Plug grabbing tool for industrial robot

Abstract

The plug grabbing tool for the industrial robot comprises a first fixing part which is a plate-shaped body supported by a plane; the hook claw assembly linearly moves along the plane where the first fixing part is located; the driving assembly is used for driving the hook claw assembly to move; the plug grabbing tool is used for grabbing a spigot plug for a pipe liner described with the application number of 202223227566.7, or a bell and spigot plug of which the structure is the same as that of a plug body, a supporting part and an inflation and deflation assembly in the spigot plug for the pipe liner; the first fixing part is fixedly connected with the execution end of the industrial robot; the multiple sets of hook claw assemblies are matched with the outer wall of the inner circle of the plug body correspondingly, the plug is carried or disassembled through supporting force, and the nodular cast iron pipe centrifugal lining grabbing tool has the beneficial effects that a novel grabbing tool is designed, and application of an industrial robot or an automatic special tool in nodular cast iron pipe centrifugal lining coating is achieved.

Description

Technical Field

[0001] The invention relates to a tool for processing ductile iron pipe lining (cement centrifugal lining), in particular to a plug grabbing tool for an industrial robot. Background Art

[0002] The utility model application with application number 202223227566.7 states: "At present, ductile iron pipes (cast iron pipes) have a wide range of applications, including gas transmission, water supply and drainage, etc. The inner and outer walls of ductile iron pipes are treated to make them have excellent anti-corrosion properties both above and below the ground. Therefore, they are favored in the infrastructure industry and are used more and more widely. The formed cast iron pipe is completed at the lining material distribution station to transport cement mortar into the cast iron pipe. Inflatable plugs are installed at both ends of the socket before the material distribution station to prevent wet cement mortar from flowing out of the cast iron pipe. After passing through the centrifugal station, the water and mortar are separated, the plugs are removed, the water is poured out, and the centrifugal lining work is completed. At present, most of the upper and lower plugs are completed manually, and at least two people are required to complete this work in a single shift. The degree of automation is low, and the current labor cost is high, which is not conducive to cost control.

[0003] In China, the patentee Hengshui Weida Rubber & Plastic Co., Ltd. is mainly engaged in the development and design of plugs for coating. Among them, the inflatable tire, skeleton and plug device for cast iron pipe coating (WO2020237796A1) introduces in detail the tire and skeleton structure of the plug for coating, and the plug device for cast pipe coating (CN214487634U) introduces the structural form of the plug for the socket. None of the above applications describes the plug structure that cooperates with automated equipment (such as a robotic arm) for grabbing. An identifiable and automatically grabbing plug for cast pipe lining (CN209782010U) discloses a grabbing plug that uses a detection marker block to cooperate with automated equipment, but the inflatable components of the above plugs are all arranged on the outside of the plug skeleton and protrude from the plug skeleton. However, the plug is easily scratched by other fixed objects when the cast pipe rotates at high speed, causing air leakage. In addition, the plug marking block is easily bonded with cement mortar, which causes the marking block to be buried or the cement mortar is bonded to the nylon frame to form a shape similar to the marking block, resulting in misidentification of electrical components and ultimately misidentification, resulting in the failure of the robot to grasp the plug. Therefore, there is an urgent need for a plug with a convenient structure that eliminates the defect of the inflatable component being easily damaged and can be grasped by automated equipment without a plug marking block. "

[0004] The prior art discloses a socket plug for pipe lining, but an automated equipment grabbing tooling matching it has not yet been disclosed. The above tooling needs to adapt to the beneficial effects embodied in "1. The inflation and deflation assembly is placed at the center of the socket plug. There is no need to look for a marking block. The position of the inflation and deflation assembly can be known by using an image positioning device, a visual system or by detecting the position of the cast pipe or the plug; 2. The inflation and deflation assembly is placed at the center to prevent mud water from being poured onto the inflation and deflation assembly after the cast pipe is lined, which ultimately causes damage to the inflation and deflation assembly and the plug. 3. The inflation and deflation assembly is recessed in the plug skeleton to avoid bumps and increase service life."

[0005] Therefore, there is an urgent need for a special tooling corresponding to the utility model application with application number 202223227566.7. Summary of the invention

[0006] In order to match the special tooling in the prior art and make up for the defect that "the inflatable components are all arranged on the outside of the plug frame and protrude from the plug frame. When the plug rotates at high speed with the cast pipe, it is easy to be scratched by other fixed objects, resulting in air leakage.", the inventor used the technical solution of multi-grasping internal support to design a special tooling that is compatible with the utility model application with application number 202223227566.7. The technical solution adopted by the present invention is: a plug grabbing tooling for industrial robots, including:

[0007] The first fixing part is a plate-shaped body supported by a plane;

[0008] The hook assembly is a component that moves linearly along the plane where the first fixing portion is located;

[0009] A driving assembly, driving the hook assembly to move;

[0010] The plug grabbing tool is used to grab the spigot plug for pipe lining described in application number 202223227566.7, or the socket plug with the same plug body, support part, and inflation and deflation assembly structure as the spigot plug for pipe lining;

[0011] The first fixing portion is fixedly connected to the industrial robot execution end;

[0012] The hook claw components are multiple groups, which are respectively matched with the inner circle and outer walls of the plug body, and the plug is carried or disassembled by supporting force.

[0013] Furthermore, the hook assembly includes:

[0014] First wheel;

[0015] The second wheel;

[0016] The first rotating wheel and the second rotating wheel are respectively located in two directions of the linear motion of the hook assembly, and are rotatably connected to the first fixing part;

[0017] The transmission belt is a belt body mounted on the first rotating wheel and the second rotating wheel;

[0018] A linear guide rail, the linear guide rail is fixed on the first fixing portion, adjacent to and parallel to the transmission belt;

[0019] A slider, mounted on the linear guide rail and sliding relative to the linear guide rail;

[0020] A hook is fixedly connected to the slider, and the hook cooperates with the inner and outer walls of the plug body;

[0021] The driving component drives the first rotating wheel or the second rotating wheel to rotate;

[0022] The slider or hook is fixedly connected to the transmission belt and is powered by the transmission belt.

[0023] Furthermore,

[0024] The contact surfaces between the transmission belt and the first rotating wheel and the second rotating wheel are provided with continuous or discontinuous teeth;

[0025] The first rotating wheel and the second rotating wheel are provided with teeth;

[0026] The first rotating wheel and the second rotating wheel are meshed with the transmission belt for transmission.

[0027] Furthermore, the hook assembly also includes:

[0028] The claw groove is a U-shaped groove fixed on the hook claw and facing the inner circle outer wall of the plug body.

[0029] Furthermore, the plurality of hook assemblies face the same center point, and the first rotating wheel is located around the center point;

[0030] And, the driving component comprises:

[0031] A driving gear, wherein the axis of the driving gear is located at the center point;

[0032] The hook gears have the same number as the hook assemblies, are located around the driving gear, and mesh with the driving gear for transmission;

[0033] The hook gear is coaxially fixedly connected with the first rotating wheel, the hook gear is located between the first rotating wheel and the first fixed part, and the first rotating wheel is powered by the driving gear with the help of the hook gear;

[0034] The linear guide rails in the plurality of hook assemblies are located on the same side of the transmission belt, and the hooks move in the same direction under the power of the driving gear.

[0035] Furthermore, it also includes:

[0036] The second fixing part is a plate-shaped body parallel to the first fixing part, and the first rotating wheel is located between the first fixing part and the second fixing part;

[0037] A support leg, wherein the second fixing portion is fixedly connected to the first fixing portion by means of the support leg.

[0038] Furthermore, the hook is of a "vertical folding" type, and one bent end of the hook crosses over the second fixing portion.

[0039] Furthermore, a sensing element is fixedly disposed on the first fixing portion or the second fixing portion;

[0040] The sensing element senses the position of the pipe liner socket or bell plug or the position of the support portion in the pipe liner socket or bell plug.

[0041] Furthermore, a gas charging and discharging part is fixedly provided on the second fixing part;

[0042] The gas charging and discharging unit comprises:

[0043] The port of the gas filling and discharging part is a port facing the normal direction of the plane where the first fixing part is located, and is matched with the gas filling and discharging component in the socket or the socket plug for the pipe liner;

[0044] The charging and discharging part drive is a linear drive component that drives the charging and discharging part port to reciprocate along the normal direction of the plane where the first fixed part is located. The charging and discharging part drive is fixed on the second fixed part, and the charging and discharging part drive movement route is collinear with the center point.

[0045] Further, the first fixing portion is in the shape of a polygonal star with the same number of corners as the number of the driving components;

[0046] Each group of the driving components is arranged on a corner of the polygonal star shape.

[0047] The beneficial effects of the present invention relative to the technology are: a new grasping tool is designed to match the socket plug for pipe lining described in application number 202223227566.7, or a socket plug with the same plug body, support part, and inflation and deflation component structure as the socket plug for pipe lining, thereby realizing the application of industrial robots or special automation tools in the centrifugal lining of ductile iron pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1This is an axial view of the plug when grabbing the specific embodiment of the present invention;

[0049] Figure 2 It is an axial view of the hook in the expanded state of the plug grabbing tool in the specific embodiment of the present invention;

[0050] Figure 3 This is an axial view of the second fixing portion of a specific embodiment of the present invention;

[0051] Figure 4 It is a front view of a tool for removing a hook assembly according to a specific embodiment of the present invention;

[0052] Figure 5 It is an enlarged view of the details of the driving assembly of a specific embodiment of the present invention;

[0053] Figure 6 This is an enlarged view of the details of the hook assembly according to a specific embodiment of the present invention;

[0054] Figure 7 This is an enlarged view of the details of the inflation and deflation part of a specific embodiment of the present invention;

[0055] The annotations are:

[0056] 100-hook assembly; 110-first rotating wheel; 120-second rotating wheel; 130-transmission belt; 140-linear guide rail; 150-slider; 160-hook; 170-claw groove;

[0057] 200-driving assembly; 210-driving gear; 220-hooking gear;

[0058] 300-first fixing part; 310-second fixing part; 320-supporting leg;

[0059] 400-sensing element;

[0060] 500 - charging and discharging unit; 510 - charging and discharging unit drive; 520 - charging and discharging unit port. DETAILED DESCRIPTION

[0061] The technical solutions in the embodiments are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0062] In order to match the special tooling in the prior art and make up for the defect that "the inflatable components are all arranged on the outside of the plug frame and protrude from the plug frame. When the plug rotates at high speed with the cast pipe, it is easy to be scratched by other fixed objects, resulting in leakage.", the inventor uses the technical solution of multi-grasp inner support to design a special tooling that is compatible with the utility model application with application number 202223227566.7. Please refer to Figures 1 to 7 , the technical solution adopted in this specific implementation is:

[0063] A plug grabbing tool for an industrial robot. It should be noted that although the scope of use is limited to industrial robots, that is, robotic arms with more than three degrees of freedom, general special tooling that can move in the XYZ axis direction should also be within the scope of protection of this application;

[0064] include:

[0065] The first fixing portion 300 is a plate-shaped body supported by a plane. The first fixing portion 300 is used to provide a plane for the multiple hook assemblies 100 to open or contract on the same plane.

[0066] The hook assembly 100 is a component that moves linearly along the plane where the first fixing portion 300 is located; the hook assembly 100 is arranged on the first fixing portion 300 and is fixed by the first fixing portion 300, but some components thereof can move on the first fixing portion 300.

[0067] The driving component 200 drives the hook assembly 100 to move. In the present embodiment, the driving component 200 can drive the hook assembly 100 by means of a gear rack, a screw rod, or a pneumatic cylinder, an oil cylinder, etc., and can be fixed on the first fixed part 300 or on other driving components to provide power for the hook assembly 100.

[0068] The plug grabbing tool is used to grab the spigot plug for pipe lining described in application number 202223227566.7, or the socket plug with the same plug body, support part, and inflation and deflation assembly structure as the spigot plug for pipe lining;

[0069] The inventive point of this technical solution is to provide a gripping tool based on the socket plug for pipe lining or similar socket plug structure described in application number 202223227566.7. The pipe lining plug described in the gripping has a gas-filling and deflation assembly at its center, and supports are arranged radially at the center. In addition, the plug for lining ductile iron pipes has an inflatable rubber tire at the part in contact with the ductile iron pipe. Therefore, in order to cooperate with the gripping, the plug must be fixed from the inside in a stretched manner.

[0070] The first fixing part 300 is fixedly connected to the execution end of the industrial robot;

[0071] The hook assembly 100 is composed of multiple groups, which are respectively matched with the inner and outer walls of the plug body to carry or disassemble the plug by supporting force. In order to grab the plug, the hook assembly 100 must be more than two groups, please refer to Figure 2 In this specific embodiment, there are three groups of hook assemblies 100. For those skilled in the art, more than two groups can definitely grab the plug. However, it should be noted that the number of support parts in the plug described in the plug for pipe lining is 2-4. Since the hook assemblies 100 grab the space or interfere with the support parts in the plug, the number of hook assemblies 100 will generally be misaligned with the arrangement structure of the support parts in the plug to achieve the purpose of quick grabbing. Of course, if the arrangement form is the same, the twisting angle can achieve the purpose of grabbing in the empty space of the support part in the plug.

[0072] In some embodiments, see Figure 6 Preferably, the hook assembly 100 includes:

[0073] A first rotating wheel 110;

[0074] A second rotating wheel 120;

[0075] The first rotating wheel 110 and the second rotating wheel 120 are respectively located in two directions of the linear motion of the hook assembly 100, and are rotatably connected to the first fixing portion 300;

[0076] The transmission belt 130 is a belt body mounted on the first rotating wheel 110 and the second rotating wheel 120;

[0077] A linear guide rail 140 , wherein the linear guide rail 140 is fixed on the first fixing portion 300 , adjacent to and parallel to the transmission belt 130 ;

[0078] The slider 150 is mounted on the linear guide rail 140 and slides relative to the linear guide rail 140;

[0079] A hook 160 is fixedly connected to the slider 150, and the hook 160 cooperates with the inner and outer walls of the plug body;

[0080] The driving assembly 200 drives the first rotating wheel 110 or the second rotating wheel 120 to rotate;

[0081] The slider 150 or the hook 160 is fixedly connected to the transmission belt 130 and is powered by the transmission belt 130 .

[0082] See also Figure 5 In some embodiments, preferably,

[0083] The contact surfaces between the transmission belt 130 and the first rotating wheel 110 and the second rotating wheel 120 are provided with continuous or discontinuous teeth;

[0084] The first rotating wheel 110 and the second rotating wheel 120 are provided with teeth;

[0085] The first rotating wheel 110 and the second rotating wheel 120 are meshed with the transmission belt 130 for transmission.

[0086] The above structure is similar to the coordinate control method of the XYZ axis in 3D printing, and uses the characteristics of meshing transmission to accurately control the position of the hook assembly 100.

[0087] To improve crawl reliability, see Figure 6 , the hook assembly 100 further includes:

[0088] The claw groove 170 is a U-shaped groove fixed on the hook claw 160 and facing the inner circle outer wall of the plug body.

[0089] In some embodiments, see Figure 1 , multiple groups of hook assemblies 100 are oriented toward the same center point, and the first rotating wheel 110 is located around the center point; in this embodiment, the center point refers to the position of the inflation and deflation assembly in the socket plug with reference to the application number 202223227566.7, in which the position of the inflation and deflation assembly is located in the middle of the center of the circle. In this embodiment, in order to synchronously control the movement of multiple groups of hook assemblies 100, the center of the inflation and deflation assembly in the socket plug for the pipe liner described in the use state is coaxial with the center point described in this embodiment.

[0090] And, the driving assembly 200 includes:

[0091] A driving gear 210, wherein the axis of the driving gear 210 is located at the center point;

[0092] The hook gears 220 are the same in number as the hook assembly 100 and are located around the driving gear 210 and mesh with the driving gear 210 for transmission;

[0093] The hook gear 220 is coaxially fixedly connected to the first rotating wheel 110. The hook gear 220 is located between the first rotating wheel 110 and the first fixing portion 300. The first rotating wheel 110 is powered by the driving gear 210 through the hook gear 220.

[0094] See also Figure 4The linear guides 140 in the plurality of hook assemblies 100 are located on the same side of the transmission belt 130, and the hooks 160 move in the same direction under the power of the driving gear 210. When the driving gear 210 rotates, the plurality of hook gears 220 are driven to rotate synchronously. When the linear guides 140 in the plurality of hook assemblies 100 are located on the same side of the transmission belt 130, the plurality of hook assemblies 100 can be kept moving in the same direction.

[0095] In some other embodiments, see Figure 3 , preferably, further comprising:

[0096] The second fixing portion 310 is a plate-shaped body parallel to the first fixing portion 300 , and the first rotating wheel 110 is located between the first fixing portion 300 and the second fixing portion 310 ;

[0097] The second fixing portion 310 is fixedly connected to the first fixing portion 300 by means of the supporting leg 320 .

[0098] The second fixing portion 310 is used to protect the driving assembly 200 and provide a position for installing the inflation and deflation portion 500 at the center.

[0099] See also Figure 3 Due to the existence of the second fixing portion 310, if the hook 160 is a simple linear shape, it will collide with the second fixing portion 310 when moving to the most central position. In order to avoid the collision and ensure that the hook 160 can match the small-sized plug grip, please refer to Figure 6 , the hook 160 is of a "vertical folding" type, and one end of the hook 160 is bent to cross the second fixing portion 310. Under the present design concept, the purpose of the "vertical folding" type is to avoid interfering with the second fixing portion 310, so the "bending" part should not be limited to a right angle, and any shape that does not interfere with the second fixing portion 310 should be within the scope described in this specific implementation.

[0100] In some other embodiments, see Figure 3 , a sensing element 400 is fixedly provided on the first fixing part 300 or the second fixing part 310; for those skilled in the art, the sensing element 400 that can be generally considered to be a laser sensor can be a mechanical tactile element similar to a rod. Its purpose is to sense the position of the support part in the plug described by the plug for the pipe liner to avoid contact and interference between the two during the grasping action. If it is a laser sensor, after sensing the position of the support part in the plug, according to the structure of the support part in the plug, it is possible to directly deduce how the hook 160 is inserted into the empty space in the support part in the plug to achieve the grasping action.

[0101] The sensing element 400 senses the position of the pipe liner socket or bell plug or the position of the support portion in the pipe liner socket or bell plug.

[0102] In some embodiments, see Figure 2 and Figure 7 , a gas charging and discharging part 500 is fixedly provided on the second fixing part 310;

[0103] The gas charging and discharging unit 500 includes:

[0104] The inflation and deflation port 520 is a port facing the normal direction of the plane where the first fixing part 300 is located, and is matched with the inflation and deflation component in the socket or socket plug for the pipe liner;

[0105] The charging and discharging unit driver 510 is a linear driving component that drives the charging and discharging unit port 520 to reciprocate along the normal direction of the plane where the first fixing unit 300 is located. The charging and discharging unit driver 510 is fixed on the second fixing unit 310, and the movement path of the charging and discharging unit driver 510 is collinear with the center point. Figure 7 A spring is also provided on the lower side of the inflation and deflation port 520. In order to ensure the airtightness of inflation and deflation, a certain pressure is required between the deflation port 520 and the plug. The design of the spring can ensure the pressure. At the same time, the inflation and deflation drive 510 can also ensure the proximity between the inflation and deflation port 520 and the plug after grabbing.

[0106] See also Figures 1 to 4 In the above specific implementation, when the driving components 200 are in three groups, the first fixing portion 300 is a triangular star or a three-pointed star. Therefore, in some embodiments, in order to fully consider the purpose of reducing the weight of the tooling, the first fixing portion 300 is a polygonal star shape with the same number of corners as the number of the driving components 200;

[0107] Each group of the driving components 200 is arranged on a corner of the polygonal star shape.

[0108] Of course, when there are four groups of drive components 200, it is a four-pointed star, when there are five groups, it is a five-pointed star, and so on.

[0109] During specific operation: the plug grabbing tool is generally fixed on the execution end of the industrial robot. Taking a six-degree-of-freedom six-axis industrial robot as an example, the end in T is fixed to the first fixed part 300, and the spatial position of the two is generally T-shaped, that is, the T-axis is located on the normal of the plane where the first fixed part 300 is located. The T-axis can control the rotation of the tool. When the plug needs to be installed, the tool moves to one side of the plug, parallel to the plane where the plug is located, and gradually approaches the plug. The hook assembly 100 opens or contracts according to the gap in the inner circle of the plug, then enters from the gap, and expands again, using the supporting force to fix the plug. The industrial robot transports the plug to one end of the socket or spigot of the ductile iron pipe. If the tooling has both the function of inflation and deflation, the inflation and deflation unit driver 510 is required to drive the inflation and deflation unit port 520 close to the inflation and deflation assembly of the plug and cooperate with it to complete the inflation action, so that the rubber tire in the plug fits the ductile iron pipe. After generating sufficient fixing force, the tooling is withdrawn, and the ductile iron pipe is injected with mortar under the action of the socket plug to complete the centrifugal lining. After the lining is completed, the tooling performs the reverse operation of the installation and removes the plug.

[0110] The beneficial effects of the present invention relative to the technology are: a new grasping tool is designed to match the socket plug for pipe lining described in application number 202223227566.7, or a socket plug with the same plug body, support part, and inflation and deflation component structure as the socket plug for pipe lining, thereby realizing the application of industrial robots or special automation tools in the centrifugal lining of ductile iron pipes.

[0111] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A plug grabbing tool for an industrial robot, characterized in that: include: The first fixing part (300) is a plate-shaped body supported by a plane; The hook assembly (100) is a component that moves linearly along the plane where the first fixing portion (300) is located; A driving assembly (200) for driving the hook assembly (100) to move; The plug grabbing tool is used to grab the spigot plug for pipe lining described in application number 202223227566.7, or the socket plug with the same plug body, support part, and inflation and deflation assembly structure as the spigot plug for pipe lining; The first fixing part (300) is fixedly connected to the execution end of the industrial robot; The hook claw assembly (100) comprises a plurality of groups, which respectively cooperate with the inner and outer walls of the plug body, and utilize the supporting force to carry or disassemble the plug.

2. The plug grabbing tool for an industrial robot according to claim 1, characterized in that: The hook assembly (100) comprises: A first rotating wheel (110); A second rotating wheel (120); The first rotating wheel (110) and the second rotating wheel (120) are respectively located in two directions of linear motion of the hook assembly (100), and are rotatably connected to the first fixing portion (300); A transmission belt (130) is a belt body mounted on the first rotating wheel (110) and the second rotating wheel (120); A linear guide rail (140), the linear guide rail (140) being fixed on the first fixing portion (300), adjacent to and parallel to the transmission belt (130); A slider (150) is mounted on the linear guide rail (140) and slides relative to the linear guide rail (140); A hook (160) is fixedly connected to the slider (150), and the hook (160) cooperates with the inner and outer walls of the plug body; The driving assembly (200) drives the first rotating wheel (110) or the second rotating wheel (120) to rotate; The slider (150) or the hook (160) is fixedly connected to the transmission belt (130), and is powered by the transmission belt (130).

3. The plug grabbing tool for an industrial robot according to claim 2, characterized in that: The contact surfaces of the transmission belt (130) and the first rotating wheel (110) and the second rotating wheel (120) are provided with continuous or discontinuous teeth; The first rotating wheel (110) and the second rotating wheel (120) are provided with teeth; The first rotating wheel (110) and the second rotating wheel (120) are meshed with the transmission belt (130) for transmission.

4. The plug grabbing tool for an industrial robot according to claim 2, characterized in that: The hook assembly (100) further includes: The claw groove (170) is a U-shaped groove fixed on the hook claw (160) and facing the inner circle outer wall of the plug body.

5. The plug grabbing tool for an industrial robot according to claim 2, characterized in that: The plurality of hook claw assemblies (100) face the same center point, and the first rotating wheel (110) is located around the center point; And, the driving assembly (200) comprises: A driving gear (210), wherein the axis of the driving gear (210) is located at the center point; The hook gears (220) are the same in number as the hook assembly (100), are located around the driving gear (210), and are meshed with the driving gear (210) for transmission; The hook gear (220) is coaxially fixedly connected to the first rotating wheel (110), the hook gear (220) is located between the first rotating wheel (110) and the first fixed part (300), and the first rotating wheel (110) is powered by the driving gear (210) with the help of the hook gear (220); The linear guide rails (140) in the plurality of groups of hook assemblies (100) are located on the same side of the transmission belt (130), and the hooks (160) move in the same direction under the power of the driving gear (210).

6. The plug grabbing tool for an industrial robot according to claim 2, characterized in that: Also includes: The second fixing part (310) is a plate-shaped body parallel to the first fixing part (300), and the first rotating wheel (110) is located between the first fixing part (300) and the second fixing part (310); A support leg (320), wherein the second fixing portion (310) is fixedly connected to the first fixing portion (300) by means of the support leg (320).

7. The plug grabbing tool for an industrial robot according to claim 6, characterized in that: The hook (160) is of a "vertical folding" type, and one bent end of the hook (160) spans over the second fixing portion (310).

8. The plug grabbing tool for an industrial robot according to claim 6, characterized in that: A sensing element (400) is fixedly disposed on the first fixing portion (300) or the second fixing portion (310); The sensing element (400) senses the position of the socket or bell plug for the pipe liner or the position of the support portion in the socket or bell plug for the pipe liner.

9. The plug grabbing tool for an industrial robot according to claim 6, characterized in that: The second fixing portion (310) is fixedly provided with an inflation and deflation portion (500); The gas charging and discharging unit (500) comprises: The inflation and deflation port (520) is a port facing the normal direction of the plane where the first fixing part (300) is located, and is matched with the inflation and deflation component in the socket or socket plug for the pipe liner; The inflation and deflation part drive (510) is a linear drive component that drives the inflation and deflation part port (520) to reciprocate along the normal direction of the plane where the first fixed part (300) is located. The inflation and deflation part drive (510) is fixed on the second fixed part (310), and the movement path of the inflation and deflation part drive (510) is collinear with the center point.

10. The plug grabbing tool for an industrial robot according to claim 2, characterized in that: The first fixing portion (300) is in the shape of a polygonal star with the same number of corners as the number of the driving components (200); Each group of the driving components (200) is arranged on a corner of the polygonal star shape.

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