Grabbing device of segment assembly machine

Abstract

The present disclosure provides a gripping device for a segment assembly machine, comprising a driving component, a cylinder assembly, a piston, a guide component and a centering component; the centering component comprises a centering main structure, a camera and a driving component; the centering main structure comprises an end cover, an assembly frame and a bottom cover and a plurality of claws and claw arms, the end cover is fixedly connected to a grab plate and a bottom cover, each claw is respectively connected to the centering main structure through a matching claw arm, the camera is mounted on the assembly frame and arranged facing the claw, in the process of the gripping head approaching the segment, the relative position relationship between the gripping head and the segment is identified according to the image collected by the camera, the assembly frame is driven by the driving component, the assembly frame is rotated around the axial direction of the centering main structure relative to the end cover and the bottom cover, and at the same time, the corresponding claws are driven to approach each other through each claw arm, and a space is formed between the claws for the gripping head to pass through and constrain its travel direction so that the gripping head and the segment are kept in center. The device has a simple structure and a high degree of automation in the centering process.

Description

Technical Field

[0001] The present disclosure relates to the technical field of pipe segment assembly machines, and in particular to a gripping device of a pipe segment assembly machine. Background Art

[0002] The gripping device has a wide range of applications, from bolt threading, workpiece gripping, and workpiece assembly to segment assembly. The gripping device is required to adjust the position of the end manipulator. A gripping device with a simple structure and automatic centering and automatic reset functions can improve the adjustment accuracy of the end manipulator. Most of the existing gripping devices do not have the automatic centering function, and the gripping devices with the centering function have a more complex structure. For example:

[0003] Invention patent application CN202211354828.8 discloses a gripping device, which includes an eccentric positioning mechanism and a gripping mechanism, the eccentric positioning mechanism includes a supporting component and a floating component, the gripping mechanism includes a gripping component and a triggering component, the gripping component includes a clamping claw and a gripping drive source, and the triggering component includes a triggering member and a triggering sensor. The gripping mechanism moves to the position where the workpiece is located. When the position of the workpiece is offset or the setting angle is tilted, after a triggering member abuts against the workpiece, the floating member is connected to the support member through a connecting member so that the connecting member can drive the floating member to float relative to the support member until other triggering members can abut against the workpiece, at which time all the triggering sensors of the triggering members are triggered. The gripping component of the patent application is connected to the floating member, and the gripping component floats synchronously with the floating member, so that the clamping claw is effectively aligned with the clamping position of the workpiece, and then the clamping claw is driven by the gripping drive source to perform a clamping movement to achieve stable clamping of the workpiece, effectively avoiding the clamping claw from damaging the workpiece. The patent application has a relatively complex structure and does not have the function of automatic reset.

[0004] Invention patent application CN201711251808.7 proposes a segment grabbing mechanism for a shield machine assembly machine, in which a grabbing plate of the segment grabbing mechanism for a shield machine assembly machine grabs a segment assembly head on a segment through a grabbing oil cylinder disposed at its center and a grabbing head connected to the cylinder rod of the grabbing oil cylinder. The cylinder rod of the grabbing oil cylinder of the grabbing mechanism is directly connected to the grabbing head, which does not have the function of automatic centering, and the force of the grabbing head is directly transmitted to the cylinder rod of the grabbing oil cylinder. If the grabbing head and the segment collide accidentally during the segment assembly process, the grabbing oil cylinder has a potential risk of damage.

[0005] Invention patent application CN202211344075.2 proposes a film arrangement machine and film arrangement method with a wider range of applications, wherein the gripping mechanism includes a gripping component, an adjusting component and a rotating component, wherein the rotating component is connected to the gripping component, and the adjusting component is connected to the gripping component, and the adjusting component is used to adjust the position of the gripping component to improve the clamping accuracy of the film arrangement machine. The film arrangement method is as follows: the adjusting component adjusts the gripping range of the gripping component, the driving mechanism drives the gripping mechanism to grip the lead frame and transfer it to the stacking mechanism, the rotating component rotates the gripping component, and then places the lead frame at the stacking mechanism, thereby improving the gripping accuracy of the film arrangement machine. The gripping mechanism has no passive degrees of freedom, and thus does not have the function of automatic centering.

[0006] Invention patent CN 202310296517.9 proposes a gripping mechanism, including a motor, a cylinder, a piston and a guide assembly. The piston reciprocates in the cylinder under the action of the motor and the guide assembly. The piston includes a piston body and a piston rod located therein. The two ends of the cylinder are respectively provided with cylinder covers for limiting the maximum distance and the minimum distance between the piston body and the object to be grasped. The piston rod includes a driving shaft, a cross slider coupling and a grasping head connected in sequence. The power output by the motor is transmitted to the grasping head through the driving shaft and the cross slider coupling in sequence, so that the grasping head is rotated in or out of the connection hole on the object to be grasped, so as to realize the grasping and releasing of the object to be grasped. The cross slider in the grasping mechanism structure is relatively complex, and it is difficult to process and assemble.

[0007] In addition, the centering processes of the above-mentioned gripping devices all have the disadvantage of low automation, and most of them need to rely on manual work to complete. Summary of the invention

[0008] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0009] To this end, the present disclosure provides a gripping device for a segment assembly machine, which has a simple structure, is easy to process and assemble, and has a high degree of automation in the centering process.

[0010] In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

[0011] The present disclosure provides a grabbing device for a pipe segment assembly machine, comprising: a driving assembly, a cylinder assembly, a piston, a guide assembly and a centering assembly; the piston reciprocates in the cylinder assembly under the action of the driving assembly and the guide assembly, the centering assembly and the cylinder assembly are respectively mounted on the upper and lower end surfaces of a grab plate in the pipe segment assembly machine, and the centering assembly is arranged facing the pipe segment to be grabbed, the piston comprises a piston body and a piston rod located in the piston body; the piston rod comprises a transmission rod, a cross slider coupling and a grabbing head partially protruding from the centering assembly, which are connected in sequence, the power output by the driving assembly is transmitted to the grabbing head through the transmission rod and the cross slider coupling in sequence, so that the grabbing head is rotated in or out of a connecting hole on the pipe segment to be grabbed, so as to grab or release the pipe segment to be grabbed;

[0012] The centering component is used to assist the centering operation between the grasping head and the connecting hole on the pipe segment to be grasped by means of machine vision. The centering component includes a centering main structure, a camera and a driving component; the centering main structure includes an end cover, an assembly frame and a bottom cover and a plurality of claws and claw arms arranged in sequence from top to bottom, the end cover is fixedly connected to the grasping plate and the bottom cover at the same time, and each claw is connected to the centering main structure through a matching claw arm. The camera is installed on the assembly frame and arranged facing the claw. During the process of approaching the connecting holes, the relative position relationship between the grabbing head and the connecting hole of the pipe segment to be grabbed is identified based on the image collected by the camera, so as to determine the working parameters of the driving component. The driving component drives the assembly frame under this working parameter, so that the assembly frame rotates around the axial direction of the centering main structure relative to the end cover and the bottom cover, and at the same time, the corresponding claws are driven to approach each other through each claw arm, so that a space is formed between all the claws for the grabbing head to pass through and the moving direction of the grabbing head is constrained so that the grabbing head and the connecting hole of the pipe segment to be grabbed remain aligned.

[0013] In some embodiments, the end cover, assembly frame and bottom cover are all in annular shape, and the end cover is provided with a plurality of camera positioning grooves, a first boss and a second boss. The end cover is fixedly connected to the lower end surface of the grab plate by bolts, and the axial direction of each camera positioning groove is arranged along the radial direction of the end cover; each first boss is circumferentially evenly distributed on the inner side of the end cover, and each first boss is arranged to avoid a corresponding camera positioning groove, and each first boss is respectively provided with a first through hole; each second boss is circumferentially evenly distributed on the lower surface of the end cover and protrudes toward the assembly frame, and a countersunk hole is respectively formed in each second boss; the bottom cover is provided with an annular slide groove and a plurality of third bosses and a fourth boss, each third boss is circumferentially evenly distributed on the inner side of the bottom cover, and each third boss is located directly below a corresponding first boss, and each third boss is respectively provided with a The first through hole is coaxial with the first threaded hole; the fourth bosses are evenly distributed on the circumference of the outer side of the bottom cover, and each fourth boss is respectively provided with a second threaded hole coaxial with a corresponding countersunk hole on the end cover, and the end cover and the bottom cover are fixedly connected by bolts passing through the countersunk holes on the end cover and the second threaded holes on the bottom cover; a plurality of slideways evenly distributed on the circumference are provided on the side wall of the assembly frame, and one end of each claw arm can reciprocate in a corresponding slideway, and a plurality of camera fixing brackets evenly distributed on the circumference and a fifth boss protruding outward and having a second through hole are also provided on the side wall of the assembly frame, each camera fixing bracket is aligned with a corresponding camera positioning groove on the end cover, and each camera is installed on a corresponding camera fixing bracket, and the fifth boss is hinged to the output end of the driving component through the second through hole.

[0014] In some embodiments, the claw arm includes a first support arm, a rotating head and a second support arm, and a first rotating shaft and a second rotating shaft that are fixedly connected in sequence, a third through hole is provided at one end of the first support arm, the end of the first support arm is inserted into a corresponding slide of the assembly frame, and the first rotating shaft is inserted into the third through hole, the upper end of the first rotating shaft is fixed on the assembly frame, and the lower end is slidably arranged in the slide groove of the bottom cover; a fourth through hole is provided in the rotating head for the second rotating shaft to pass through, and the fourth through hole is clearance-matched with the second rotating shaft.

[0015] In some embodiments, the driving component includes a cylinder and a cylinder piston rod, the end of the cylinder is hinged to a connecting bracket, the connecting bracket is fixed to the lower end surface of the grab plate, and the end of the cylinder piston rod is hingedly connected to the second through hole in the assembly frame.

[0016] In some embodiments, the inner surface of each claw piece is an arc surface that matches the outer peripheral surface of the grabbing head.

[0017] In some embodiments, the drive assembly includes a motor, a gearbox, and several reduction gears meshing in sequence. The base of the motor is fixed on the gearbox, the output shaft of the motor is connected to the center hole of one of the reduction gears, and the center hole of another reduction gear is connected to the upper end of the piston rod. The power of the motor is transmitted to the piston rod after being reduced by each reduction gear in sequence to drive the piston rod to rotate, and the upper end of the piston body is fixedly connected to the gearbox.

[0018] In some embodiments, three cameras, three claws and three claw arms are provided in the centering assembly.

[0019] In some embodiments, the cross slider coupling includes a first body, a cross slider and a second body connected in sequence; the upper end of the first body is fixedly connected to the lower end of the transmission rod; a first guide groove recessed into the interior of the first body is formed at one end of the first body facing the cross slider, and a second guide groove recessed into the interior of the second body is formed at one end of the second body facing the cross slider, the axial direction of the second guide groove is perpendicular to the axial direction of the first guide groove, and the end of the second body facing away from the cross slider is fixedly connected to the grabbing head; the cross slider is provided with a first guide surface and a second guide surface respectively matching the first guide groove and the second guide groove, and the first guide surface and the second guide surface are both combinations of arc surfaces and vertical planes.

[0020] In some embodiments, two first arc surfaces are formed at one end of the first body facing the cross slider, which are symmetrically arranged on both sides of the first guide groove and located at the edge of the first body, and two second arc surfaces are formed at one end of the second body facing the cross slider, which are symmetrically arranged on both sides of the second guide groove and located at the edge of the second body.

[0021] In some embodiments, a joint is provided at the center of the upper end of the first body, and the joint is inserted into a connecting hole fixed at the lower end of the transmission rod. A groove for installing a retaining ring is provided on the outer circumferential surface of the first body, and the retaining ring is used to limit the position of a crosshead assembly sleeve that is sleeved between the piston body and the outer circumferential surface of the first body along the axial direction of the piston.

[0022] The grabbing device of the pipe segment assembly machine provided in the embodiment of the present disclosure has the following characteristics and beneficial effects compared with the prior art:

[0023] 1. The grabbing device provided in the embodiment of the present disclosure can realize active centering of the grabbing head and the connecting hole of the pipe segment to be grabbed, which significantly improves the degree of automation of the centering process.

[0024] 2. The grabbing device provided by the embodiment of the present disclosure is not only applicable to the case where the axis of the connection hole of the pipe segment to be grabbed and the axis of the grabbing head coincide, but also applicable to the case where the axis of the connection hole of the pipe segment to be grabbed and the axis of the grabbing head have an angle. In addition, the device is still applicable to the case where the angle between the axis of the connection hole of the pipe segment to be grabbed and the axis of the grabbing head is large.

[0025] 3. The cross slider coupling in the grabbing device provided in the embodiment of the present disclosure can not only transmit pressure but also transmit tension, and has a wide range of applications.

[0026] 4. The structure of the cross slider coupling in the grabbing mechanism provided in the embodiment of the present disclosure is compact and suitable for narrow working spaces such as oil cylinders.

[0027] 5. When the grabbing head of the grabbing device provided in the embodiment of the present disclosure accidentally collides with the pipe segment to be grabbed, the grabbing head moves a certain distance relative to the transmission shaft of the cross slider coupling and forms a certain angle, which can reduce the impact of the accidental collision on the motor.

[0028] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the overall structure of a gripping device provided in an embodiment of the present disclosure;

[0030] Figure 2 for Figure 1 AA section view in;

[0031] Figure 3 A schematic diagram of the structure of a centering component in a gripping device provided in an embodiment of the present disclosure;

[0032] Figure 4 An exploded view of a centering assembly in a gripping device provided in an embodiment of the present disclosure;

[0033] Figure 5 A schematic diagram of the structure of a claw arm and a claw piece in a gripping device provided in an embodiment of the present disclosure;

[0034] Figure 6 (a) and (b) are schematic diagrams of the structure of the cylinder assembly of the gripping device provided in an embodiment of the present disclosure and its AA cross-sectional view respectively;

[0035] Figure 7 A cross-sectional view of a drive assembly and a piston in a gripping device provided in an embodiment of the present disclosure;

[0036] Figure 8 A schematic diagram of the structure of a cross slider coupling in a gripping device provided in an embodiment of the present disclosure.

[0037] Fig. 9 An exploded view of a cross-slider coupling in a gripping device provided in an embodiment of the present disclosure.

[0038] In the figure:

[0039] 1. Centering assembly, 11. Centering main structure, A1. End cover, A11. Camera positioning groove, A12. First through hole, A13. First boss, A14. Column countersunk hole, A15. Second boss, A16. First spring washer, A17. First connecting bolt, A2. Assembly frame, A21. Slide, A22. Camera fixing bracket, A23. Second through hole, A24. Fifth boss, A3. Bottom cover, A31. First threaded hole, A32. Third boss, A33 , slide groove, A34, fourth boss, A35, second threaded hole, A36, second spring washer, A37, second connecting bolt, A4, claw piece, A5, claw arm, A51, first support arm, A511, third through hole, A52, second support arm, A53, rotating head, A531, fourth through hole, A54, first rotating axis, A55, second rotating axis, 12, camera, 13, driving component, 131, cylinder, 132, cylinder piston rod, 133, connecting bracket;

[0040] 2. Guide assembly, 21. Guide rod, 22. Washer, 23. Double nut for locking;

[0041] 3. Cylinder assembly, 31. Snatch plate connecting sleeve, 32. Cylinder adapter sleeve, 321. First shaft shoulder, 322. Second shaft shoulder, 323. Shaft collar, 33. Cylinder, 331. First cylinder head, 332. Second cylinder head, 333. Guide sleeve, 334. Channel, 335. Oil inlet, 336. Oil outlet;

[0042] 4. Piston, 410. Piston body, 411. Third shaft shoulder, 411a. First shaft groove, 411b. Second shaft groove, 411c. First sealing ring, 411d. Second sealing ring, 420. Piston rod, 421. Transmission rod, 422. Cross slider coupling, B1. First body, B11. Joint, B12. First arc surface, B13. First guide groove, B14. Slot, B2. Cross slider, B21. First guide surface, B22. Second guide surface, B3. Second body, B31. Second arc surface, B32. Second guide groove, C11. Snap ring, C12. Spring washer, C13. Screw, 423. Grab head, 423a. External thread, 424. Connecting hole, 425. Crosshead assembly set;

[0043] 5. driving assembly, 51. motor, 52. gear box, 53. first reduction gear, 54. second reduction gear, 55. third reduction gear;

[0044] 6. Snatch board;

[0045] 71. ball joint, 72. ball joint bracket;

[0046] 8. Flange plate. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] On the contrary, the present application covers any substitution, modification, equivalent method and scheme made on the essence and scope of the present application as defined by the claims. Further, in order to make the public have a better understanding of the present application, some specific details are described in detail in the detailed description of the present application below. Those skilled in the art can fully understand the present application without the description of these details.

[0049] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the restrictive conditions that can be implemented in this application, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that can be produced by this application and the purposes that can be achieved, should still fall within the scope of the technical content disclosed in this application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of narration, and are not used to limit the scope of the implementation of this application. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of this application without substantial change in the technical content.

[0050] See also Figure 1 to Figure 9 The grabbing device of the pipe segment assembly machine provided by the embodiment of the present disclosure comprises: a driving assembly 5, a cylinder assembly 3, a piston 4, a guide assembly 2 and a centering assembly 1; the piston 4 reciprocates in the cylinder assembly 3 under the action of the driving assembly 5 and the guide assembly 2, the centering assembly 1 and the cylinder assembly 3 are respectively installed on the upper and lower end surfaces of the grab plate 6 in the pipe segment assembly machine, and the centering assembly 1 is arranged facing the pipe segment to be grabbed (the pipe segment to be grabbed is not shown in the figure), the piston 4 comprises a piston body 410 and a piston rod 420 located in the piston body 410; the piston rod 420 comprises a transmission rod 421, a cross slider coupling 422 and a grabbing head 423 partially protruding from the centering assembly 1, and the power output by the driving assembly 5 is sequentially transmitted to the grabbing head 423 through the transmission rod 421 and the cross slider coupling 422, so that the grabbing head 423 is rotated in or out of the connecting hole on the pipe segment to be grabbed, so as to realize the grabbing or releasing of the pipe segment to be grabbed;

[0051] The centering component 1 is used to assist the centering operation between the grabbing head 423 and the connecting hole on the pipe segment to be grabbed by means of machine vision. The centering component 1 includes a centering main structure 11, a camera 12 and a driving component 13; the centering main structure 11 includes an end cover A1, an assembly frame A2 and a bottom cover A3, which are arranged in sequence from top to bottom and are all annular, as well as a plurality of claws A4 and claw arms A5. The end cover A1 is fixedly connected to the grab plate 6 and the bottom cover A3 at the same time, and each claw A4 is connected to the centering main structure 11 through a matching claw arm A5. The camera 12 is installed on the assembly frame A2 and is arranged facing the claw A4. When the grabbing head 423 is moved to the centering main structure 11, the camera 12 is mounted on the assembly frame A2 and faces the claw A4. During the process of approaching the connection hole of the pipe segment to be grasped, the relative position relationship between the grasping head 423 and the connection hole of the pipe segment to be grasped is identified based on the image collected by the camera 12, so as to determine the working parameters of the driving component 13. The driving component 13 drives the assembly frame A2 under this working parameter, so that the assembly frame A2 rotates around the axial direction of the centering main structure 11 relative to the end cover A1 and the bottom cover A3, and at the same time drives the corresponding claw pieces A4 to approach each other through each claw arm A5, and forms a space between all the claw pieces A4 for the grasping head 423 to pass through and constrains the moving direction of the grasping head 423 so that the grasping head 423 and the connection hole of the pipe segment to be grasped remain aligned.

[0052] In some embodiments, see Figure 3~Figure 5 Preferably, three cameras 12, three claw pieces A4 and three claw arms A5 are arranged in the centering assembly 1. The specific structures of the components in the centering assembly 1 are described in detail below.

[0053] The centering main structure 11 is mainly composed of layered and coaxially arranged end covers A1, assembly frames A2 and bottom covers A3. All three are annular and have the same inner diameter. The end cover A1 is arranged closer to the bottom end of the cylinder assembly 3 relative to the bottom cover A3. The end cover A1 is fixedly connected to the grab plate 6 and the bottom cover A3 at the same time. The assembly frame A2 can rotate around the axial direction of the centering main structure 11 relative to the end cover A1 and the bottom cover A3 under the drive of the driving component 13. Among them, three camera positioning grooves A11, three first bosses A13 and three second bosses A15 are provided on the end cover A1. The end cover A1 is fixedly connected to the lower end surface of the grab plate 6 by the first connecting bolt A17 and the first spring washer A16. The axial direction of each camera positioning groove A11 is arranged along the radial direction of the end cover A1. When the camera 12 is installed on the assembly frame A2, the camera 12 is positioned by the camera positioning groove A11 to achieve its rapid and accurate installation; the three first bosses A13 are evenly distributed on the inner side of the end cover A1 and protrude toward the center of the end cover A1, and each first boss A13 is arranged to avoid a corresponding camera positioning groove A11, and each first boss A13 is respectively provided with a first through hole A12; the three second bosses A15 are evenly distributed on the lower surface of the end cover A1 and protrude toward the assembly frame A2, and a cylindrical countersunk hole A14 is respectively formed in each second boss A15. The bottom cover A3 is provided with a circular slide groove A33, three third bosses A32 and three fourth bosses A34. The three third bosses A32 are evenly distributed on the inner side of the bottom cover A3 and protrude toward the center of the bottom cover A3, and each third boss A32 is located directly below a corresponding first boss A13. Each third boss A32 is respectively provided with a first threaded hole A31 coaxial with the first through hole A12; the three fourth bosses A34 are evenly distributed on the outer side of the bottom cover A3, and each fourth boss A34 is respectively provided with a second threaded hole A35 coaxial with a corresponding cylindrical countersunk hole A14 on the end cover A1. Second spring washers A36 are respectively arranged at each cylindrical countersunk hole A14 of the end cover A1, and the second connecting bolt A37 is passed through the cylindrical countersunk hole A14 in the second boss A15 and then screwed into the second threaded hole A35 of the fourth boss A34 on the bottom cover A3, so as to realize the fixed connection between the end cover A1 and the bottom cover A3. The assembly frame A2 is mainly used to realize the installation of the camera 12 and the claw arm A5. Three slideways A21 evenly distributed around the circumference are provided on the side wall of the assembly frame A2. One end of each claw arm A5 can reciprocate in a corresponding slideway A21. Three camera fixing brackets A22 evenly distributed around the circumference and a fifth boss A24 protruding outward and having a second through hole A23 are also provided on the side wall of the assembly frame A2. The camera fixing bracket A22 is aligned with the camera positioning groove A11 on the end cover A1. The camera 12 is installed on the camera fixing bracket A22, and the fifth boss A24 is hinged to the output end of the driving component 13 through the second through hole A23.

[0054] The setting of three cameras 12 can ensure that images of the grasping head 423 and the pipe segment to be grasped are collected from various viewing angles during the centering process, which is conducive to subsequent image processing (the specific image processing process adopts the existing image processing method in this field) to identify the relative posture relationship between the grasping head 423 and the pipe segment to be grasped, and then determine the working parameters of the driving component 13, so that each claw piece A4 reaches the target position to constrain the moving direction of the grasping head 423.

[0055] The claw arm A5 is a transmission component in the centering assembly 1, and is used to transmit the power output by the driving component 13 to the corresponding claw piece A4. In this embodiment, the structures of the three claw arms A5 are exactly the same, and one of them is now used as an example for description. Figure 4 , Figure 5 The claw arm A5 includes a first arm A51, a rotating head A53, and a second arm A52, and a first rotating shaft A54 and a second rotating shaft A55, which are fixedly connected in sequence. A third through hole A511 is provided at one end of the first arm A51, and the end of the first arm A51 is inserted into a corresponding slideway A21 of the assembly frame A2, and then the first rotating shaft A54 is inserted into the third through hole A511, and the upper end of the first rotating shaft A54 is fixed on the assembly frame A2, and the lower end of the first rotating shaft A54 passes through the assembly frame A2 and is located in the slideway A33 of the bottom cover A3 and can slide in the slideway A33, so that one end of the first arm A51 can rotate around the first rotating shaft A54, and the slideway A21 provides a moving space for the movement of the first arm A51. The other end of the first arm A51 is fixedly connected to one end of the second arm A52 through a rotating head A53, in which a fourth through hole A531 is provided. Specifically, the second rotating axis A55 passes through the first through hole A12 in the first boss A13 of the end cover A1 and the fourth through hole A531 on the rotating head A53 in the assembly frame A2 in sequence, and is then fixed in the first threaded hole A31 in the third boss A32 of the bottom cover A3; wherein the fourth through hole A531 is clearance-matched with the second rotating axis A55, that is, the first arm A51 and the second arm A52 can rotate as a whole relative to the second rotating axis A55.

[0056] The claw piece A4 is integrally formed at one end of the second arm A52 of the claw arm A5 close to the center of the assembly frame A2. The inner surface of each claw piece A4 is an arc surface matching the outer peripheral surface of the grabbing head 423, and the space formed when the claw pieces A4 are close to each other forms an envelope on the outer peripheral surface of the grabbing head 423.

[0057] The driving component 13 uses pneumatic drive to provide power for the assembly frame A2, the claw arm A5 and the claw piece A4. Specifically, the driving component 13 includes a cylinder 131 and a cylinder piston rod 132. The end of the cylinder 131 is hinged to a connecting bracket 133, and the connecting bracket is fixed to the lower end surface of the grab plate 6. The end of the cylinder piston rod 132 is hinged to the second through hole A23 of the fifth boss A24 in the assembly frame A2. The assembly frame A2 rotates around the axial direction of the centering component under the action of the cylinder 131 and the cylinder piston rod 132, and at the same time drives the first rotating axis A54 of the claw arm A5 to reciprocate in the slide groove A33 of the bottom cover A3, so that the claw piece A4 can hold and release the grab head 423.

[0058] It can be understood that, through the centering component 1 in this embodiment, active centering can be achieved during the segment grabbing process, thereby improving the degree of automation of the grabbing device.

[0059] See also Figure 1 , Figure 2 and Figure 6 In (a) and (b), the cylinder assembly 3 includes a coaxially arranged grab plate connecting sleeve 31, a cylinder adapter sleeve 32 and a cylinder 33. The upper end of the cylinder adapter sleeve 32 is fixedly connected to the lower end of the cylinder 33, and the lower end of the cylinder adapter sleeve 32 is fixedly connected to the upper end of the grab plate connecting sleeve 31. Two first shaft shoulders 321, a second shaft shoulder 322 and a shaft ring 323 are provided on the outer side wall of the cylinder adapter sleeve 32. The two first shaft shoulders 321 are arranged on the upper and lower sides of the shaft ring 323, and the second shaft shoulder 322 is located at the lower end of the cylinder adapter sleeve 32. The cylinder adapter sleeve 32 is connected to the lifting clamp of the assembling machine (the lifting clamp is not shown in the figure) by two spaced-apart ball joints 71, and the two ball joint brackets 72 are fixed in the lifting clamp of the assembling machine. The two ball joints 71 are respectively sleeved on the two first shoulders 321, and a flange plate 8 fixedly connected to the lifting clamp of the assembling machine is fixedly sleeved on the second shoulder 322. The cylinder assembly 3 can rotate relative to the lifting clamp of the assembling machine around the three axes passing through the center of the ball joint 71, and the axial movement between the cylinder assembly 3 and the lifting clamp of the assembling machine is prevented by the shaft ring 323 and the flange plate 8. The upper and lower ends of the cylinder barrel 33 are respectively provided with a first cylinder cover 331 and a second cylinder cover 332 for limiting the axial movement range of the piston 4. A guide sleeve 333 cooperating with the guide assembly 2 is also fixedly connected to the upper end of the cylinder barrel 33. The two opposite side walls of the cylinder barrel 33 are provided with a channel 334 along the axial direction of the cylinder barrel 33. The channel 334 serves as the movement space of the guide assembly 2. The side wall of the cylinder barrel 33 is also provided with an oil inlet 335 and an oil outlet 336 for the cylinder hydraulic oil to enter and exit. The hydraulic oil drives the piston 4 and the drive assembly 5 to follow the guidance of the guide assembly 2 through the oil inlet 335 and the oil outlet 336 to reciprocate in the cylinder assembly 3.

[0060] In some embodiments, see Figure 1 The guide assembly 2 includes two guide rods 21, one end of the two guide rods 21 is fixed to the drive assembly 5 through a gasket 22 and a locking double nut 23, and the other end of the two guide rods 21 passes through a guide sleeve 333 in the cylinder 33 and reciprocates relative to the cylinder 33 following the piston 4 in the channel 334 on the side wall of the cylinder 33.

[0061] In some embodiments, see Figure 1 , Figure 2 and Figure 7 The driving assembly 5 includes a motor 51, a gear box 52 and three reduction gears installed in the gear box 52. The base of the motor 51 is fixed on the gear box 52. The output shaft of the motor 51 is connected to the center hole of the first reduction gear 53. The first reduction gear 53, the second reduction gear 54 and the third reduction gear 55 are meshed in sequence. The center hole of the third reduction gear 55 is connected to the upper end of the piston rod 420. The power of the motor 51 is decelerated by the first reduction gear 53, the second reduction gear 54 and the third reduction gear 55 in sequence and then transmitted to the piston rod 420 to drive the piston rod 420 to rotate. The upper end of the piston body 410 is fixedly connected to the gear box 52.

[0062] In some embodiments, see Figure 7~Figure 9 In the piston 4, the piston body 410 is a hollow columnar structure, and a third shaft shoulder 411 is provided on the outer wall of the piston body 410. The third shaft shoulder 411 is provided with two first shaft grooves 411a and a second shaft groove 411b located between the two first shaft grooves 411a. A first sealing ring 411c is provided in each of the two first shaft grooves 411a, and a second sealing ring 411d is provided in the second shaft groove 411b, which is mainly used to prevent the leakage of hydraulic oil. During the reciprocating motion of the piston 4 in the cylinder assembly 3, the upper surface of the third shaft shoulder 411 is restricted by the first cylinder head 331, so that the piston 4 cannot continue to move in the direction away from the pipe segment to be grasped, thereby limiting the maximum distance of the piston 4 along the axial direction; the lower surface of the third shaft shoulder 411 is restricted by the second cylinder head 332, so that the piston 4 cannot continue to move in the direction close to the pipe segment to be grasped, thereby limiting the minimum distance of the piston 4 along the axial direction.

[0063] In the piston rod 420 of the piston 4, the lower end of the transmission rod 421 is provided with a connection hole 424 protruding from the lower end of the piston body 410. The cross slider coupling 422 includes a first body B1, a cross slider B2 and a second body B3 connected in sequence; a joint B11 is fixedly provided at the center of the upper end of the first body B1, and the joint B11 is inserted into the connection hole 424. At the same time, a clamping groove B14 is provided on the outer peripheral surface of the upper middle part of the first body B1, and two sets of spring washers C12 and screws C13 are used to fix two clamping rings C11 in the clamping groove B14, and the crosshead assembly set 425 sleeved between the piston body 410 and the outer peripheral surface of the first body B1 is limited along the axial direction of the piston 4, so as to fix the transmission rod 421 with the first body B1 of the cross slider coupling 422; a first guide groove B13 recessed into the inside of the first body B1 and two guide grooves symmetrically arranged on both sides of the first guide groove B13 and located in the first body are formed by milling at one end of the first body B1 facing the cross slider B2. Two first arc surfaces B12 are formed at the edge of the second body B1, and a second guide groove B32 recessed into the inside of the second body B3 and two second arc surfaces B31 symmetrically arranged on both sides of the second guide groove B32 and located at the edge of the second body B3 are formed by milling at one end of the second body B3 facing the cross slider B2. The axial direction of the second guide groove B32 is perpendicular to the axial direction of the first guide groove B13. The end of the second body B3 facing away from the cross slider B2 is fixedly connected to the grabbing head 423. The outer peripheral surface of the grabbing head 423 is provided with an external thread 423a that matches the internal thread of the connecting hole of the pipe segment to be grabbed. The cross slider B2 is provided with a first guide surface B21 and a second guide surface B22 that are tangent to the first guide groove B13 and the second guide groove B32 respectively. The first guide surface B21 and the second guide surface B22 are both combinations of arc surfaces and vertical planes.

[0064] The output shaft of the motor 51 drives the first reduction gear 53, the second reduction gear 54, the third reduction gear 55 and the transmission rod 421 to rotate. The transmission rod 421 transmits the motor rotation after three-stage reduction to the first body B1 of the cross slider coupling 422. The first body B1 transmits the torque to the second body B3 through the cross slider B2 and then to the grab head 423. Since the first guide surface B21 and the second guide surface B22 of the cross slider B2 are both a combination of an arc surface and a plane, the existence of the arc surface avoids the tensile separation of the first body B1, the second body B3 and the cross slider B2. The cross slider coupling 422 can not only transmit pressure, but also transmit tension. The first body B1 and the second body B3 of the cross slider coupling can move along the curved surface center axis of the first guide surface B21 and the second guide surface B22 of the cross slider B2, respectively, and rotate around the curved surface center axis of the first guide surface B21 and the second guide surface B22 of the cross slider B2. Since the first body B1 and the second body B3 of the cross slider coupling are respectively provided with the first arc surface B12 and the second arc surface B31, the first body B1 and the second body B3 of the cross slider coupling 422 can realize ±60° rotation around the curved center axis of the first guide surface B21 and the second guide surface B22 of the cross slider B2, thereby increasing the application scope of the coupling. It is not only applicable to the case where there is an angle between the axis of the connecting hole of the pipe segment to be grasped and the axis of the grasping head, but also applicable to the case where the angle between the axis of the connecting hole of the pipe segment to be grasped and the axis of the grasping head is larger.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0066] Although examples of the present invention have been shown and described above, it is to be understood that the above examples are illustrative and are not to be construed as limitations of the present invention, and that a person skilled in the art may make changes, modifications, substitutions and variations to the above examples within the scope of the present invention.

Claims

1. A gripping device for a segment assembly machine, characterized in that: It comprises a driving component, a cylinder assembly, a piston, a guide component and a centering component; the piston reciprocates in the cylinder assembly under the action of the driving component and the guide component; the centering component and the cylinder assembly are respectively mounted on the upper and lower end surfaces of a grab plate in a segment assembling machine and the centering component is arranged facing the segment to be grabbed; the piston comprises a piston body and a piston rod located in the piston body; the piston rod comprises a transmission rod, a cross slider coupling and a grabbing head partially protruding from the centering component which are connected in sequence; the power output by the driving component is transmitted to the grabbing head through the transmission rod and the cross slider coupling in sequence, so that the grabbing head is rotated in or out of a connecting hole on the segment to be grabbed, thereby realizing the grabbing or releasing of the segment to be grabbed; The centering component is used to assist the centering operation between the grasping head and the connecting hole on the pipe segment to be grasped by means of machine vision. The centering component includes a centering main structure, a camera and a driving component; the centering main structure includes an end cover, an assembly frame and a bottom cover and a plurality of claws and claw arms arranged in sequence from top to bottom, the end cover is fixedly connected to the grasping plate and the bottom cover at the same time, and each claw is connected to the centering main structure through a matching claw arm. The camera is installed on the assembly frame and arranged facing the claw. During the process of approaching the connecting holes, the relative position relationship between the grabbing head and the connecting hole of the pipe segment to be grabbed is identified based on the image collected by the camera, so as to determine the working parameters of the driving component. The driving component drives the assembly frame under this working parameter, so that the assembly frame rotates around the axial direction of the centering main structure relative to the end cover and the bottom cover, and at the same time, the corresponding claws are driven to approach each other through each claw arm, so that a space is formed between all the claws for the grabbing head to pass through and the moving direction of the grabbing head is constrained so that the grabbing head and the connecting hole of the pipe segment to be grabbed remain aligned.

2. The gripping device according to claim 1, characterized in that: The end cover, assembly frame and bottom cover are all in annular shape, and the end cover is provided with a plurality of camera positioning grooves, a first boss and a second boss. The end cover is fixedly connected to the lower end surface of the grab plate by bolts, and the axial direction of each camera positioning groove is arranged along the radial direction of the end cover; the circumference of each first boss is evenly distributed on the inner side of the end cover, and each first boss is arranged to avoid a corresponding camera positioning groove, and a first through hole is respectively provided on each first boss; the circumference of each second boss is evenly distributed on the lower surface of the end cover and protrudes toward the assembly frame, and a countersunk hole is respectively formed in each second boss; the bottom cover is provided with an annular slide groove and a plurality of third bosses and a fourth boss, and the circumference of each third boss is evenly distributed on the inner side of the bottom cover, and each third boss is located directly below a corresponding first boss, and each third boss is respectively provided with a A first threaded hole coaxial with the through hole; each fourth boss is evenly distributed on the circumference of the outer side of the bottom cover, and each fourth boss is respectively provided with a second threaded hole coaxial with a corresponding countersunk hole on the end cover, and bolts are passed through the countersunk holes on the end cover and the second threaded holes on the bottom cover to achieve fixed connection between the end cover and the bottom cover; a plurality of slideways evenly distributed on the circumference are provided on the side wall of the assembly frame, and one end of each claw arm can reciprocate in a corresponding slideway, and a plurality of camera fixing brackets evenly distributed on the circumference and a fifth boss protruding outward and having a second through hole are also provided on the side wall of the assembly frame, each camera fixing bracket is aligned with a corresponding camera positioning groove on the end cover, and each camera is installed on a corresponding camera fixing bracket, and the fifth boss is hinged to the output end of the driving component through the second through hole.

3. The gripping device according to claim 2, characterized in that: The claw arm includes a first support arm, a rotating head and a second support arm, and a first rotating shaft and a second rotating shaft which are fixedly connected in sequence. A third through hole is provided at one end of the first support arm. The end of the first support arm is inserted into a corresponding slideway of the assembly frame, and the first rotating shaft is inserted into the third through hole. The upper end of the first rotating shaft is fixed on the assembly frame, and the lower end is slidably arranged in the slide groove of the bottom cover. A fourth through hole is provided in the rotating head for the second rotating shaft to pass through, and the fourth through hole is clearance-matched with the second rotating shaft.

4. The gripping device according to claim 2, characterized in that: The driving component includes a cylinder and a cylinder piston rod, the end of the cylinder is hinged to a connecting bracket, the connecting bracket is fixed to the lower end surface of the grab plate, and the end of the cylinder piston rod is hinged to the second through hole in the assembly frame.

5. The gripping device according to claim 1, characterized in that: The inner surface of each claw piece is an arc surface matching the outer peripheral surface of the grabbing head.

6. The gripping device according to claim 1, characterized in that: The driving assembly includes a motor, a gearbox and a plurality of reduction gears meshed in sequence. The base of the motor is fixed on the gearbox, the output shaft of the motor is connected to the center hole of one of the reduction gears, and the center hole of the other reduction gear is connected to the upper end of the piston rod. The power of the motor is transmitted to the piston rod after being reduced by each reduction gear in sequence to drive the piston rod to rotate, and the upper end of the piston body is fixedly connected to the gearbox.

7. The gripping device according to claim 1, characterized in that: The centering component is provided with three cameras, three claw pieces and three claw arms.

8. The gripping device according to claim 1, characterized in that: The cross slider coupling includes a first body, a cross slider and a second body connected in sequence; the upper end of the first body is fixedly connected to the lower end of the transmission rod; a first guide groove recessed into the interior of the first body is formed at one end of the first body facing the cross slider, and a second guide groove recessed into the interior of the second body is formed at one end of the second body facing the cross slider, the axial direction of the second guide groove is perpendicular to the axial direction of the first guide groove, and the end of the second body facing away from the cross slider is fixedly connected to the grabbing head; the cross slider is provided with a first guide surface and a second guide surface respectively matching the first guide groove and the second guide groove, and the first guide surface and the second guide surface are both combinations of arc surfaces and vertical planes.

9. The gripping device according to claim 8, characterized in that: Two first arc surfaces are symmetrically arranged on both sides of the first guide groove and located at the edge of the first body at one end of the first body facing the cross slider, and two second arc surfaces are symmetrically arranged on both sides of the second guide groove and located at the edge of the second body are formed at one end of the second body facing the cross slider.

10. The gripping device according to claim 8, characterized in that: A joint is provided at the center of the upper end of the first body, and the joint is inserted into a connecting hole fixed at the lower end of the transmission rod. A groove for installing a retaining ring is provided on the outer circumferential surface of the first body, and the retaining ring is used to limit the position of the crosshead assembly sleeve that is sleeved between the piston body and the outer circumferential surface of the first body along the axial direction of the piston.

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