Grabbing mechanism capable of being used for feeding and discharging of various bent pipes

Abstract

The grabbing mechanism comprises a mechanical arm, the tail end of the mechanical arm is fixedly connected with a mounting plate, a mechanical claw is mounted at the bottom of the mounting plate, the mechanical claw comprises a mounting seat, a driving mechanism is mounted in the mounting seat, and the driving mechanism is connected with the mechanical arm. Two single claws which are distributed left and right are mounted at the bottom of the mounting seat, semicircular openings are formed in the inner sides of the single claws, and a plurality of adaptive mechanisms are mounted in the single claws; the mechanical claw can be driven to move through the mechanical arm, the driving mechanism in the mechanical claw can drive the two single claws to be opened and closed so as to grab and release the bent pipes, when the bent pipes of different sizes are grabbed, the distance between the ejector blocks in the multiple adaptive mechanisms can be adjusted, the ejector blocks are pushed by the air cylinder to move so that the diameter of a circle defined by the multiple ejector blocks can be adjusted, and therefore the bent pipes can be grabbed and released. Therefore, when bent pipes of different sizes are grabbed, the single claw can accurately grab the bent pipes by being matched with the multiple adaptive mechanisms, the flexibility is high, and the use is very convenient.

Description

Technical Field

[0001] The invention relates to the technical field of bent pipe grabbing, and in particular to a grabbing mechanism that can be used for loading and unloading of various bent pipes. Background Art

[0002] A pipe bender is a machine used for bending pipes and can also be used as a jack. It is roughly divided into CNC pipe bender, hydraulic pipe bender, etc. It is used in pipeline laying and repair in power construction, road and railway construction, bridges, ships, etc.

[0003] Traditional pipe bending machines mainly rely on manual loading to place the bent pipes and manual unloading to remove the processed bent pipes. This process not only increases the workload of workers, but also poses certain safety hazards. Therefore, manual loading and unloading is gradually replaced by machines. Common loading and unloading usually uses a robotic arm with a mechanical claw to grab the bent pipe to achieve loading and unloading operations.

[0004] The mechanical claws in the prior art usually have an arc-shaped groove on the inside that is adapted to the diameter of the bent pipe to be grasped. In order to make the bent pipe grasping more stable, the arc-shaped groove is usually adapted to the size of the bent pipe. However, this also has a disadvantage. For example, there is not only one size of bent pipe during processing, and the adapted arc-shaped groove on the conventional mechanical claw cannot accurately clamp bent pipes of various sizes, which is very inconvenient to use. In order to solve the above-mentioned deficiencies, the present application proposes a gripping mechanism that can be used for loading and unloading of various bent pipes. Summary of the invention

[0005] The present invention provides a grabbing mechanism which can be used for loading and unloading various bent pipes to solve the above technical problems.

[0006] In order to solve the above technical problems, the present invention provides a gripping mechanism that can be used for loading and unloading various bent pipes, including a mechanical arm, a mounting plate is fixedly connected to the end of the mechanical arm, and a mechanical claw is installed at the bottom of the mounting plate; The mechanical claw comprises a mounting seat, a driving mechanism is installed inside the mounting seat, two single claws distributed on the left and right are installed at the bottom of the mounting seat, a semicircular opening is opened inside the single claw, a plurality of adapting mechanisms are installed inside the single claw, and the adapting mechanisms extend to the outside of the single claw; The adapting mechanism comprises a cylinder, the cylinder passes through the single claw, the single claw and the cylinder are fixedly connected, and the cylinder output shaft is fixedly connected with a top block.

[0007] Preferably, the driving mechanism includes a bidirectional screw, which is movably connected to the inside of the mounting seat through a bearing, two T-blocks are provided on the outer end of the bidirectional screw, and the T-blocks and the bidirectional screw are threadedly connected, the bottom of the T-block is fixedly connected to the top of the single claw, a reduction motor is fixedly connected to one side of the mounting seat, and one end of the bidirectional screw is fixedly connected to the output shaft of the reduction motor.

[0008] Preferably, the bidirectional screw consists of a first one-way threaded rod and a second one-way threaded rod, the first one-way threaded rod is fixedly connected to one end of the second one-way threaded rod, the two T-blocks are respectively sleeved on the outer ends of the first one-way threaded rod and the second one-way threaded rod, and the two T-blocks are respectively threadedly connected to the first one-way threaded rod and the second one-way threaded rod.

[0009] Preferably, two guide rods distributed front and back are fixedly connected inside the mounting seat, the bidirectional screw is located between the two guide rods, the guide rod passes through the T-block, and the T-block and the guide rod are slidably connected.

[0010] Preferably, two T-shaped slots distributed front and back are provided at the bottom of the mounting seat, two T-shaped sliders distributed front and back are fixedly connected to the top of the single claw, the T-shaped block is located between the two T-shaped sliders, and the T-shaped slider is slidably connected inside the T-shaped slot.

[0011] Preferably, two guide mechanisms distributed up and down are installed inside the single claw, the semicircular opening is located between the two guide mechanisms, the guide mechanism includes a slide plate, the top of the slide plate is movably connected to the guide plate through a rotating shaft, one side of the guide plate is fixedly connected to a first hinge seat, one side of the slide plate is fixedly connected to a second hinge seat, a first electric push rod is movably connected between the first hinge seat and the second hinge seat, a connecting block is fixedly connected to the bottom of one side of the slide plate, the bottom of the connecting block is fixedly connected to the second electric push rod, and the bottom of the second electric push rod is fixedly connected to the bottom end of the single claw.

[0012] Preferably, two upper and lower limit bars are fixedly connected to the front and rear sides of the single claw respectively, a slideway is provided between the limit bar and the inner wall of the single claw, and the slide plate is slidably connected inside the slideway.

[0013] Preferably, a bolt head is fixedly connected to each of the four corners on the top of the bolt head, a bolt hole is opened at each of the four corners on the top of the mounting plate, the bolt head passes through the bolt hole, a nut and a gasket are sleeved on the outer end of the bolt head, the bolt head and the nut are threadedly connected, and the gasket is located between the mounting plate and the nut.

[0014] Preferably, the top block is composed of a hard plate and a rubber block, the hard plate is fixedly connected to the end of the cylinder output shaft, and the rubber block is fixedly connected to the hard plate.

[0015] Compared with the related art, the grabbing mechanism provided by the present invention which can be used for loading and unloading of various bent pipes has the following beneficial effects: The mechanical claw can be driven to move by the mechanical arm, and the driving mechanism in the mechanical claw can drive the two single claws to open and close to grasp and release the bent pipe. When grasping bent pipes of different sizes, the mutual distance between the top blocks in the multiple adapter mechanisms can be adjusted. The top blocks are pushed to move by the cylinder so that the diameter of the circle surrounded by the multiple top blocks can be adjusted. Therefore, when grasping bent pipes of different sizes, the single claw cooperates with multiple adapter mechanisms to accurately grasp the bent pipes, which is highly flexible and very convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a grabbing mechanism proposed by the present invention that can be used for loading and unloading of various bent pipes; Figure 2 The present invention proposes a gripping mechanism that can be used for loading and unloading various bent pipes. Figure 1 Enlarged view of part A in the middle; Figure 3 This is a schematic diagram of the mounting plate structure of a grabbing mechanism that can be used for loading and unloading various bent pipes proposed by the present invention; Figure 4 This is a schematic diagram of the mechanical claw structure of a gripping mechanism that can be used for loading and unloading of various bent pipes proposed by the present invention; Figure 5 This is a front and sectional view of a mechanical claw of a gripping mechanism that can be used for loading and unloading various bent pipes proposed by the present invention; Figure 6 The present invention proposes a gripping mechanism that can be used for loading and unloading various bent pipes. Figure 5 Enlarged view of middle part B; Figure 7 This is a schematic diagram of a single claw structure of a gripping mechanism that can be used for loading and unloading a variety of bent pipes proposed by the present invention; Figure 8 This is a schematic cross-sectional view of a single claw structure of a gripping mechanism that can be used for loading and unloading a variety of bent pipes proposed by the present invention; Fig. 9 This is a schematic diagram of the structure of an adaptor mechanism of a gripping mechanism that can be used for loading and unloading various bent pipes proposed by the present invention; Fig.10 This is a schematic diagram of the structure of a guide mechanism of a grabbing mechanism that can be used for loading and unloading various bent pipes proposed by the present invention; Fig.11 This is a schematic diagram of the mounting seat structure of a grabbing mechanism that can be used for loading and unloading of various bent pipes proposed by the present invention.

[0017] Numbers in the figure: 1. Robotic arm, 2. Mounting plate, 3. Bolt hole, 4. Mounting seat, 5. Bolt head, 6. Nut, 7. Gasket, 8. Single claw, 9. T-block, 10. Bidirectional screw, 101. First unidirectional threaded rod, 102. Second unidirectional threaded rod, 11. Reducer motor, 12. Guide rod, 13. T-slide groove, 14. T-slide block, 15. Semicircular opening, 16. Cylinder, 17. Top block, 171. Hard plate, 172. Rubber block, 18. Slide plate, 19. Guide plate, 20. First electric push rod, 21. First hinge seat, 22. Second hinge seat, 23. Connecting block, 24. Second electric push rod, 25. Limit strip, 26. Slideway. DETAILED DESCRIPTION

[0018] Example, by Figure 1-11 The present invention comprises a mechanical arm 1, the end of the mechanical arm 1 is fixedly connected to a mounting plate 2, and a mechanical claw is installed at the bottom of the mounting plate 2; The mechanical claw includes a mounting base 4, a driving mechanism is installed inside the mounting base 4, two single claws 8 distributed on the left and right are installed at the bottom of the mounting base 4, a semicircular opening 15 is opened inside the single claw 8, a plurality of adapting mechanisms are installed inside the single claw 8, and the adapting mechanisms extend to the outside of the single claw 8, and the two semicircular openings 15 on the two single claws 8 are combined to form a circular hole. When grabbing a bent pipe, the bent pipe passes through the circular hole without interfering with the single claw 8, and the clamping of the bent pipe is mainly achieved by the multiple adapting mechanisms in the single claw 8; The adapting mechanism includes a cylinder 16, which passes through the single claw 8, and the single claw 8 and the cylinder 16 are fixedly connected, and the output shaft of the cylinder 16 is fixedly connected with a top block 17, and the cylinder 16 and the single claw 8 are fixedly connected, and the multiple cylinders 16 are distributed in a circular array around the center of the circular hole formed by two semicircular openings 15. Therefore, when the cylinder 16 pushes the top block 17 to move, the center of the circle surrounded by the multiple top blocks 17 remains unchanged, but the diameter changes. Based on this, accurate clamping of bent pipes of different sizes is achieved.

[0019] The driving mechanism includes a bidirectional screw 10, which is movably connected to the inside of the mounting seat 4 through a bearing, and the outer end of the bidirectional screw 10 is sleeved with two T-blocks 9, and the T-blocks 9 and the bidirectional screw 10 are threadedly connected, and the bottom of the T-block 9 is fixedly connected to the top of the single claw 8. A reduction motor 11 is fixedly connected to one side of the mounting seat 4, and one end of the bidirectional screw 10 is fixedly connected to the output shaft of the reduction motor 11. The bidirectional screw 10 is composed of a first unidirectional threaded rod 101 and a second unidirectional threaded rod 102. The first unidirectional threaded rod 1 01 is fixedly connected to one end of the second one-way threaded rod 102, the two T-blocks 9 are respectively sleeved on the outer ends of the first one-way threaded rod 101 and the second one-way threaded rod 102, and the two T-blocks 9 are respectively threadedly connected to the first one-way threaded rod 101 and the second one-way threaded rod 102. When the reduction motor 11 drives the bidirectional screw rod 10 to rotate, the two T-blocks 9 can move closer to or away from each other on the first one-way threaded rod 101 and the second one-way threaded rod 102, respectively, thereby driving the two single claws 8 to approach each other to grasp and move away from each other to release the bent pipe.

[0020] The mounting seat 4 is internally fixedly connected with two guide rods 12 distributed front and back, the bidirectional screw 10 is located between the two guide rods 12, the guide rod 12 passes through the T-block 9, and the T-block 9 and the guide rod 12 are slidably connected, and the guide rod 12 can guide the T-block 9 when it moves, so that its movement stability is better.

[0021] Two T-shaped grooves 13 distributed front and back are provided at the bottom of the mounting seat 4, and two T-shaped sliders 14 distributed front and back are fixedly connected to the top of the single claw 8, and the T-shaped block 9 is located between the two T-shaped sliders 14, and the T-shaped slider 14 is slidably connected inside the T-shaped groove 13. The single claw 8 is slidably connected to the bottom of the mounting seat 4 through the T-shaped groove 13 and the T-shaped slider 14, thereby further improving the stability of the single claw 8 when moving.

[0022] Two guide mechanisms distributed up and down are installed inside the single claw 8, and the semicircular opening 15 is located between the two guide mechanisms. The guide mechanism includes a slide plate 18, and the top of the slide plate 18 is movably connected to a guide plate 19 through a rotating shaft, and one side of the guide plate 19 is fixedly connected to a first hinge seat 21, and one side of the slide plate 18 is fixedly connected to a second hinge seat 22, and a first electric push rod 20 is movably connected between the first hinge seat 21 and the second hinge seat 22, and a connecting block 23 is fixedly connected to the bottom of one side of the slide plate 18, and a second electric push rod 24 is fixedly connected to the bottom of the connecting block 23, and the bottom of the second electric push rod 24 is connected to the bottom end of the single claw 8. Fixed connection, when grabbing a thin curved pipe with a smaller diameter, multiple top blocks 17 approach each other and gradually move toward the center of the circle. At this time, there will be a certain gap between the upper and lower walls of the semicircular opening 15 and the top block 17. Because the curved pipe is relatively thin, in order to avoid the curved pipe being stuck in the gap and unable to be accurately clamped by the top block 17, the slide plate 18 and the guide plate 19 in the wire mechanism can cooperate to block and guide the curved pipe, so that it can be accurately guided between the multiple top blocks 17. The angle of the guide plate 19 can be driven and adjusted by the first electric push rod 20, and then the angle can be adjusted while the slide plate 18 moves up and down to make it smoother when guiding the curved pipe to the top block 17.

[0023] Two upper and lower limit strips 25 are fixedly connected to the front and rear sides of the single claw 8, respectively. A slide 26 is set between the limit strip 25 and the inner wall of the single claw 8. The slide plate 18 is slidably connected inside the slide 26, and the edge of the slide plate 18 extends into the slide 26, thereby achieving stable sliding on the inner wall of the single claw 8.

[0024] A bolt head 5 is fixedly connected to each of the four corners on the top of the bolt head 5. A bolt hole 3 is opened at each of the four corners on the top of the mounting plate 2. The bolt head 5 passes through the bolt hole 3. A nut 6 and a gasket 7 are sleeved on the outer end of the bolt head 5. The bolt head 5 and the nut 6 are threadedly connected. The gasket 7 is located between the mounting plate 2 and the nut 6. The mounting plate 2 and the mounting seat 4 are detachably fixedly connected by the bolt head 5 and the nut 6, and the installation and disassembly are convenient.

[0025] The top block 17 is composed of a hard plate 171 and a rubber block 172. The hard plate 171 is fixedly connected to the end of the output shaft of the cylinder 16, and the rubber block 172 is fixedly connected to the hard plate 171. The hard plate 171 can increase the hardness of the entire top block 17, and the rubber block 172, as the part directly in contact with the bent pipe, can better support the outer wall of the bent pipe according to the characteristics of its own material to achieve a stable grasping operation.

[0026] Working principle: When grabbing the bent pipe, the mechanical arm 1 drives the mechanical claw to move to the desired position, and then the bent pipe is grabbed by the mechanical claw. When grabbing the bent pipe, it is first necessary to determine the diameter of the grabbed bent pipe, and then adjust the adapting mechanism. The specific operation can be to push the top block 17 to move through the cylinder 16. The semicircular openings 15 on the two single claws 8 can form a circular hole, and the multiple adapting mechanisms on the two single claws 8 are distributed in a circular array with the center of the circular hole as the central axis. Therefore, no matter how the top block 17 is telescopically pushed, the center of the circle surrounded by the multiple top blocks 17 is the same, and only the diameter of the circle changes, so that the bent pipes of different diameters can be clamped and grabbed; When grabbing a curved pipe with a smaller diameter, since the multiple top blocks 17 are close to each other, the distance between the upper and lower edges of the semicircular opening 15 and the top block 17 becomes larger. Therefore, in order for the thin curved pipe to be accurately clamped by the multiple adapter mechanisms, the large-distance gap can be blocked by the limiting mechanism. At this time, the second electric push rod 24 can cooperate with the connecting block 23 to push the slide plate 18 to move toward the semicircular opening 15. During this period, the first electric push rod 20 can also push or pull the guide plate 19 to rotate and tilt it. The slide plate 18 cooperates with the inclined guide plate 19 to first block the gap between the upper and lower edges of the semicircular opening 15 and the top block 17, and at the same time, the curved pipe can be guided to be clamped and grabbed between the multiple adapter mechanisms, and the grabbing accuracy is higher. Before the two single claws 8 grab or release the bent pipe, they are first driven apart by the driving mechanism. Conversely, when grabbing the bent pipe, the two single claws 8 need to be driven close to each other and clamped together to clamp the bent pipe to achieve the grabbing action. The specific operation can be to start the reduction motor 11, and the output shaft of the reduction motor 11 drives the bidirectional screw 10 to rotate, so that the two T-blocks 9 on the first one-way threaded rod 101 and the second one-way threaded rod 102 on the bidirectional screw 10 can move away from or approach each other. When the two T-blocks 9 move away from each other, the two single claws 8 move away from each other, and vice versa.

Claims

1. A gripping mechanism for loading and unloading various bent pipes, comprising a mechanical arm (1), characterized in that: The end of the mechanical arm (1) is fixedly connected to a mounting plate (2), and a mechanical claw is mounted on the bottom of the mounting plate (2); The mechanical claw comprises a mounting base (4), a driving mechanism is installed inside the mounting base (4), two single claws (8) are installed on the bottom of the mounting base (4) and are distributed on the left and right, a semicircular opening (15) is opened inside the single claw (8), and a plurality of adapting mechanisms are installed inside the single claw (8), and the adapting mechanisms extend to the outside of the single claw (8); The adapting mechanism comprises a cylinder (16), the cylinder (16) passes through the single claw (8), the single claw (8) and the cylinder (16) are fixedly connected, and the output shaft of the cylinder (16) is fixedly connected to a top block (17).

2. A gripping mechanism that can be used for loading and unloading of various bent pipes according to claim 1, characterized in that: The driving mechanism comprises a bidirectional screw (10), the bidirectional screw (10) being movably connected to the inside of a mounting seat (4) via a bearing, two T-shaped blocks (9) being sleeved on the outer end of the bidirectional screw (10), the T-shaped blocks (9) and the bidirectional screw (10) being threadedly connected, the bottom of the T-shaped block (9) being fixedly connected to the top of the single claw (8), a reduction motor (11) being fixedly connected to one side of the mounting seat (4), and one end of the bidirectional screw (10) being fixedly connected to the output shaft of the reduction motor (11).

3. A gripping mechanism that can be used for loading and unloading of various bent pipes according to claim 2, characterized in that: The bidirectional screw rod (10) is composed of a first one-way threaded rod (101) and a second one-way threaded rod (102); the first one-way threaded rod (101) is fixedly connected to one end of the second one-way threaded rod (102); the two T-blocks (9) are respectively sleeved on the outer ends of the first one-way threaded rod (101) and the second one-way threaded rod (102); and the two T-blocks (9) are respectively threadedly connected to the first one-way threaded rod (101) and the second one-way threaded rod (102).

4. The gripping mechanism for loading and unloading various bent pipes according to claim 2 is characterized in that: Two guide rods (12) distributed front and back are fixedly connected inside the mounting seat (4), the bidirectional screw rod (10) is located between the two guide rods (12), the guide rod (12) passes through the T-block (9), and the T-block (9) and the guide rod (12) are slidably connected.

5. The gripping mechanism for loading and unloading various bent pipes according to claim 2 is characterized in that: The bottom of the mounting seat (4) is provided with two T-shaped slide grooves (13) distributed front and back, the top of the single claw (8) is fixedly connected with two T-shaped slide blocks (14) distributed front and back, the T-shaped block (9) is located between the two T-shaped slide blocks (14), and the T-shaped slide block (14) is slidably connected inside the T-shaped slide groove (13).

6. The gripping mechanism for loading and unloading various bent pipes according to claim 1 is characterized in that: Two guide mechanisms distributed up and down are installed inside the single claw (8), the semicircular opening (15) is located between the two guide mechanisms, the guide mechanism comprises a slide plate (18), the top of the slide plate (18) is movably connected to a guide plate (19) via a rotating shaft, one side of the guide plate (19) is fixedly connected to a first hinge seat (21), one side of the slide plate (18) is fixedly connected to a second hinge seat (22), a first electric push rod (20) is movably connected between the first hinge seat (21) and the second hinge seat (22), a connecting block (23) is fixedly connected to the bottom of one side of the slide plate (18), a second electric push rod (24) is fixedly connected to the bottom of the connecting block (23), and the bottom of the second electric push rod (24) is fixedly connected to the bottom end of the inside of the single claw (8).

7. The gripping mechanism for loading and unloading various bent pipes according to claim 6 is characterized in that: Two upper and lower limit bars (25) are fixedly connected to the front and rear sides of the single claw (8), respectively; a slideway (26) is provided between the limit bar (25) and the inner wall of the single claw (8); and the slide plate (18) is slidably connected to the inside of the slideway (26).

8. The gripping mechanism for loading and unloading various bent pipes according to claim 1 is characterized in that: A bolt head (5) is fixedly connected to each of the four corners of the top of the bolt head (5); a bolt hole (3) is opened at each of the four corners of the top of the mounting plate (2); the bolt head (5) passes through the bolt hole (3); a nut (6) and a gasket (7) are sleeved on the outer end of the bolt head (5); the bolt head (5) and the nut (6) are threadedly connected; and the gasket (7) is located between the mounting plate (2) and the nut (6).

9. The gripping mechanism for loading and unloading various bent pipes according to claim 1 is characterized in that: The top block (17) is composed of a hard plate (171) and a rubber block (172); the hard plate (171) is fixedly connected to the end of the output shaft of the cylinder (16); and the rubber block (172) is fixedly connected to the hard plate (171).

Images