose interior, having lost the clamping force of the hose clamping block 16, remains in place due to inertia from its previous stationary position or slides a short distance synchronously with the hose clamping block 16. Then, under gravity, it moves to the surface of the pipe wall clamping block 28. The distance between the pipe wall clamping blocks 28 is larger than that between the hose outer walls. This is so that when the hose falls, the curved rotating wheel block 23 deflects at a certain angle along with the pipe wall clamping block 28. The hose can still be held in place, and the distance between the inclined points of the pipe wall clamping blocks 28 is greater than the outer diameter of the hose, preventing the hose from falling and being damaged between the pipe wall clamping blocks 28. At the same time, the surface of the pipe wall clamping blocks 28 is made of rubber, which cushions the weight of the contact hose. If the hose falls onto the surface of the pipe wall clamping blocks 28, as the auxiliary rotating rod 13 drives the pipe wall clamping blocks 28 to deflect counterclockwise, the hose will fall along the curved surface of the pipe wall clamping blocks 28 onto the surface of the conveyor belt 8, thereby accelerating the efficiency of hose repositioning, replacing manual operation, and the operation is relatively simple.

[0036] A curved rotating block 23 is fixedly connected to the end of the auxiliary rotating rod 13 away from the first fixed frame 3. Hollow sliding blocks 26 are fixedly connected to both sides of the curved rotating block 23, and a sliding channel is opened inside the hollow sliding block 26. According to the diameter of the hose, the operator manually pushes 28 to slide in the sliding channel inside 27 to the specified position. Then, 29 is manually rotated and fixed to the outer surface of 27, so the position between 28 is fixed and the clamping distance between them is positioned. The positioning slide 27 is slidably connected to the pipe wall clamping block 28 through the sliding channel. When the hose clamping block 16 is in close contact with the inner wall of the hose, the surface of the pipe wall clamping block 28 faces one end of the slide rail frame 7, that is, the two sets of pipe wall clamps. The opening between the holding blocks 28 faces one end of the slide rail frame 7. The curved rotating wheel block 23 rotates 80 degrees clockwise with the auxiliary rotating rod 13 as the center. As the hose clamping block 16 tightens, the hose clamping block 16 moves in the direction of the robot arm support frame 2, while the curved rotating wheel block 23 moves to a position of 0 to 20 degrees or -20 degrees. At this time, the hose falls onto the surface of the hose clamping block 28. As the hose clamping block 16 tightens back to its original position, during this period, the first gear 5 continues to rotate with the auxiliary rotating rod 13 through the second gear 24. At this time, the hose clamping block 28 moves to a direction of 80 degrees counterclockwise with the auxiliary rotating rod 13 as the center. At this time, the hose falls onto the surface of the conveyor belt 8 due to the tilt.

[0037] A threaded hole is provided at the connection between the pipe wall clamping block 28 and the positioning slide 27. One end of the pipe wall clamping block 28 is connected to a positioning threaded rod 29 through the threaded hole. One end of the first fixed frame 3 is fixedly connected to a robot arm support frame 2. The bottom end of the robot arm support frame 2 is slidably connected to a sliding positioning frame 1. The robot arm support frame 2 slides inside the sliding positioning frame 1. Specifically, there is a conveyor inside the robot arm support frame 2 and the sliding positioning frame 1. The robot arm support frame 2 is fixedly installed on the conveyor belt of the conveyor. The robot arm support frame 2 slides through the conveyor belt. This is not an innovative technology. The conveyor is only for reference. It is only to allow the robot arm support frame 2 to slide inside the sliding positioning frame 1. It can also be replaced by a pulley or other transmission equipment. When the robot arm support frame 2 drives the first fixed frame 3 and the hose clamping block 16 to move into the inside of the hose, that is, the hose clamping block 16 is initially inserted into the hose.

[0038] refer to Figure 1-5Example 3: A plug-in rotating rod is rotatably connected to one end of the turntable 10 away from the mounting cylinder 12. A motor is fixedly connected to one end of the turntable 10 via the plug-in rotating rod. A second fixing frame 9 is fixedly connected to the outer surface of the motor. The motor drives the turntable 10 to rotate, so that the hose can rotate smoothly for printing. A slide rail frame 7 is provided at the bottom end of the auxiliary rotating rod 13. A conveyor belt 8 is slidably connected to the outer surface of the slide rail frame 7, and the slide rail frame 7 transports the hose through the conveyor belt 8. The hollow sliding block 26 is located above the conveyor belt 8. The hose falls onto the surface of the conveyor belt 8, and the slide rail frame 7 is transported to the other end of the processing line through the conveyor belt 8. One end of the 4 is provided with a turntable 10. Multiple sets of mounting rollers 11 are inserted into the outer surface of the turntable 10, and the multiple sets of mounting rollers 11 are arranged in a ring shape on the outer surface of the turntable 10. The same number of placement cylinders 12 are inserted into the outer surface of the mounting rollers 11. The outer surface of the placement cylinder 12 is fitted with a flexible tube with a through-hole inside. The diameter of the placement cylinder 12 can be customized according to the different diameters of the flexible tube. Thus, half of the flexible tube is fitted onto the surface of the placement cylinder 12, and the other half is convenient for the clamping block 16 inside the flexible tube to clamp it later. The placement cylinder 12 rotates with the printing roller used in the printing technology while the turntable 10 is rotating along the mounting rollers 11.

[0039] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0040] Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other.

[0041] In conclusion, the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm for printing on the body of a flexible tube, comprising a rotating column (4), characterized in that: The outer surface of the rotating column (4) is fitted with a positioning clamp (14), and the outer surface of the positioning clamp (14) is provided with four sets of sliding cavities (19). The outer surface of the positioning clamp (14) is slidably connected to a push crank (15) through the four sets of sliding cavities (19). A small crank (25) is hinged to one end of the positioning clamp (14) located in the sliding cavity (19), and the push crank (15) is hinged to the other end of the small crank (25). The two sides of the push crank (15) are hinged with first hinge rods (22). Two sets of small springs (18) are fixedly connected to both sides of the push crank (15). A hose clamping block (16) is fixedly connected between the two sets of small springs (18). The hose clamping block (16) has a cavity inside. Multiple sets of friction rubber balls (32) are fixedly connected to the top of the hose clamping block (16). An inner sliding frame (31) is fixedly connected inside the cavity of the hose clamping block (16). A limit block is fixedly connected to the top of the inner sliding frame (31). 1) Two sets of positioning slide rails (34) are fixedly connected inside. Springs are wound around the outer surfaces of the two sets of positioning slide rails (34). Pressure columns (33) are fixedly connected to the inner wall of the hose clamping block (16). Stops are fixedly connected to both sides of the pressure columns (33). The pressure columns (33) are set in a sliding state between the two sets of positioning slide rails (34). A receiving rod (35) is fixedly connected inside the inner sliding frame (31). The pressure columns (33) and the receiving rod (35) are set in an inserted state. The rotating column (4) is fixedly connected to a first gear (5) on the side away from the internal thread sliding frame (6). The outer surface of the first gear (5) is meshed with a second gear (24). An auxiliary rotating rod (13) is fixedly connected to the inner cavity of the second gear (24). The auxiliary rotating rod (13) is fixedly connected to one end of the first fixed frame (3), and the second gear (24) is located above the first gear (5). The auxiliary rotating rod (13) is fixedly connected to a curved rotating wheel block (23) at one end away from the first fixed frame (3). Hollow sliding blocks (26) are fixedly connected to both sides of the curved rotating wheel block (23). A sliding channel and a positioning channel (27) are provided inside the hollow sliding block (26). A pipe wall clamping block (28) is slidably connected inside the positioning channel (27) through the sliding channel. A threaded hole is provided at the connection between the pipe wall clamping block (28) and the positioning slide (27). One end of the pipe wall clamping block (28) is connected to a positioning threaded rod (29) through the threaded hole. One end of the first fixed frame (3) is fixedly connected to a robot arm support frame (2). The bottom end of the robot arm support frame (2) is slidably connected to a sliding positioning frame (1).

2. The robotic arm for printing on the body of a flexible tube according to claim 1, characterized in that: An auxiliary spring (17) is fixedly connected to the outer surface of the positioning clamp (14). The push crank (15) is fixedly connected to one end of the auxiliary spring (17). A first fixing frame (3) is inserted into one end of the rotating column (4). A forward and reverse motor is fixedly connected inside the first fixing frame (3). The rotating column (4) is fixedly connected to the output end of the forward and reverse motor.

3. The robotic arm for printing on the body of a flexible tube according to claim 2, characterized in that: One end of the positioning clamp (14) is fixedly connected to a fixing rod. The positioning clamp (14) is fixedly installed on one end of the first fixing frame (3) by the fixing rod. The end of the rotating column (4) away from the positioning clamp (14) is provided with an external thread (20). The outer surface of the rotating column (4) is connected to an internal thread sliding frame (6) by the external thread (20).

4. The robotic arm for printing on the body of a flexible tube according to claim 3, characterized in that: The outer surface of the internal threaded sliding frame (6) is fixedly connected to a positioning hinge block (30). Two sets of first hinge rods (22) are hinged on both sides of the positioning hinge block (30). The first hinge rods (22) are hinged to the outside of the push crank (15). The top of the internal threaded sliding frame (6) is fixedly connected to a telescopic rod (21). The telescopic rod (21) is fixedly installed at one end of the first fixed frame (3).

5. The robotic arm for printing on the body of a flexible tube according to claim 1, characterized in that: The bottom end of the auxiliary rotating rod (13) is provided with a slide rail frame (7), the outer surface of the slide rail frame (7) is slidably connected with a conveyor belt (8), and the slide rail frame (7) is transported by the conveyor belt (8) through the flexible hose, and the hollow sliding block (26) is located above the conveyor belt (8).

6. The robotic arm for printing on the body of a flexible tube according to claim 5, characterized in that: One end of the rotating column (4) is provided with a turntable (10), and multiple sets of mounting rollers (11) are inserted into the outer surface of the turntable (10). The multiple sets of mounting rollers (11) are arranged in a ring shape on the outer surface of the turntable (10), and the same number of mounting cylinders (12) are inserted into the outer surface of the mounting rollers (11).

7. A transpositioning robot for printing on a flexible tube body according to claim 6, characterized in that: The turntable (10) is rotatably connected to a plug-in rotating rod at one end away from the mounting cylinder (12). A motor is fixedly connected to one end of the turntable (10) via the plug-in rotating rod. A second fixing frame (9) is fixedly connected to the outer surface of the motor.

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