Mechanical hand for manufacturing pipe piles

Abstract

The application discloses a mechanical hand for manufacturing tubular pile, which comprises a mechanical arm and a grabbing device connected with the mechanical arm, the mechanical arm can drive the grabbing device to move vertically or rotate around the vertical direction; the grabbing device comprises a first supporting seat connected with the mechanical arm, a vertical driving mechanism, a second supporting seat, a turnover driving mechanism, a connecting seat, a rotating driving mechanism, a chassis and a grabbing mechanism; the second supporting seat is slidingly connected with the first supporting seat along the vertical direction, and the vertical driving mechanism drives the second supporting seat to slide along the vertical direction; the connecting seat is rotationally connected with the second supporting seat around the direction perpendicular to the vertical direction, and the turnover driving mechanism drives the connecting seat to rotate; the chassis is rotationally connected with the connecting seat, and the rotation axis of the chassis and the connecting seat is perpendicular to the rotation axis of the connecting seat and the second supporting seat; the rotating driving mechanism drives the chassis to rotate; and the grabbing mechanism is fixed on the chassis and grabs the workpiece. The application can reduce the labor intensity of human operation, improve the production efficiency and ensure the safety.

Description

Technical Field

[0001] This invention relates to the field of pipe pile manufacturing technology, and in particular to a robotic arm for pipe pile manufacturing. Background Technology

[0002] A reinforcing cage is a cage-like steel structure composed of multiple main reinforcing bars and stirrups fixed to them. It is one of the important basic components in the manufacture of pipe piles. After the pre-fabricated reinforcing cage is hoisted into the pipe mold, the mixed concrete is evenly distributed into the mold according to regulations. After the mold is closed, it undergoes tensioning, centrifugation, steam curing, and demolding processes. Once it passes inspection, the production of one pipe pile is complete. Due to inherent defects such as the long length of the reinforcing cage, the low stiffness of individual reinforcing bars, uneven stress distribution of longitudinal bars, and the variety of reinforcing bar specifications, it is difficult to automate the assembly of reinforcing cages. Currently, it mainly relies on manual assembly. However, these reinforcing cage components are large in size and weight, making assembly very troublesome. Manual assembly is labor-intensive, has low production efficiency, and does not guarantee worker safety. Summary of the Invention

[0003] This invention provides a robotic arm for manufacturing pipe piles, which can reduce the labor intensity of manual operations, improve production efficiency, and ensure safety.

[0004] To solve the above problems, the present invention adopts the following technical solution:

[0005] An embodiment of the present invention provides a robotic arm for manufacturing pipe piles, including a robotic arm and a gripping device connected to the robotic arm. The robotic arm can drive the gripping device to move vertically and can also drive the gripping device to rotate about the vertical direction. The gripping device includes a first support base connected to the robotic arm, a vertical drive mechanism, a second support base, a flipping drive mechanism, a connecting seat, a rotating drive mechanism, a base frame, and a gripping mechanism. The second support base is disposed below the first support base and is slidably connected to the first support base in the vertical direction. The vertical drive mechanism is disposed on the first support base and connected to the second support base. A driving mechanism is used to drive the second support seat to slide vertically; the connecting seat and the second support seat are rotatably connected about a direction perpendicular to the vertical; the flipping driving mechanism is disposed on the second support seat and connected to the connecting seat, and the flipping driving mechanism is used to drive the connecting seat to rotate; the base frame is disposed below the connecting seat and rotatably connected to the connecting seat, and the rotation axis of the base frame and the connecting seat is perpendicular to the rotation axis of the connecting seat and the second support seat; the rotation driving mechanism is disposed on the connecting seat and connected to the base frame, and the rotation driving mechanism is used to drive the base frame to rotate; the gripping mechanism is fixed on the base frame and used to grip the workpiece.

[0006] In some embodiments, a first connecting arm and a second connecting arm are fixed to the side of the second support and the side of the connecting seat, respectively; the flipping drive mechanism includes a flipping cylinder, the flipping cylinder is rotatably connected to the first connecting arm, the push rod of the flipping cylinder is rotatably connected to the second connecting arm, and the rotation axis of the flipping cylinder and the first connecting arm, the rotation axis of the push rod of the flipping cylinder and the second connecting arm, and the rotation axis of the connecting seat and the second support are all arranged parallel to each other.

[0007] In some embodiments, a rotating shaft extending vertically is fixed on the base frame, the rotating shaft passes through the connecting seat and is rotatably connected to the connecting seat; the rotating drive mechanism includes a drive box fixed on the top surface of the connecting seat, a worm gear disposed in the drive box, a worm gear rotatably connected to the drive box and engaging with the worm gear transmission, and a rotating drive structure connected to the worm gear, the rotating shaft extending into the drive box and coaxially connected to the worm gear.

[0008] In some embodiments, the gripping mechanism includes a gripping drive mechanism and two grippers connected to the gripping drive mechanism, the gripping drive mechanism being used to drive the two grippers closer to or further away from each other.

[0009] In some embodiments, two gripping drive mechanisms are provided and each is connected to a gripper. The gripping drive mechanism includes a gripping cylinder and a linkage mechanism. The linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link. The third link is located below the base frame and is fixedly connected to the base frame. The third link includes a first transverse portion extending horizontally. The grippers are located below the third link and include a second transverse portion parallel to the first transverse portion. The gripping cylinder is rotatably connected to the base frame. The two ends of the first link are rotatably connected to the third link and the push rod of the gripping cylinder, respectively. The two ends of the second link are rotatably connected to the upper end of the fourth link and the push rod of the gripping cylinder, respectively. The middle and lower ends of the fourth link are rotatably connected to the first transverse portion and the second transverse portion, respectively. The two ends of the fifth link are rotatably connected to the first transverse portion and the second transverse portion, respectively. The plane where the rotation axes of the fifth link and the first and second transverse portions are located is parallel to the plane where the rotation axes of the fourth link and the first and second transverse portions are located, respectively.

[0010] In some embodiments, a protruding rod is provided at the bottom of the second transverse portion.

[0011] In some embodiments, the robotic arm includes a base, a support column, a support arm, a lifting seat, a lifting rod, a connecting rod seat, and a lifting drive mechanism. The support column is fixed to the top surface of the base and extends vertically. The support arm is rotatably connected to the support column. The lifting seat is rotatably connected to one end of the support arm. The rotation axes of the support arm and the support column, as well as the rotation axes of the lifting seat and the support arm, are parallel to the vertical direction. One end of the lifting rod is rotatably connected to the lifting seat, and the other end is connected to the connecting rod seat. The rotation axis of the lifting rod and the lifting seat is perpendicular to the vertical direction. The lifting drive mechanism is disposed on the lifting seat and connected to the lifting rod. The lifting drive mechanism is used to drive the lifting rod to rotate relative to the lifting seat. The connecting rod seat is connected to the first support seat.

[0012] In some embodiments, the end of the lifting rod away from the lifting seat is rotatably connected to the connecting rod seat, and the rotation axis of the lifting rod and the connecting rod seat is parallel to the rotation axis of the lifting rod and the lifting seat.

[0013] In some embodiments, two lifting rods are provided, the two lifting rods are parallel to each other, the two lifting rods are respectively located on the same vertical plane with the rotation axis of the lifting seat, and the two lifting rods are respectively located on the same vertical plane with the rotation axis of the connecting rod seat.

[0014] In some embodiments, the lifting drive mechanism includes a lifting cylinder, the tail end of which is rotatably connected to a lifting seat, and the push rod of the lifting cylinder is rotatably connected to a lifting rod. The rotation axis of the tail end of the lifting cylinder and the lifting seat, and the rotation axis of the push rod of the lifting cylinder and the lifting rod are both parallel to the rotation axis of the lifting rod and the lifting seat.

[0015] The present invention has at least the following beneficial effects: the vertical drive mechanism of the gripping device can drive the second support to slide vertically, thereby moving the gripping mechanism vertically and adjusting its height; the flip drive mechanism can drive the connecting seat to rotate, allowing the gripping mechanism to rotate around a direction perpendicular to the vertical, thus adjusting its angle; the rotation drive mechanism can drive the base frame to rotate on another plane, correspondingly driving the gripping mechanism to rotate on another plane, thereby adjusting its angle in another dimension. This allows for multi-dimensional movement of the gripping mechanism, making the entire gripping device more flexible and enabling precise gripping of workpieces or alignment of the workpiece with the installation position; after the gripping device grips the workpiece, the robotic arm can drive the gripping device to move vertically or rotate around the vertical direction to transfer the gripped workpiece to the vicinity of the installation position; therefore, the robotic arm of the present invention replaces some manual labor, reducing the labor intensity of manual labor, improving production efficiency, and ensuring operational safety. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the structure of a manipulator for manufacturing pipe piles according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the gripping device according to an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of the first support base, the vertical drive mechanism, and the second support base according to an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the gripping device according to an embodiment of the present invention from another perspective;

[0020] Figure 5 This is a cross-sectional view of the gripping device according to an embodiment of the present invention in a side view.

[0021] Figure 6 This is a schematic diagram of the base frame and gripping mechanism according to an embodiment of the present invention;

[0022] Figure 7 This is a schematic diagram of the gripping device according to an embodiment of the present invention in a certain usage state;

[0023] Figure 8 This is a schematic diagram of the gripping device according to an embodiment of the present invention when gripping a workpiece;

[0024] Figure 9 This is a schematic diagram of the gripping mechanism according to another embodiment of the present invention;

[0025] Figure 10 This is a schematic diagram of the gripping mechanism according to another embodiment of the present invention when gripping a workpiece;

[0026] Figure 11 This is a schematic diagram of the structure of a robotic arm according to an embodiment of the present invention;

[0027] Figure 12 This is a cross-sectional schematic diagram of a support column, a support arm, and a lifting rotating rod according to an embodiment of the present invention;

[0028] Figure 13 This is a schematic diagram of the structure of a support arm, a lifting rotating rod, a lifting seat, a lifting rod, a connecting rod seat, and a lifting drive mechanism according to an embodiment of the present invention;

[0029] Figure 14 This is a top view schematic diagram of a manipulator for manufacturing pipe piles according to an embodiment of the present invention during operation.

[0030] The attached figures are labeled as follows:

[0031] Workpiece 10, robotic arm 20, gripping device 30;

[0032] Base 100, support column 110, locking nut 120, cover plate 130;

[0033] Support arm 200, support through hole 201, first connecting block 210, second connecting block 220, lifting rotating rod 230;

[0034] Lifting seat 300, first lifting seat 310, second lifting seat 320, intermediate connecting rod 330;

[0035] Lifting rod 400, connecting rod seat 410;

[0036] Lifting drive mechanism 500, lifting cylinder 510;

[0037] First support base 610, guide rod 611, second support base 620, first connecting arm 621, vertical drive mechanism 630, vertical drive cylinder 631, tilting drive mechanism 640, tilting cylinder 641;

[0038] Connecting seat 710, second connecting arm 711, rotation drive mechanism 720, drive box 721, worm gear 722, worm 723, worm handwheel 724, motor 725;

[0039] Base frame 800, rotating shaft 810;

[0040] The gripping mechanism 900, gripping cylinder 910, gripper 920, second transverse part 921, protruding rod 922, slot 923, linkage mechanism 930, first link 931, second link 932, third link 933, fourth link 934, fifth link 935, and first transverse part 936. Detailed Implementation

[0041] The present invention is provided below with reference to the accompanying drawings to aid in a full understanding of the various embodiments of the invention as defined by the claims and their equivalents. The description includes various specific details to aid understanding, but these details should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the various embodiments described herein without departing from the scope and spirit of the invention.

[0042] In the description of this invention, the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0043] It should be understood that when one element (e.g., the first element) is “connected” to another element (e.g., the second element), the element may be directly connected to the other element, or there may be an intervening element (e.g., the third element) between the element and the other element.

[0044] Embodiments of the present invention provide a robotic arm for manufacturing pipe piles, such as... Figure 1 As shown, the device includes a robotic arm 20 and a gripping device 30 connected to the robotic arm 20. The robotic arm 20 can drive the gripping device 30 to move in the vertical direction and can also drive the gripping device 30 to rotate around the vertical direction, thereby moving the gripping device 30 and moving the workpiece gripped by the gripping device 30 to a designated position.

[0045] like Figure 2-8As shown, the gripping device specifically includes a first support base 610, a vertical drive mechanism 630, a second support base 620, a flipping drive mechanism 640, a connecting base 710, a rotation drive mechanism 720, a base frame 800, and a gripping mechanism 900. The first support base 610 is connected to the robotic arm so that the robotic arm can drive the first support base 610 to move. The second support base 620 is located below the first support base 610 and is slidably connected to the first support base 610 in the vertical direction. The vertical drive mechanism 630 is located on the first support base 610 and is connected to the second support base 620. The vertical drive mechanism 630 is used to drive the second support base 620 to slide in the vertical direction, so that the height of the second support base 620 can be adjusted in the vertical direction. The connecting seat 710 and the second support seat 620 are rotatably connected about a direction perpendicular to the vertical. That is, the rotation axes of the connecting seat 710 and the second support seat 620 are perpendicular to the vertical direction. For ease of subsequent reference and explanation, the direction corresponding to the rotation axes of the connecting seat 710 and the second support seat 620 can be transverse. A tilting drive mechanism 640 is mounted on the second support seat 620 and connected to the connecting seat 710. The tilting drive mechanism 640 drives the connecting seat 710 to rotate, allowing the connecting seat 710 to rotate about a horizontal direction. A base frame 800 is located below the connecting seat 710 and rotatably connected to it. The rotation axes of the base frame 800 and the connecting seat 710 are perpendicular to the rotation axes of the connecting seat 710 and the second support seat 620. For ease of subsequent reference and explanation, the direction corresponding to the rotation axes of the base frame 800 and the connecting seat 710 can be longitudinal. The aforementioned longitudinal, transverse, and vertical directions are perpendicular to each other. A rotation drive mechanism 720 is mounted on the connecting seat 710 and connected to the base frame 800. The rotation drive mechanism 720 drives the base frame 800 to rotate, thereby allowing the base frame 800 to rotate longitudinally. A gripping mechanism 900 is fixed to the base frame 800 and is used to grip the workpiece 10. When the vertical drive mechanism 630 drives the second support seat 620 to slide vertically, the gripping mechanism 900 also moves vertically accordingly to adjust the height of the gripping mechanism 900. When the flipping drive mechanism 640 drives the connecting seat 710 to rotate, the gripping mechanism 900 can rotate laterally. When the rotation drive mechanism 720 drives the base frame 800 to rotate, the gripping mechanism 900 can rotate longitudinally. Therefore, the gripping mechanism 900 in this embodiment can move in multiple dimensions, making the entire gripping device more flexible and able to accurately grip the workpiece 10 or align the workpiece 10 with the installation position. After the gripping device grips the workpiece 10, the robotic arm can drive the gripping device to move vertically or rotate around the vertical direction to transfer the gripped workpiece to the vicinity of the installation position. Therefore, the robotic arm in this embodiment replaces some manual operations, which can reduce the labor intensity of manual operations, improve production efficiency, and ensure the safety of operations.

[0046] In some embodiments, the second support 620 is provided with a plurality of guide rods 611 extending in the vertical direction, and the first support 610 is provided with guide holes adapted to the guide rods 611. The guide rods 611 are inserted into the guide holes and can slide along the guide holes, thereby realizing the sliding connection between the second support 620 and the first support 610 in the vertical direction. The cooperation between the guide rods 611 and the guide holes guides the movement of the second support 620, ensuring that the second support 620 slides relative to the first support 610 in the vertical direction.

[0047] Furthermore, the vertical drive mechanism 630 may include a vertical drive cylinder 631, which is arranged vertically and fixed on the first support 610. The push rod of the vertical drive cylinder 631 is connected to the second support 620 to push the second support 620 to slide vertically relative to the first support 610.

[0048] In some embodiments, a first connecting arm 621 and a second connecting arm 711 are fixed to the side of the second support 620 and the side of the connecting seat 710, respectively. The tilting drive mechanism 640 includes a tilting cylinder 641, which is rotatably connected to the first connecting arm 621. The push rod of the tilting cylinder 641 is rotatably connected to the second connecting arm 711. The rotation axes of the tilting cylinder 641 and the first connecting arm 621, the push rod of the tilting cylinder 641 and the second connecting arm 711, and the connecting seat 710 and the second support 620 are all parallel. When the push rod of the tilting cylinder 641 extends or retracts, the distance between the push rod of the tilting cylinder 641 and the rotation axis of the second connecting arm 711 and the rotation axis of the tilting cylinder 641 and the first connecting arm 621 changes, thereby causing the second connecting arm 711 to drive the connecting seat 710 to rotate relative to the second support 620. Figure 7 and Figure 8 As shown, the connecting seat can be rotated to a horizontal position, so that the gripping mechanism 900 is also in a horizontal position, thus gripping the horizontally oriented workpiece 10, such as a movable head plate whose axis is parallel to the horizontal direction.

[0049] In some embodiments, a rotating shaft 810 extending vertically is fixed on the base frame 800. A through hole extending vertically through the bottom surface of the connecting seat 710 is provided. The rotating shaft 810 passes through the through hole and can rotate within it, thereby achieving a rotatable connection between the base frame 800 and the connecting seat 710. The rotation drive mechanism 720 includes a drive box 721 fixed to the top surface of the connecting seat 710, a worm gear 722 disposed within the drive box 721, a worm 723 rotatably connected to the drive box 721 and engaging with the worm gear 722, and a rotation drive structure connected to the worm gear 723. The rotating shaft 810 extends into the drive box 721 and is coaxially connected to the worm gear 722. The rotation drive structure can drive the worm gear 723 to rotate, which in turn drives the worm gear 722 to rotate, thereby causing the base frame 800 to rotate relative to the connecting seat 710. The drive box 721 provides installation space for the worm gear 722 and the worm 723, while protecting the worm gear 722 inside, making it difficult for dust and other impurities to adhere to the worm gear 722 and the worm 723, thus ensuring the smooth rotation of the worm gear 722 and the worm 723.

[0050] Furthermore, the rotation drive structure includes a worm handwheel 724 coaxially connected to the worm 723, which allows the operator to manually rotate to adjust the angle of the base frame 800 relative to the second support seat 620.

[0051] In other embodiments, the rotation drive structure includes a motor 725 connected to a worm gear 723 to drive the worm gear 723 to rotate. Alternatively, the motor 725 and the worm gear handwheel 724 can be jointly mounted on a drive housing 721. A first gear is fitted onto the worm gear 723, and the end of the worm gear 723 is coaxially connected to the worm gear handwheel 724. A second gear is fitted onto the output shaft of the motor 725, and the second gear meshes with the first gear. Thus, both the motor 725 and the worm gear handwheel 724 can drive the worm gear 723 to rotate.

[0052] In some embodiments, the gripping mechanism 900 includes a gripping drive mechanism and two grippers 920 connected to the gripping drive mechanism. The gripping drive mechanism is used to drive the two grippers 920 to move closer to each other or further away from each other. The two grippers 920 can clamp the workpiece 10 or release the workpiece 10. Depending on the application scenario, the grippers 920 can clamp the workpiece 10 from the inside or clamp the workpiece 10 from the outside.

[0053] In some embodiments, two gripping drive mechanisms are provided and connected to two grippers 920 respectively. The two gripping drive mechanisms drive the two grippers 920 to move, so that the two grippers 920 move closer to each other or further away from each other. The gripping drive mechanism includes a gripping cylinder 910 and a linkage mechanism 930. The linkage mechanism 930 includes a first link 931, a second link 932, a third link 933, a fourth link 934, and a fifth link 935. The third link 933 is located below the base frame 800 and is fixedly connected to the base frame 800. The third link 933 includes a first transverse portion 936 extending horizontally. The grippers 920 are located below the third link 933, and the grippers 920 include a second transverse portion 921 arranged parallel to the first transverse portion 936, which also extends horizontally. The gripping cylinder 910 is rotatably connected to the base frame 800. The two ends of the first connecting rod 931 are rotatably connected to the third connecting rod 933 and the push rod of the gripping cylinder 910, respectively. The two ends of the second connecting rod 932 are rotatably connected to the upper end of the fourth connecting rod 934 and the push rod of the gripping cylinder 910, respectively. The middle and lower ends of the fourth connecting rod 934 are rotatably connected to the first transverse part 936 and the second transverse part 921, respectively. The two ends of the fifth connecting rod 935 are rotatably connected to the first transverse part 936 and the second transverse part 921, respectively. The plane in which the rotation axes of the fifth link 935 and the first transverse part 936 and the second transverse part 921 are located is parallel to the plane in which the rotation axes of the fourth link 934 and the first transverse part 936 and the second transverse part 921 are located. The plane in which the rotation axes of the fifth link 935 and the first transverse part 936 are located relative to the rotation axes of the second transverse part 921 is defined as the first plane. The plane in which the rotation axes of the fourth link 934 and the first transverse part 936 are located relative to the rotation axes of the second transverse part 921 is defined as the second plane. The first plane is parallel to the second plane, and the first transverse part 936 and the second transverse part 921 are parallel. Thus, the first transverse part 936, the second transverse part 921, the fifth link 935 and the fourth link 934 form a parallelogram layout, which constitutes a four-bar linkage.

[0054] When the push rod of the gripping cylinder 910 extends or retracts, it drives the upper end of the third link 933 to rotate, while the lower end of the third link 933 rotates in the opposite direction. The four-bar linkage formed by the first transverse part 936, the second transverse part 921, the fifth link 935, and the fourth link 934 correspondingly drives the first transverse part 936 to move horizontally. The two grippers 920 can then move closer or further apart along a horizontal square, ensuring that the grippers 920 always remain parallel. This ensures that the gripper surfaces are in close contact with the inner hole of the workpiece 10, ensuring smooth and safe gripping of the workpiece 10. When the angle between the first link 931 and the second link 932 is close to 180 degrees, i.e., at the dead point position, the gripping cylinder 910 provides a small driving force to generate a large gripping force in the third link 933, thereby stably clamping the workpiece 10.

[0055] Furthermore, a protruding shank 922 is provided at the bottom of the second transverse portion 921, which can easily extend into the opening on the workpiece 10. For example... Figure 7 and Figure 8 As shown, when the entire gripping mechanism is in a horizontal position, the protruding rod 922 can be inserted horizontally into the opening of the workpiece 10. The two gripping cylinders 910 drive the two grippers 920 to move away from each other, and the protruding rod 922 can then internally support and clamp the workpiece 10.

[0056] In some embodiments, such as Figure 9 and Figure 10 As shown, based on the above embodiments, this embodiment provides another gripping mechanism. The gripping drive mechanism of this gripping mechanism includes a gripping cylinder 910 and two linkage mechanisms 930. One end of each linkage mechanism 930 is connected to the push rod of the gripping cylinder 910, and the other end of each linkage mechanism 930 is connected to two grippers 920. When the push rod of the gripping cylinder 910 extends or retracts, it synchronously drives the two linkage mechanisms 930 to move, thereby causing the two grippers 920 to move closer or further apart. Because both linkage mechanisms 930 are connected to the same push rod of the gripping cylinder 910, the synchronization of the two linkage mechanisms 930 is higher, allowing for external clamping of the workpiece 10.

[0057] Furthermore, the inner surfaces of the two grippers 920 that are close to each other are provided with slots 923, and a part of the workpiece 10 can be embedded in the slots 923, making it difficult for the workpiece 10 to separate from the grippers 920. The grippers 920 can hold the workpiece 10 more stably, which is especially suitable for holding rod-shaped workpieces such as screws and reinforcing bars.

[0058] In some embodiments, such as Figure 11-13As shown, the robotic arm includes a base 100, a column 110, a support arm 200, a lifting seat 300, a lifting rod 400, a connecting rod seat 410, and a lifting drive mechanism 500. The column 110 is fixed to the top surface of the base 100 and extends vertically, providing support for the entire robotic arm. The support arm 200 is rotatably connected to the column 110; specifically, the middle portion of the support arm 200 is rotatably connected to the column 110, allowing both ends of the support arm 200 to rotate relative to the column 110. The lifting seat 300 is rotatably connected to one end of the support arm 200. The rotation axes of the support arm 200 and the column 110, as well as the rotation axes of the lifting seat 300 and the support arm 200, are parallel to the vertical direction. The support arm 200 and the lifting seat 300 can rotate on the same horizontal plane or on two parallel horizontal planes, allowing the lifting seat 300 to bend at a certain angle relative to the support arm 200. One end of the lifting rod 400 is rotatably connected to the lifting seat 300, and the other end is connected to the connecting rod seat 410. The rotation axes of the lifting rod 400 and the lifting seat 300 are perpendicular to the vertical direction. A lifting drive mechanism 500 is mounted on the lifting seat 300 and connected to the lifting rod 400. The lifting drive mechanism 500 drives the lifting rod 400 to rotate relative to the lifting seat 300, and correspondingly, the connecting rod seat 410 also rotates relative to the lifting seat 300. The connecting rod seat 410 is connected to the gripping device; when the connecting rod seat moves, the gripping device moves accordingly. When the support arm 200 rotates relative to the support column 110, the gripping device also rotates accordingly on the horizontal plane. Since the lifting seat 300 is rotatably connected to the support arm 200, the lifting seat 300 can bend at a certain angle relative to the support arm 200. This is equivalent to adjusting the distance of the gripping device from the support column 110 in the horizontal direction, thereby expanding the rotation range of the gripping device. At the same time, when the lifting drive mechanism 500 drives the lifting rod 400 to rotate relative to the lifting seat 300, the height of the gripping device can be changed. The working range of the entire robotic arm is larger, and it is easier to adjust the position of the gripping device to place it in a suitable assembly position.

[0059] In some embodiments, the end of the lifting rod 400 away from the lifting seat 300 is rotatably connected to the connecting rod seat 410. The rotation axis of the lifting rod 400 and the connecting rod seat 410 is parallel to the rotation axis of the lifting rod 400 and the lifting seat 300. The significance of this arrangement is that the gripping device connected to the connecting rod seat 410 can maintain a vertical orientation under the action of gravity, and the part gripped by the gripping device can always be located at the bottom of the gripping device, which facilitates the handling or assembly of the gripped workpiece.

[0060] Furthermore, two lifting rods 400 are provided, which are parallel to each other. The two lifting rods 400 are located on the same vertical plane as the rotation axis of the lifting seat 300, and on the same vertical plane as the rotation axis of the connecting rod seat 410. The two lifting rods 400 and the rotation axis of the lifting seat 300 and the connecting rod seat 410 respectively can form a parallelogram layout. The two lifting rods 400, the lifting seat 300 and the connecting rod seat 410 constitute a parallel four-bar linkage. When the lifting rods 400 rotate, the gripping device can stably maintain a vertical orientation and will not tilt due to the change of the center of gravity of the gripped part, thus improving the stability of the entire mechanism and ensuring the smooth progress of each installation process.

[0061] In some embodiments, the lifting drive mechanism 500 includes a lifting cylinder 510. The tail end of the lifting cylinder 510 is rotatably connected to the lifting seat 300. The push rod of the lifting cylinder 510 is rotatably connected to the lifting rod 400. The rotation axis of the lifting seat 300 and the rotation axis of the lifting rod 400 are both parallel to the rotation axis of the lifting rod 400 and the lifting seat 300. The lifting rod 400 can be rotated relative to the lifting seat 300 by the extension and retraction of the push rod of the lifting cylinder 510.

[0062] The lifting cylinder 510 can be located below the lifting rod 400. When there are two lifting rods 400, the push rod of the lifting cylinder 510 is rotatably connected to the lower lifting rod 400, which can increase the rotation range of the lifting rod 400 relative to the lifting seat 300.

[0063] In some embodiments, the support arm 200 is provided with a support through hole 201 that extends vertically through itself, the support column 110 passes through the support through hole 201, and a bearing is provided between the support column 110 and the support arm 200. The smoothness of the bearing allows the support column 110 to rotate smoothly in the support through hole 201. The bearing can be provided in the support through hole 201, the inner ring of the bearing is sleeved on the support column 110, and the support arm 200 is sleeved on the outer ring of the bearing.

[0064] Furthermore, a cover plate 130 is fitted onto the top of the support column 110. The cover plate 130 has a through hole through which the support column 110 passes. The cover plate 130 can move vertically relative to the support column 110. A locking nut 120 is threaded onto the top of the support column 110. The locking nut 120 is located above the cover plate 130, which is located above the support arm 200. After tightening the locking nut 120, the locking nut 120 presses the cover plate 130 tightly against the bearing. On the one hand, the cover plate 130 can prevent the support arm 200 from detaching from the support column 110. On the other hand, the cover plate 130 serves as a dustproof protection, making it difficult for dust and other impurities to enter the support through hole 201, thus preventing contamination of the bearing and ensuring its smooth operation.

[0065] In some embodiments, the robotic arm further includes a vertically extending lifting rotating rod 230. One end of the support arm 200 is fixed with a first connecting block 210 and a second connecting block 220. The first connecting block 210 is located above the second connecting block 220. The lifting rotating rod 230 is rotatably connected to both the first connecting block 210 and the second connecting block 220. A lifting seat 300 is sleeved on the lifting rotating rod 230. When the lifting rotating rod 230 rotates relative to the support arm 200, the lifting seat 300 also rotates relative to the support arm 200. The first connecting block 210 and the second connecting block 220 are spaced apart to provide sufficient installation space, facilitating the connection between the lifting seat 300 and the lifting rotating rod 230.

[0066] In some embodiments, the lifting seat 300 includes a first lifting seat 310, a second lifting seat 320, and an intermediate connecting rod 330. The first lifting seat 310 and the second lifting seat 320 are both sleeved on the lifting rotating rod 230. The first lifting seat 310 is located above the first connecting block 210, and the second lifting seat 320 is located above the second connecting block 220. The two ends of the intermediate connecting rod 330 are respectively connected to the first lifting seat 310 and the second lifting seat 320. The lifting rod 400 is rotatably connected to the first lifting seat 310. The lifting drive mechanism 500 is disposed on the second lifting seat 320. Thus, the first connecting block 210 and the second connecting block 220 respectively support the first lifting seat 310 and the second lifting seat 320 to share the pressure applied by the lifting seat 300, thereby stably supporting the lifting seat 300.

[0067] In some embodiments, such as Figure 2 and Figure 3 As shown, the first support seat 610 and the connecting rod seat 410 are rotatably connected in the vertical direction, which allows the initial angle of the first support seat 610 on the horizontal plane to further facilitate the gripping mechanism 900 in gripping the workpiece.

[0068] like Figure 14As shown, when the lifting seat 300 and the support arm 200 are aligned in a straight line, the angle α formed by the extension lines of the lifting seat 300 and the support arm 200 is zero degrees, and the distance from the gripping device to the support column 110 is R1. The gripping device can rotate at a position with a radius of R1. When the lifting seat 300 bends relative to the extension line of the support arm 200, the angle α formed by the extension lines of the lifting seat 300 and the support arm 200 is greater than zero degrees, and the distance from the gripping device to the support column 110 is shortened to R2. In this way, the gripping device can grip the workpiece closer to the support column 110, and thus the entire robotic arm has a larger range of motion.

[0069] The terms and words used in the foregoing description and claims are not limited to their literal meaning, but are merely used by the applicant to enable a clear and consistent understanding of the invention. Therefore, those skilled in the art will understand that the foregoing description of various embodiments of the invention is illustrative only and not intended to limit the invention as defined by the appended claims and their equivalents.

Claims

1. A robotic arm for manufacturing pipe piles, characterized in that: The system includes a robotic arm and a gripping device connected to the robotic arm. The robotic arm can drive the gripping device to move vertically and can also drive the gripping device to rotate about the vertical direction. The gripping device includes a first support base connected to the robotic arm, a vertical drive mechanism, a second support base, a flipping drive mechanism, a connecting base, a rotating drive mechanism, a base frame, and a gripping mechanism. The second support base is located below the first support base and is slidably connected to the first support base in the vertical direction. The vertical drive mechanism is located on the first support base and connected to the second support base. The vertical drive mechanism is used to drive the first support arm to move vertically and rotate about the vertical direction. The two support seats slide vertically; the connecting seat and the second support seat are rotatably connected about a direction perpendicular to the vertical; the flipping drive mechanism is mounted on the second support seat and connected to the connecting seat, and the flipping drive mechanism is used to drive the connecting seat to rotate; the base frame is mounted below the connecting seat and rotatably connected to the connecting seat, and the rotation axis of the base frame and the connecting seat is perpendicular to the rotation axis of the connecting seat and the second support seat; the rotation drive mechanism is mounted on the connecting seat and connected to the base frame, and the rotation drive mechanism is used to drive the base frame to rotate; the gripping mechanism is fixed on the base frame and used to grip the workpiece; The gripping mechanism includes a gripping drive mechanism and two grippers connected to the gripping drive mechanism. The gripping drive mechanism is used to drive the two grippers to move closer to each other or further away from each other. The gripping drive mechanism has two parts, each connected to a gripper. The gripping drive mechanism includes a gripping cylinder and a linkage mechanism. The linkage mechanism includes a first link, a second link, a third link, a fourth link, and a fifth link. The third link is located below the base frame and is fixedly connected to it. The third link includes a first transverse portion extending horizontally. The grippers are located below the third link and include a second transverse portion parallel to the first transverse portion. The gripping cylinder is rotatably connected to the base frame. The two ends of the first link are rotatably connected to the third link and the push rod of the gripping cylinder, respectively. The two ends of the second link are rotatably connected to the upper end of the fourth link and the push rod of the gripping cylinder, respectively. The middle and lower ends of the fourth link are rotatably connected to the first and second transverse portions, respectively. The two ends of the fifth link are rotatably connected to the first and second transverse portions, respectively. The plane where the rotation axes of the fifth link and the first and second transverse portions are located is parallel to the plane where the rotation axes of the fourth link and the first and second transverse portions are located, respectively.

2. The robotic arm for manufacturing pipe piles according to claim 1, characterized in that: The second support base and the connecting base are respectively fixed with a first connecting arm and a second connecting arm; the flipping drive mechanism includes a flipping cylinder, which is rotatably connected to the first connecting arm, and the push rod of the flipping cylinder is rotatably connected to the second connecting arm. The rotation axes of the flipping cylinder and the first connecting arm, the push rod of the flipping cylinder and the second connecting arm, and the connecting base and the second support base are all arranged parallel to each other.

3. The robotic arm for manufacturing pipe piles according to claim 1, characterized in that: A rotating shaft extending vertically is fixed on the base frame. The rotating shaft passes through the connecting seat and is rotatably connected to the connecting seat. The rotating drive mechanism includes a drive box fixed on the top surface of the connecting seat, a worm gear disposed in the drive box, a worm that is rotatably connected to the drive box and engages with the worm gear for transmission, and a rotating drive structure connected to the worm. The rotating shaft extends into the drive box and is coaxially connected to the worm gear.

4. The robotic arm for manufacturing pipe piles according to claim 1, characterized in that: The bottom of the second transverse portion is provided with a protruding rod.

5. The robotic arm for manufacturing pipe piles according to any one of claims 1-4, characterized in that: The robotic arm includes a base, a column, a support arm, a lifting seat, a lifting rod, a connecting rod seat, and a lifting drive mechanism. The column is fixed to the top surface of the base and extends vertically. The support arm is rotatably connected to the column, and the lifting seat is rotatably connected to one end of the support arm. The rotation axes of the support arm and the column, as well as the rotation axes of the lifting seat and the support arm, are parallel to the vertical direction. One end of the lifting rod is rotatably connected to the lifting seat, and the other end is connected to the connecting rod seat. The rotation axis of the lifting rod and the lifting seat is perpendicular to the vertical direction. The lifting drive mechanism is mounted on the lifting seat and connected to the lifting rod, and is used to drive the lifting rod to rotate relative to the lifting seat. The connecting rod seat is connected to the first support seat.

6. The robotic arm for manufacturing pipe piles according to claim 5, characterized in that: The end of the lifting rod away from the lifting seat is rotatably connected to the connecting rod seat, and the rotation axis of the lifting rod and the connecting rod seat is parallel to the rotation axis of the lifting rod and the lifting seat.

7. The robotic arm for manufacturing pipe piles according to claim 6, characterized in that: The lifting rod is provided in two parallel sections. The two lifting rods are located on the same vertical plane as the rotation axis of the lifting seat and the connecting rod seat.

8. The robotic arm for manufacturing pipe piles according to claim 5, characterized in that: The lifting drive mechanism includes a lifting cylinder, the tail end of which is rotatably connected to the lifting seat, and the push rod of the lifting cylinder is rotatably connected to the lifting rod. The rotation axis of the tail end of the lifting cylinder and the lifting seat, as well as the rotation axis of the push rod of the lifting cylinder and the lifting rod, are all parallel to the rotation axis of the lifting rod and the lifting seat.

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