Intelligent mechanical hand device for plastic pipe processing

Abstract

The application relates to the technical field of mechanical hand equipment, and discloses an intelligent mechanical hand equipment for plastic pipe fitting machining. The intelligent mechanical hand equipment for plastic pipe fitting machining solves the problem of single function of the mechanical hand and the inconvenience of further improving the machining efficiency. The intelligent mechanical hand equipment for plastic pipe fitting machining is provided with a grabbing and clamping mechanism, a separation component, a rotating component and a fixing component. When in use, a motor A is used in cooperation with multiple groups of gears. A pipe fitting is preliminarily clamped through clamping plates A and B. Electromagnet A is electrified and the mechanical joint is adjusted. The clamping plate B is driven to move upwards by magnetic attraction. The pipe fitting is further clamped, and excessive pipe fittings are discharged. The pipe fittings are separated through the separation of the separation plate by extrusion. The hollow shell is retracted by the electric telescopic rod B, the top block is fixed to the inner wall of the pipe fitting, the motor B drives the supporting column to rotate to rotate the pipe fitting, and the infrared detector is used to complete the detection work. The purpose of stably clamping the pipe fitting and detecting the completeness of the pipe fitting is achieved.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent robotic arm for processing plastic pipe fittings. Background Technology

[0002] In modern industry, robotic arms serve as powerful assistants in the processing of plastic pipe fittings. They feature high precision, high speed, and high stability, enabling them to accurately grasp, transport, and place plastic pipe fittings, thereby improving production efficiency. Their flexible operation can adapt to the processing needs of pipe fittings of different specifications. These robotic arms also boast advantages such as high automation and ease of operation, significantly reducing the intensity of manual labor and providing the plastic pipe fittings processing industry with an efficient and reliable production solution.

[0003] The existing Chinese patent with publication number CN112775939A discloses a robotic arm device for transporting pipes, which belongs to the field of robotic arm technology. This invention solves the technical problem of unstable pipe clamping in existing robotic arms used for transporting pipes. The robotic arm device for transporting pipes includes a support plate, which is rectangular in shape. A support frame is located at the lower end of the support plate. A lead screw is horizontally arranged inside the support frame, and a drive mechanism is slidably mounted on the lead screw. The lower end of the drive mechanism is connected to a pipe sleeve. The lower end of the pipe sleeve has an adjustable opening. Two robotic arm components are symmetrically arranged inside the pipe sleeve and move through the middle of both sides of the sleeve. Two mounting seats are symmetrically arranged at the lower ends of both sides of the sleeve, with mounting plates at the lower ends of the mounting seats. Mounting holes are provided on the mounting plates, and locking rods are inserted into the mounting holes. The lower end of the support frame has movable wheels, achieving stable pipe clamping. However, the robotic arm is only used for stable clamping and handling of pipes, its function is too limited, and it cannot further improve the efficiency of plastic pipe production. Therefore, an intelligent robotic arm needs to be designed to detect the integrity of the pipes during handling and place them in different positions based on the detection results.

[0004] To address the aforementioned problems, an intelligent robotic arm for processing plastic pipe fittings is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent robotic arm device for processing plastic pipe fittings. By using this device, the problem of the robotic arm having a single function and being unable to further improve processing efficiency can be solved.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent robotic arm device for processing plastic pipe fittings, comprising a robotic arm body, a gripping mechanism for grasping and inspecting plastic pipe fittings is provided on one side of the robotic arm body, the gripping mechanism includes a second housing, a first housing is fixedly connected to one side of the second housing, a third housing is fixedly connected to the other side of the second housing, a fixing component for fixing the plastic pipe fittings is provided inside the second housing, a separating component for separating and inspecting the pipe fittings is also provided inside the second housing, and a rotating component for assisting inspection is provided inside the third housing;

[0007] The fixed components include a motor A fixedly connected to one side of the first housing. A rotating shaft A is fixedly connected to the output end of motor A. One end of the rotating shaft A passes through one side of the first housing and is rotatably connected to the inner wall of the first housing. A main gear is fixedly connected to the outer side of the rotating shaft A. A rotating rod A is also rotatably connected to the inner wall of the first housing. A secondary gear is fixedly connected to the outer side of the rotating rod A. The secondary gear meshes with the main gear. A rotating rod B is also rotatably connected to the inner wall of the first housing. One end of the rotating rod B passes through the first housing and the second housing and is rotatably connected to one side of the third housing. A driven gear is fixedly connected to the outer side of the rotating rod B. There are two sets of rotating rods B. The two sets of rotating rods B are symmetrically arranged and mesh with the main gear and the secondary gear, respectively. A clamping plate A is fixedly connected to the outer side of the rotating rod B. A compression groove is opened on one side of the clamping plate A. A spring A is fixedly connected to the inner wall of the compression groove. A clamping plate B is fixedly connected to one end of the spring A. A sliding clamping plate is slidably connected to one end of the clamping plate B. An inclined magnetic plate is fixedly connected to one side of the sliding clamping plate. The two sets of inclined magnetic plates attract each other and fit together.

[0008] Furthermore, an electromagnet A is installed inside the clamping plate A, a magnetic plate A is fixedly connected to the upper surface of the clamping plate B, a T-shaped block is fixedly connected to one side of the clamping plate B, a limiting groove is opened in the inner wall of the compression groove, the T-shaped block is slidably connected in the limiting groove, a side groove penetrating the clamping plate A is opened on one side of the clamping plate A, and absorbent cotton is fixedly connected to the upper surface of the clamping plate B and the sliding clamping plate.

[0009] Furthermore, the separating component includes a separating groove formed on the inner wall of the second housing. An inner plate is fixedly connected to the inner wall of the separating groove. There are four sets of the separating groove, which are arranged correspondingly. A rubber pad is fixedly connected between the inner plate and the separating groove. An airbag is provided inside the separating groove and is positioned above the rubber pad. A separating component for separating pipes is fixedly connected to one side of the airbag. The inner wall of the second housing also has an installation groove. An infrared detector is provided on the inner wall of the installation groove. There are four sets of the installation groove, which are arranged correspondingly to the separating groove.

[0010] Furthermore, the partition assembly includes a sleeve plate fixedly connected to one side of the airbag, the interior of the sleeve plate communicating with the interior of the airbag, a partition plate slidably connected to the bottom end of the sleeve plate, a rubber protrusion fixedly connected to the bottom surface of the partition plate, a sealing plate A fixedly connected to the upper surface of the partition plate, the sealing plate A fitting against the inner wall of the sleeve plate, a spring C fixedly connected to the inner wall of the sleeve plate, one end of the spring C fixedly connected to the upper surface of the sealing plate A, and a top ring fixedly connected to the inner wall of the sleeve plate, the top ring being positioned above the sealing plate A.

[0011] Furthermore, an electric telescopic rod A is provided inside the second housing. A baffle is fixedly connected to the extended end of the electric telescopic rod A. The baffle is correspondingly arranged with the side groove. A storage groove is opened on the bottom surface of the second housing, and the baffle is slidably connected inside the storage groove.

[0012] Furthermore, four sets of rotating components are provided. Each rotating component includes an electric telescopic rod B fixedly connected to one side of the third housing. The extended end of the electric telescopic rod B penetrates one side of the third housing and is fixedly connected to a hollow shell. The hollow shell penetrates the other side of the third housing. A motor B is fixedly connected to the inner wall of the third housing. A rotating shaft is fixedly connected to the output end of the motor B. One end of the rotating shaft penetrates one side of the hollow shell and is fixedly connected to a chassis. A support column is fixedly connected to one side of the chassis. The support column penetrates one side of the hollow shell and is rotatably connected inside the hollow shell. A retaining ring B is sleeved on the outer side of the chassis. The outer side of the retaining ring B fits against the inner wall of the hollow shell. A retaining ring A is engaged at the point where the core shell and the support column pass through. The inner wall of retaining ring A is in contact with the outer side of the support column. An exhaust chamber is provided inside the support column, and a connecting port B is provided on the outer side of the support column. The exhaust chamber communicates with the interior of the hollow shell through the connecting port B. A support ring is fixedly connected to the inner wall of the exhaust chamber. A spring B is fixedly connected to the upper surface of the support ring. A sealing plate B is fixedly connected to the upper surface of the spring B. The inner wall of the sealing plate B is in contact with the inner wall of the exhaust chamber. A top block is fixedly connected to the upper surface of the sealing plate B. A limit ring is fixedly connected to the inner wall of the exhaust chamber. The top block is located inside the limit ring. There are two sets of support rings, and the two sets of support rings are symmetrically arranged.

[0013] Furthermore, a magnetic plate B is fixedly connected to the upper surface of the top block, and a slot is opened inside the second housing. An electromagnet B is installed inside the slot. There are four sets of electromagnets B, and the magnetic plate B is correspondingly arranged with the electromagnet B.

[0014] Furthermore, the main body of the robotic arm includes a base, a turntable A is provided on the upper surface of the base, a column is fixedly connected to the upper surface of the turntable A, a motor A is fixedly connected to one side of the column, a drive shaft A is fixedly connected to the output end of the motor A, a robotic arm A is fixedly connected to the outside of the drive shaft A, a drive shaft B is fixedly connected to one side of the robotic arm A, a robotic arm B is fixedly connected to the outside of the drive shaft B, a mechanical joint is provided at one end of the robotic arm B, and one side of the mechanical joint is fixedly connected to the upper surface of the second housing.

[0015] Furthermore, a controller is fixedly connected to one side of the second housing. The controller is electrically connected to turntable A, motor A, motor B, mechanical joint, motor A, electromagnet A, electromagnet B, electric telescopic rod A, infrared detector, electric telescopic rod B, and motor B.

[0016] Furthermore, the controller is equipped with a multi-axis joint module that uses a robotic arm to control the position of the gripping mechanism. One end of the multi-axis joint module is connected to a mechanical clamping module for controlling the tension of the fixed components. The other end of the mechanical clamping module is connected to an integrity detection module for detecting the surface integrity of the pipe fitting. The integrity detection module includes an infrared signal acquisition module for detection. One end of the infrared signal acquisition module is connected to an information processing module for analyzing the detection information. One end of the information processing module is connected to an electromagnet control module for fixing the defective pipe fitting. The other end of the information processing module is connected to the mechanical clamping module. The integrity detection module also includes a rotation drive module that rotates the pipe fitting during detection.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] This invention proposes an intelligent robotic arm for processing plastic pipe fittings. Through the arrangement of a gripping mechanism, a separating component, a rotating component, and a fixing component, when gripping a plastic pipe fitting, motor A, in conjunction with a main gear, a secondary gear, and a driven gear, uses clamping plates A, B, and a sliding clamping plate to initially clamp the pipe fitting. Then, electromagnet A is energized and the mechanical joints are adjusted, causing electromagnet A and magnetic plate A to attract each other, moving clamping plate B upwards to further clamp the pipe fitting while expelling excess pipe fitting material. During clamping, a separating plate is ejected by compression to separate the pipe fitting. Subsequently, an electric telescopic rod B drives the hollow shell to retract, allowing the top block to support the inner wall of the pipe fitting. After fixing, motor B drives the support column to rotate, causing the pipe fitting to rotate. An infrared detector completes the detection work, achieving the goal of ensuring stable clamping of the pipe fitting while simultaneously detecting it during transport. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the main structure of the robotic arm of the present invention;

[0021] Figure 3 This is a schematic diagram of the gripping mechanism of the present invention;

[0022] Figure 4 This is a schematic diagram of the fixing component structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the internal structure of the second housing of the present invention;

[0024] Figure 6 For the present invention Figure 5 Enlarged view of point A;

[0025] Figure 7 This is a schematic diagram of the separator component structure of the present invention;

[0026] Figure 8 This is a schematic diagram of the third housing structure of the present invention;

[0027] Figure 9 This is a schematic diagram of the interior of the third housing of the present invention;

[0028] Figure 10 For the present invention Figure 9 Enlarged view of point B;

[0029] Figure 11 This is a schematic diagram of the module structure of the present invention.

[0030] In the diagram: 1. Main body of the robotic arm; 11. Base; 12. Turntable A; 13. Column; 14. Motor A; 15. Robotic arm A; 16. Motor B; 17. Robotic arm B; 18. Mechanical joint; 2. Gripping mechanism; 21. First housing; 22. Second housing; 221. Storage slot; 222. Electric telescopic rod A; 223. Baffle; 224. Empty slot; 225. Electromagnet B; 23. Third housing; 24. Dividing component 241. Divider groove; 242. Rubber pad; 243. Airbag; 244. Inner plate; 245. Infrared detector; 246. Mounting groove; 25. Divider assembly; 251. Sleeve plate; 252. Divider plate; 253. Rubber protrusion; 254. Top ring; 255. Sealing plate A; 256. Spring C; 26. Rotating component; 261. Electric telescopic rod B; 262. Hollow shell; 2621. Snap ring A; 263. Horse 2631. Rotating shaft; 264. Support column; 2641. Connecting port A; 2642. Exhaust chamber; 2643. Support ring; 2644. Spring B; 2645. Sealing plate B; 2646. Top block; 2647. Magnetic plate B; 2648. Limiting ring; 2649. Connecting port B; 265. Chassis; 2651. Snap ring B; 3. Fixing component; 31. Motor A; 32. Rotating shaft A; 321. Main gear; 33. Rotating rod A; 331. Secondary gear; 34. Rotating rod B; 341. Driven gear; 35. Clamping plate A; 351. Side groove; 352. Limiting groove; 36. Clamping plate B; 361. Sliding clamping plate; 3611. Inclined magnetic plate; 362. Absorbent cotton; 363. Magnetic plate A; 364. T-block; 37. Spring A; 38. Electromagnet A; 4. Controller; 5. Material frame A; 6. Material frame B; 61. Material trough A; 62. Material trough B. 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] To further understand the content of this invention, a detailed description of the invention will be provided in conjunction with the accompanying drawings.

[0033] Combination Figures 1-4 as well as Figure 8 A smart robotic arm device for processing plastic pipe fittings includes a robotic arm body 1. A gripping mechanism 2 for gripping and inspecting plastic pipe fittings is provided on one side of the robotic arm body 1. The gripping mechanism 2 includes a second housing 22. A first housing 21 is fixedly connected to one side of the second housing 22, and a third housing 23 is fixedly connected to the other side of the second housing 22. A fixing component 3 for fixing the plastic pipe fittings is provided inside the second housing 22. A separating component 24 for separating and inspecting the pipe fittings is also provided inside the second housing 22. A rotating component 26 for assisting in inspection is provided inside the third housing 23.

[0034] The fixing component 3 includes a motor A31 fixedly connected to one side of the first housing 21. A rotating shaft A32 is fixedly connected to the output end of the motor A31. One end of the rotating shaft A32 passes through one side of the first housing 21 and is rotatably connected to the inner wall of the first housing 21. A main gear 321 is fixedly connected to the outer side of the rotating shaft A32. A rotating rod A33 is also rotatably connected to the inner wall of the first housing 21. A secondary gear 331 is fixedly connected to the outer side of the rotating rod A33, and the secondary gear 331 meshes with the main gear 321. A rotating rod B34 is also rotatably connected to the inner wall of the first housing 21. One end of the rotating rod B34 passes through the first housing 21 and the second housing 22 and is rotatably connected to one side of the third housing 23. A driven gear 341 is fixedly connected to the outer side of the rotating rod B34. Two sets of rotating rods B34 are provided, and the two sets of rotating rods B34 are symmetrical. The rotating rod B34 is equipped with a clamping plate A35 that meshes with the main gear 321 and the auxiliary gear 331 respectively. A compression groove is opened on one side of the clamping plate A35, and a spring A37 is fixedly connected to the inner wall of the compression groove. A clamping plate B36 is fixedly connected to one end of the spring A37, and a sliding clamping plate 361 is slidably connected to one end of the clamping plate B36. An inclined magnetic plate 3611 is fixedly connected to one side of the sliding clamping plate 361. The two sets of inclined magnetic plates 3611 attract each other and fit together. When gripping the plastic pipe, the motor A31 is turned on to drive the rotating shaft A32 to rotate, which drives the main gear 321 and the auxiliary gear 331 to rotate, thereby driving the driven gear 341 to rotate and causing the clamping plate A35 to move closer to the center. The clamping plate B36 and the sliding clamping plate 361 cooperate with the clamping plate A35 to complete the initial clamping of the pipe.

[0035] The present invention will be further described below with reference to embodiments.

[0036] Please see Figures 1-11 An electromagnet A38 is installed inside clamping plate A35. A magnetic plate A363 is fixedly connected to the upper surface of clamping plate B36. A T-shaped block 364 is fixedly connected to one side of clamping plate B36. A limiting groove 352 is opened in the inner wall of the compression groove. The T-shaped block 364 is slidably connected inside the limiting groove 352. A side groove 351 penetrating clamping plate A35 is opened on one side of clamping plate A35. Water-absorbing cotton 362 is fixedly connected to the upper surface of clamping plate B36 and sliding clamping plate 361. After the initial clamping is completed, electromagnet A38 is energized. The electromagnet A38 and magnetic plate A363 attract each other, driving clamping plate B36 to move upward. The limiting effect of T-shaped block 364 and limiting groove 352 ensures that clamping plate B36 moves upward stably. During the upward movement of clamping plate B36, excess internal pipes are discharged through side groove 351, providing conditions for subsequent accurate testing. Water-absorbing cotton 362 is used to wipe away any water stains that may remain on the surface of the pipes.

[0037] The separating component 24 includes a separating groove 241 formed in the inner wall of the second housing 22. An inner plate 244 is fixedly connected to the inner wall of the separating groove 241. There are four sets of separating grooves 241, which are arranged correspondingly. A rubber pad 242 is fixedly connected between the inner plate 244 and the separating groove 241. An airbag 243 is disposed inside the separating groove 241 and is positioned above the rubber pad 242. A separating component 25 for separating pipe fittings is fixedly connected to one side of the airbag 243. An installation groove is also formed in the inner wall of the second housing 22. 246. An infrared detector 245 is provided on the inner wall of the mounting groove 246. There are four sets of mounting grooves 246, which are corresponding to the partition grooves 241. When clamping the pipe fittings, at most four pipe fittings are clamped. Under the action of clamping force, the pipe fittings compress the rubber pad 242 and deform, thereby squeezing the airbag 243 to blow the gas inside into the partition assembly 25, providing power for subsequent partitioning. At the same time, the infrared detector 245 in the mounting groove 246 is used to detect the integrity of the outer side of the pipe fittings.

[0038] The partition assembly 25 includes a sleeve 251 fixedly connected to one side of the airbag 243, the interior of the sleeve 251 communicating with the interior of the airbag 243, a partition plate 252 slidably connected to the bottom end of the sleeve 251, a rubber protrusion 253 fixedly connected to the bottom surface of the partition plate 252, a sealing plate A255 fixedly connected to the upper surface of the partition plate 252, the sealing plate A255 fitting against the inner wall of the sleeve 251, a spring C256 fixedly connected to the inner wall of the sleeve 251, one end of the spring C256 fixedly connected to the upper surface of the sealing plate A255, and a top ring also fixedly connected to the inner wall of the sleeve 251. 254. The top ring 254 is positioned above the sealing plate A255. When the airbag 243 is compressed, the gas inside the airbag 243 enters the sleeve 251, causing the sealing plate A255, the partition plate 252, and the rubber protrusion 253 to compress downwards. When the partition plate 252 and the rubber protrusion 253 extend out of the partition groove 241, they separate the pipes, thus limiting the accurate detection of each pipe in the future. The spring C256 plays an auxiliary role in resetting the sealing plate A255, and the top ring 254 limits the upward movement of the sealing plate A255.

[0039] The second housing 22 is equipped with an electric telescopic rod A222. A baffle 223 is fixedly connected to the extended end of the electric telescopic rod A222. The baffle 223 is correspondingly arranged with the side groove 351. A storage groove 221 is opened on the bottom surface of the second housing 22. The baffle 223 is slidably connected to the inside of the storage groove 221. When initially clamping the pipe, the baffle 223 retracts into the storage groove 221, which facilitates the discharge of excess pipe from the side groove 351. During subsequent testing, the baffle 223 extends under the action of the electric telescopic rod A222, which blocks the side groove 351 and prevents the pipe from leaking out.

[0040] The rotating components 26 are provided in four sets. Each rotating component 26 includes an electric telescopic rod B261 fixedly connected to one side of the third housing 23. The extended end of the electric telescopic rod B261 passes through one side of the third housing 23 and is fixedly connected to a hollow shell 262. The hollow shell 262 passes through the other side of the third housing 23. A motor B263 is fixedly connected to the inner wall of the third housing 23. A rotating shaft 2631 is fixedly connected to the output end of the motor B263. One end of the rotating shaft 2631 passes through one side of the hollow shell 262 and is fixedly connected to a chassis 265. A support column is fixedly connected to one side of the chassis 265. 264, a support column 264, which penetrates one side of the hollow shell 262 and is rotatably connected to the inside of the hollow shell 262. A retaining ring B2651 is sleeved on the outside of the chassis 265, and the outer side of the retaining ring B2651 fits against the inner wall of the hollow shell 262. A retaining ring A2621 is engaged at the penetration point between the hollow shell 262 and the support column 264, and the inner wall of the retaining ring A2621 fits against the outer side of the support column 264. An exhaust chamber 2642 is opened inside the support column 264, and a connecting port B2649 is opened on the outside of the support column 264. The exhaust chamber 2642 connects to the air vent through the connecting port B2649. The core shell 262 is internally connected. A support ring 2643 is fixedly connected to the inner wall of the exhaust chamber 2642. A spring B2644 is fixedly connected to the upper surface of the support ring 2643. A sealing plate B2645 is fixedly connected to the upper surface of the spring B2644. The inner wall of the sealing plate B2645 fits against the inner wall of the exhaust chamber 2642. A top block 2646 is fixedly connected to the upper surface of the sealing plate B2645. A limit ring 2648 is fixedly connected to the inner wall of the exhaust chamber 2642. The top block 2646 is disposed inside the limit ring 2648. Two sets of support rings 2643 are provided. The support rings 2643 are symmetrically arranged. When inspecting the pipe fitting, the electric telescopic rod B261 is activated to drive the hollow shell 262 to retract into the third shell 23. The hollow shell 262 and the chassis 265 compress the air, which is then forced into the exhaust chamber 2642 through the connecting port B2649. This forces the sealing plate B2645 towards the connecting port A2641. The top block 2646 and the inner plate of the pipe fitting provide a fixing effect. The spring B2644 is used to assist the sealing plate B2645 in resetting, and the limiting ring 2648 is used to ensure the smooth sliding of the top block 2646.

[0041] A magnetic plate B2647 is fixedly connected to the upper surface of the top block 2646. A slot 224 is opened inside the second housing 22, and an electromagnet B225 is installed inside the slot 224. There are four sets of electromagnets B225. The magnetic plate B2647 is arranged in correspondence with the electromagnets B225. When a defective pipe is detected, the electromagnets B225 are energized and attracted by the magnetic plate B2647 to fix the pipe, thus providing conditions for the subsequent placement of qualified and unqualified pipes.

[0042] The main body 1 of the robotic arm includes a base 11. A turntable A12 is provided on the upper surface of the base 11. A column 13 is fixedly connected to the upper surface of the turntable A12. A motor A14 is fixedly connected to one side of the column 13. A drive shaft A is fixedly connected to the output end of the motor A14. A robotic arm A15 is fixedly connected to the outside of the drive shaft A. A drive shaft B is fixedly connected to one side of the robotic arm A15. A robotic arm B17 is fixedly connected to the outside of the drive shaft B. A mechanical joint 18 is provided at one end of the robotic arm B17. One side of the mechanical joint 18 is fixedly connected to the upper surface of the second housing 22. When the robotic arm is in use, the position of the gripping mechanism 2 is adjusted by the cooperation of turntable A12, column 13, motor A14, robotic arm A15, motor B16, robotic arm B17 and mechanical joint 18. The gripping mechanism 2 is used to complete the gripping work. Before the inspection, the mechanical joint 18 drives the second housing 22 to rotate, so that the third housing 23 is tilted closer to the ground. Excess pipes fall down, and the pipes to be inspected are supported by the hollow shell 262. Then the inspection work is completed by correction, and the turntable A12 is used to turn and transport them.

[0043] A controller 4 is fixedly connected to one side of the second housing 22. The controller 4 is electrically connected to the turntable A12, motor A14, motor B16, mechanical joint 18, motor A31, electromagnet A38, electromagnet B225, electric telescopic rod A222, infrared detector 245, electric telescopic rod B261 and motor B263. The controller 4 facilitates the control of the entire operation process.

[0044] The controller 4 is internally equipped with a multi-axis joint module that controls the position of the gripping mechanism 2 using the main body of the robotic arm 1. One end of the multi-axis joint module is connected to a mechanical clamping module for controlling the tension of the fixing component 3. The other end of the mechanical clamping module is connected to an integrity detection module for detecting the integrity of the pipe surface. The integrity detection module includes an infrared signal acquisition module for detection. One end of the infrared signal acquisition module is connected to an information processing module for analyzing detection information. One end of the information processing module is connected to an electromagnet control module for fixing unqualified pipes. The other end of the information processing module is connected to the mechanical clamping module. The integrity detection module also includes a rotation drive module that rotates the pipe during detection.

[0045] Specifically, when gripping plastic pipe fittings, the gripping mechanism 2 is adjusted to the corresponding position of the material frame A5 through the cooperation of turntable A12, column 13, motor A14, robotic arm A15, motor B16, robotic arm B17, and mechanical joint 18. Motor A31 is activated to drive the rotating shaft A32 to rotate, which in turn drives the main gear 321 and auxiliary gear 331 to rotate, thereby driving the driven gear 341 to rotate, causing the clamping plate A35 to move towards the center. The clamping plate B36 and sliding clamping plate 361, in conjunction with clamping plate A35, complete the initial clamping of the pipe fitting. Then, the mechanical joint 18 is adjusted and the electromagnet A38 is energized, causing the second housing 22 to rotate, and the third housing 23... The tilt closer to the ground utilizes the mutual attraction between electromagnet A38 and magnetic plate A363 to move clamping plate B36 upward. T-block 364 and limiting groove 352 ensure stable upward movement of clamping plate B36. During the upward movement of clamping plate B36, excess internal pipes are discharged through side groove 351, and excess pipes fall down. The pipe to be tested is supported by hollow shell 262, and then corrected by mechanical joint 18. Under the action of clamping force, the pipe compresses the rubber pad 242, causing deformation. The air bladder 243 squeezes the gas inside into the sleeve plate 251, causing the sealing plate A255, partition plate 252 and rubber protrusion 253 to be compressed downward. When 252 and rubber protrusion 253 extend from the partition groove 241, they separate the pipe fittings, providing a limit for subsequent accurate testing of each pipe fitting. Spring C256 assists in resetting the sealing plate A255. Subsequently, the electric telescopic rod B261 is activated, causing the hollow shell 262 to retract into the third shell 23. The hollow shell 262 and the chassis 265 compress the air, forcing it through the connecting port B2649 into the exhaust chamber 2642, thus pushing the sealing plate B2645 towards the connecting port A2641. The top block 2646 and the internal plate of the pipe fitting provide a fixing effect, and the limiting ring 2648 ensures the smooth sliding of the top block 2646. Finally, the motor B263 drives the support column 264 to rotate, which in turn drives the pipe to rotate. At the same time, the infrared detector 245 in the mounting slot 246 performs an external integrity check on the pipe. When a defective pipe is detected, the corresponding electromagnet B225 is energized, attracting the magnetic plate B2647 and fixing the defective pipe. The turntable A12 rotates the pipe, and the qualified pipe is discharged from the fixed part 3 into the material trough A61 of the material frame B6. After the normal pipes are discharged, the electromagnet B225 is de-energized, and the defective pipes are placed in the material trough B62 of the material frame B6. This achieves the purpose of ensuring stable clamping of the pipe while checking the integrity of the pipe and classifying and placing it.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0047] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An intelligent robotic arm device for processing plastic pipe fittings, comprising a robotic arm body, characterized in that: The main body of the robotic arm is provided with a gripping mechanism for grasping and inspecting plastic pipe fittings on one side. The gripping mechanism includes a second housing, a first housing fixedly connected to one side of the second housing, and a third housing fixedly connected to the other side of the second housing. The second housing is provided with a fixing component for fixing the plastic pipe fittings, and a separating component for separating and inspecting the pipe fittings. The third housing is provided with a rotating component for assisting in the inspection. The fixed components include a motor A fixedly connected to one side of the first housing, a rotating shaft A fixedly connected to the output end of the motor A, one end of the rotating shaft A passing through one side of the first housing and rotatably connected to the inner wall of the first housing, a main gear fixedly connected to the outer side of the rotating shaft A, a rotating rod A rotatably connected to the inner wall of the first housing, a secondary gear fixedly connected to the outer side of the rotating rod A, the secondary gear meshing with the main gear, a rotating rod B rotatably connected to the inner wall of the first housing, one end of the rotating rod B passing through the first housing and the second housing and rotatably connected to one side of the third housing, a driven gear fixedly connected to the outer side of the rotating rod B, two sets of rotating rods B are provided, the two sets of rotating rods B are symmetrically arranged and meshing with the main gear and the secondary gear respectively, a clamping plate A fixedly connected to the outer side of the rotating rod B, a compression groove is opened on one side of the clamping plate A, a spring A fixedly connected to the inner wall of the compression groove, a clamping plate B fixedly connected to one end of the spring A, a sliding clamping plate slidably connected to one end of the clamping plate B, an inclined magnetic plate fixedly connected to one side of the sliding clamping plate, the two sets of inclined magnetic plates attract each other and fit together; An electromagnet A is installed inside the clamping plate A, and a magnetic plate A is fixedly connected to the upper surface of the clamping plate B. A side groove penetrating the clamping plate A is opened on one side of the clamping plate A. The separating component includes a separating groove opened in the inner wall of the second housing. An inner plate is fixedly connected to the inner wall of the separating groove. There are four sets of the separating groove, and the four sets of the separating groove are arranged correspondingly. A rubber pad is fixedly connected between the inner plate and the separating groove. An airbag is installed inside the separating groove. The airbag is positioned above the rubber pad. A separating component for separating pipes is fixedly connected to one side of the airbag. An installation groove is also opened in the inner wall of the second housing. An infrared detector is installed in the inner wall of the installation groove. There are four sets of the installation groove, and the four sets of the installation groove are arranged correspondingly to the separating groove. The partition component includes a sleeve plate fixedly connected to one side of the airbag, the inside of the sleeve plate communicating with the inside of the airbag, a partition plate slidably connected to the bottom end of the sleeve plate, an electric telescopic rod A is provided inside the second housing, a baffle is fixedly connected to the extended end of the electric telescopic rod A, the baffle is correspondingly set with the side groove, a storage groove is opened on the bottom surface of the second housing, and the baffle is slidably connected to the inside of the storage groove.

2. The intelligent robotic arm device for processing plastic pipe fittings according to claim 1, characterized in that: A T-shaped block is fixedly connected to one side of the clamping plate B. A limiting groove is opened on the inner wall of the compression groove. The T-shaped block is slidably connected inside the limiting groove. Water-absorbing cotton is fixedly connected to the upper surface of the clamping plate B and the sliding clamping plate.

3. The intelligent robotic arm device for processing plastic pipe fittings according to claim 1, characterized in that: A rubber protrusion is fixedly connected to the bottom surface of the partition plate, and a sealing plate A is fixedly connected to the upper surface of the partition plate. The sealing plate A is in contact with the inner wall of the sleeve plate. A spring C is fixedly connected to the inner wall of the sleeve plate. One end of the spring C is fixedly connected to the upper surface of the sealing plate A. A top ring is also fixedly connected to the inner wall of the sleeve plate. The top ring is located above the sealing plate A.

4. The intelligent robotic arm device for processing plastic pipe fittings according to claim 1, characterized in that: The rotating components are provided in four sets. Each rotating component includes an electric telescopic rod B fixedly connected to one side of the third housing. The extended end of the electric telescopic rod B penetrates one side of the third housing and is fixedly connected to a hollow shell. The hollow shell penetrates the other side of the third housing. A motor B is fixedly connected to the inner wall of the third housing. A rotating shaft is fixedly connected to the output end of the motor B. One end of the rotating shaft penetrates one side of the hollow shell and is fixedly connected to a chassis. A support column is fixedly connected to one side of the chassis. The support column penetrates one side of the hollow shell and is rotatably connected inside the hollow shell. A retaining ring B is sleeved on the outer side of the chassis. The outer side of the retaining ring B fits against the inner wall of the hollow shell. The hollow shell and... A retaining ring A is engaged at the through-hole of the support column. The inner wall of retaining ring A fits against the outer side of the support column. An exhaust chamber is opened inside the support column, and a connecting port B is opened on the outer side of the support column. The exhaust chamber communicates with the interior of the hollow shell through the connecting port B. A support ring is fixedly connected to the inner wall of the exhaust chamber. A spring B is fixedly connected to the upper surface of the support ring. A sealing plate B is fixedly connected to the upper surface of the spring B. The inner wall of the sealing plate B fits against the inner wall of the exhaust chamber. A top block is fixedly connected to the upper surface of the sealing plate B. A limit ring is fixedly connected to the inner wall of the exhaust chamber. The top block is located inside the limit ring. There are two sets of support rings, and the two sets of support rings are symmetrically arranged.

5. The intelligent robotic arm device for processing plastic pipe fittings according to claim 4, characterized in that: A magnetic plate B is fixedly connected to the upper surface of the top block. A slot is opened inside the second housing, and an electromagnet B is installed inside the slot. There are four sets of electromagnets B, and the magnetic plate B is arranged correspondingly to the electromagnet B.

6. The intelligent robotic arm device for processing plastic pipe fittings according to claim 1, characterized in that: The main body of the robotic arm includes a base, a turntable A is provided on the upper surface of the base, a column is fixedly connected to the upper surface of the turntable A, a motor A is fixedly connected to one side of the column, a drive shaft A is fixedly connected to the output end of the motor A, a robotic arm A is fixedly connected to the outside of the drive shaft A, a drive shaft B is fixedly connected to one side of the robotic arm A, a robotic arm B is fixedly connected to the outside of the drive shaft B, a mechanical joint is provided at one end of the robotic arm B, and one side of the mechanical joint is fixedly connected to the upper surface of the second housing.

7. The intelligent robotic arm device for processing plastic pipe fittings according to claim 1, characterized in that: A controller is fixedly connected to one side of the second housing. The controller is electrically connected to turntable A, motor A, motor B, mechanical joint, motor A, electromagnet A, electromagnet B, electric telescopic rod A, infrared detector, electric telescopic rod B, and motor B.

8. The intelligent robotic arm device for processing plastic pipe fittings according to claim 7, characterized in that: The controller is equipped with a multi-axis joint module that controls the position of the gripping mechanism using a robotic arm. One end of the multi-axis joint module is connected to a mechanical clamping module for controlling the tension of the fixed component. The other end of the mechanical clamping module is connected to an integrity detection module for detecting the surface integrity of the pipe fitting. The integrity detection module includes an infrared signal acquisition module for detection. One end of the infrared signal acquisition module is connected to an information processing module for analyzing the detection information. One end of the information processing module is connected to an electromagnet control module for fixing the defective pipe fitting. The other end of the information processing module is connected to the mechanical clamping module. The integrity detection module also includes a rotation drive module that rotates the pipe fitting during detection.

Images