Inner supporting type three-way malleable cast iron pipe fitting grabbing mechanism

Abstract

The invention discloses an inner support type three-way malleable cast iron pipe fitting grabbing mechanism which comprises a grabbing hand body, a grabbing assembly and an aligning assembly and is used for grabbing a three-way malleable cast iron pipe fitting. The alignment assembly comprises a first alignment position, a second alignment position and a third alignment position which are matched with the three-way malleable cast iron pipe fitting in shape, during grabbing, the first alignment position, the second alignment position and the third alignment position pre-judge the position and the direction of the three-way malleable cast iron pipe fitting, and after the electromagnetic part is attracted, the three-way malleable cast iron pipe fitting is grabbed. The first opening, the second opening and the third opening of the three-way malleable cast iron pipe fitting are correspondingly located in the first alignment position, the second alignment position and the third alignment position respectively, and therefore the three-way malleable cast iron pipe fitting is aligned. And the aligning assembly and the grabbing assembly are matched with each other, the three-way malleable cast iron pipe fittings in different postures are stably grabbed, the applicability is high, and the grabbing efficiency of the three-way malleable cast iron pipe fittings can be effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of automatic parts grabbing, and more specifically to an internally supported three-way malleable cast iron pipe fitting grabbing mechanism. Background Art

[0002] Three-way malleable cast iron pipe fittings are an indispensable component used in the construction of pipelines and other fields. They bear the change of various pipeline directions and make great contributions to pipeline laying. At present, with the acceleration of industrial automation and the rapid popularization of intelligent assembly lines, a robot is needed to grasp and place three-way malleable cast iron pipe fittings in the production process, so as to realize the automation and intelligence of the production of three-way malleable cast iron pipe fittings and better improve the production efficiency of three-way malleable cast iron pipe fittings.

[0003] In the prior art, there are gripping mechanisms for grabbing special-shaped parts such as three-way malleable cast iron pipe fittings, which can achieve certain functions, but at the same time, there are still some defects. For example, publication number CN111300461A discloses an internal support type adaptive compliant manipulator for fragile thin-walled cylindrical inner wall workpieces, whose structure includes an external cylindrical sleeve, a gripping device installed in the sleeve, and an adaptive connecting device installed at the upper end of the sleeve; the gripping device includes a disc-shaped main body, an internal support mechanism on its lower surface, and a linear motion driver on the upper surface; when working, the piston rod of the cylinder moves upward to drive the connecting rod to move, and the connecting rod drives the sliding block to push the three internal support bodies to move outward at the same time, so that the outer arc surface of the internal support body gradually contacts the inner surface of the workpiece. This manipulator can realize the grasping of cylindrical parts, but the grasping effect of the messy three-way malleable cast iron pipe fittings is slightly lacking.

[0004] Announcement No. CN213106892U discloses a three-way pipe parts grabbing device, which has a structure of a sleeve connected to a rotating disk, a threaded inner wall of the sleeve and a screw rod, and the screw rod extends to the outside of the sleeve, a limit block is welded on the lower end face of the screw rod, and a grab clamp is arranged in the middle of the limit block through a hinge rotation, and an extrusion block is glued and fixed on one side of the lower end face of the grab clamp, and a U-shaped groove is opened in the middle of one side of the extrusion block to grab the three-way malleable cast iron pipe fitting. However, this device can only grab the neck of the three-way malleable cast iron pipe fitting, and has high requirements for the accuracy of the grabbing position, and the success rate of grabbing stability is low. Summary of the invention

[0005] The present invention provides an internally supported three-way malleable cast iron pipe fitting grasping mechanism, in which disorderly placed three-way malleable cast iron pipe fittings can be adjusted, thereby improving the grasping efficiency of the three-way malleable cast iron pipe fittings.

[0006] In order to achieve the above object, the technical solution provided by the present invention is:

[0007] An internally supported three-way malleable cast iron pipe fitting grasping mechanism comprises a grasping hand body, a grasping assembly and an adjusting assembly;

[0008] The gripping assembly is connected to the gripper body and can move closer to or farther from the adjusting assembly;

[0009] The adjustment component and the grabbing component are located on the same side; the adjustment component includes a first adjustment position, a second adjustment position and a third adjustment position which are recessed on the gripper body and adapted to the three-way malleable cast iron pipe fitting, and also includes an electromagnetic component installed on the gripper body; the third adjustment position is arranged in a direction close to the grabbing component;

[0010] When the grabbing mechanism approaches the three-way malleable cast iron pipe fitting, the electromagnetic component adsorbs the three-way malleable cast iron pipe fitting onto the gripper body and adapts the three-way malleable cast iron pipe fitting to the first, second and third adjustment positions.

[0011] As a further improvement, the first adjustment position, the second adjustment position and the third adjustment position are arc-shaped grooves.

[0012] As a further improvement, the electromagnetic component has at least one, and the electromagnetic component is located between the first adjustment position and the second adjustment position and embedded in the gripper body.

[0013] As a further improvement, the electromagnetic component is located on a side close to the third adjustment position relative to a center line of the first adjustment position or the second adjustment position.

[0014] As a further improvement, the electromagnetic components are respectively arranged at the first adjustment position, the second adjustment position and the third adjustment position.

[0015] As a further improvement, elastic parts are also installed on the first adjustment position, the second adjustment position and the third adjustment position.

[0016] As a further improvement, the grabbing assembly includes a rotating disk, a guide frame and a plurality of expansion frames, the rotating disk is provided with a plurality of arc-shaped holes, the expansion frame includes a guide rod and an expansion connecting rod and a grabbing disk respectively arranged on both sides of the guide rod, the guide rod is connected with the guide frame, the expansion connecting rod passes through the rotating disk and is connected with the arc-shaped holes;

[0017] When the rotating disk rotates, the arc-shaped holes drive the expansion frames to move away from or approach each other, so that the grabbing disk can grab or release the three-way malleable cast iron pipe fitting.

[0018] As a further improvement, the grabbing assembly further includes a support frame, which includes a lifting connection section, a supporting connection section and a fixed connection section; the lifting connection section is connected to the gripper body, and the fixed connection section is connected to the guide frame.

[0019] As a further improvement, the grabbing assembly further comprises a steering gear, the steering gear is mounted on the supporting connecting section, the output end of the steering gear is connected to a bracket connecting rod, and the bracket connecting rod is connected to the rotating disk;

[0020] A connecting shaft is arranged at the center of the guide frame, and the connecting shaft passes through the rotating disk and is connected to the fixed connecting section, so that the rotation center of the output end of the steering gear and the rotation center of the rotating disk are on the same axis.

[0021] As a further improvement, it further comprises a cylinder and a power source, wherein the piston rod of the cylinder is connected to the grabbing assembly, and the power source is connected to the electromagnetic component.

[0022] The technical solution provided by the present invention has the following beneficial effects compared with the prior art: the internally supported three-way malleable cast iron pipe grasping mechanism of the present invention includes an adjustment component, the adjustment component includes a first adjustment position, a second adjustment position and a third adjustment position adapted to the shape of the three-way malleable cast iron pipe. When grasping, the first adjustment position, the second adjustment position and the third adjustment position pre-determine the position and orientation of the three-way malleable cast iron pipe. After the electromagnetic component is adsorbed, the first opening, the second opening and the third opening of the three-way malleable cast iron pipe are respectively located at the first adjustment position, the second adjustment position and the third adjustment position, thereby adjusting the three-way malleable cast iron pipe. The adjustment component cooperates with the grasping component to stably grasp the three-way malleable cast iron pipe in different postures, has strong applicability, and can effectively improve the grasping efficiency of the three-way malleable cast iron pipe.

[0023] Other technical problems that can be solved by the internally supported three-way malleable cast iron pipe grabbing mechanism of the present invention, other technical features included in the technical solution and the advantages brought by these technical features will be further described in detail in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the internal support type three-way malleable cast iron pipe grabbing mechanism;

[0025] Figure 2 It is an exploded schematic diagram of the overall structure of the internal support type three-way malleable cast iron pipe grabbing mechanism;

[0026] Figure 3 It is a schematic diagram of the structure of the grabbing component;

[0027] Figure 4 This is a schematic diagram of the explosion structure of the grabbing component;

[0028] Figure 5 It is a schematic diagram of the expansion frame structure;

[0029] Figure 6 This is a schematic diagram of the connection between the support frame and the steering gear;

[0030] Figure 7This is a schematic diagram showing the connection between the support frame and the servo from another angle;

[0031] Figure 8 is a schematic diagram of the support frame structure;

[0032] Fig. 9 It is a schematic diagram of the structure of a three-way malleable cast iron pipe fitting.

[0033] Description of labels:

[0034] 1. Grip body; 11. Side panel;

[0035] 2. Grabbing assembly; 21. Servo; 211. Bracket connecting rod; 22. Cylinder; 23. Air source; 24. Support frame; 241. Lifting connecting section; 242. Support connecting section; 243. Fixed connecting section; 25. Rotating plate; 251. Connecting rod hole; 252. Arc hole; 26. Guide frame; 261. Connecting shaft; 262. Connecting plate; 263. Guide groove; 27. Expansion frame; 271. Guide rod; 272. Expansion connecting rod; 273. Grabbing plate;

[0036] 3. Adjustment assembly; 31. Electromagnetic component; 32. First adjustment position; 33. Second adjustment position; 34. Third adjustment position; 35. Elastic component; 36. Power supply;

[0037] 4. three-way malleable cast iron pipe fitting; 41. first opening; 42. second opening; 43. third opening. DETAILED DESCRIPTION

[0038] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.

[0039] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents disclosed by the present invention.

[0040] At the same time, the terms such as "upper", "lower", "left", "right", "middle" etc. cited in this specification are only for the convenience of description, and are not used to limit the scope of implementation. Changes or adjustments in their relative relationships should also be regarded as the scope of implementation of the present invention without substantially changing the technical content. In addition, in addition to being used to indicate orientation or positional relationships, some of the above terms may also be used to express other meanings. For example, the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so as to describe the embodiments of the present application described herein.

[0042] Combination Figure 1 and Figure 2 As shown, this embodiment provides an internally supported three-way malleable cast iron pipe grasping mechanism, comprising a grasping handle body 1, a grasping assembly 2 and an adjusting assembly 3, for grasping a three-way malleable cast iron pipe 4.

[0043] like Fig. 9 As shown, the three-way malleable cast iron pipe fitting 4 has three openings, namely a first opening 41, a second opening 42 and a third opening 43. In this embodiment, the center lines of the first opening 41 and the second opening 42 are located on the same straight line, and the direction of the third opening 43 is perpendicular to the direction of the first opening 41 or the second opening 42.

[0044] In this embodiment, the gripping assembly 2 is connected to the gripper body 1 and can move closer to or farther from the adjustment assembly 3. The adjustment assembly 3 and the gripping assembly 2 are located on the same side; the adjustment assembly 3 includes a first adjustment position 32, a second adjustment position 33 and a third adjustment position 34 recessed on the gripper body 1 and adapted to the three-way malleable cast iron pipe fitting 4, and also includes an electromagnetic member 31 installed on the gripper body 1; the third adjustment position 34 is arranged in a direction close to the gripping assembly 2. When the grabbing mechanism approaches the three-way malleable cast iron pipe fitting 4, the electromagnetic component 31 adsorbs the three-way malleable cast iron pipe fitting 4 onto the gripper body 1. After the three-way malleable cast iron pipe fitting 4 is adsorbed close to the gripper body 1, under the guidance of the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34, the three openings of the three-way malleable cast iron pipe fitting 4, the first opening 41, the second opening 42 and the third opening 43 are respectively adapted to the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34, so that the third opening 43 of the three-way malleable cast iron pipe fitting 4 is adjusted toward the grabbing component 2, so that the grabbing component 2 can grab the adjusted three-way malleable cast iron pipe fitting 4.

[0045] Specifically, the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34 are arc-shaped grooves, which can better adapt to the pipe types of the first opening 41, the second opening 42 and the third opening 43 in the three-way malleable cast iron pipe fitting 4, thereby improving the adjustment effect. In this embodiment, in order to adapt to the shape of the three-way malleable cast iron pipe fitting 4, the center lines of the first adjustment position 32 and the second adjustment position 33 are located on the same straight line, and the center line of the third adjustment position 34 is perpendicular to the center line of the first adjustment position 32 or the second adjustment position 33. However, it should be noted that in other cases, when the three-way malleable cast iron pipe fitting 4 to be grasped is of other shapes, such as a Y-shape, the orientations of the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34 will be adjusted accordingly.

[0046] In this embodiment, there are two electromagnetic components 31, which are located between the first adjustment position 32 and the second adjustment position 33 and embedded in the gripper body 1. Moreover, the electromagnetic component 31 is located on the side close to the third adjustment position 34 relative to the center line of the first adjustment position 32 or the second adjustment position 33. When the electromagnetic component 31 adsorbs the three-way malleable cast iron pipe fitting 4, the first opening 41 and the second opening 42 are respectively located at the first adjustment position 32 and the second adjustment position 33. At this time, the electromagnetic component 31 is biased on the side close to the third adjustment position 34, which can make the third opening 43 approach the third adjustment position 34, thereby improving the adjustment effect. Of course, in other cases, the electromagnetic component 31 can also be set in the middle of the center line of the first adjustment position 32 or the second adjustment position 33. It should also be noted that in some embodiments, the electromagnetic component 31 can also be set to other numbers.

[0047] In another embodiment, the electromagnetic component 31 is respectively arranged at the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34, and an electromagnetic component 31 is arranged at each of the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34, so that the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34 can guide and adjust the three-way malleable cast iron pipe fitting 4 while also adsorbing the three-way malleable cast iron pipe fitting 4, thereby having a better adjustment effect.

[0048] As a further improvement, an elastic member 35 is further installed on the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34. The elastic member 35 can be an elastic metal sheet or a rubber gasket. The elastic member 35 is arranged on the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34 so that three-way malleable cast iron pipe fittings 4 of different sizes can match the grooves of the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34.

[0049] Combination Figure 3 and Figure 4 As shown, the grabbing assembly 2 includes a steering gear 21 , a support frame 24 , a rotating disk 25 , a guide frame 26 and a plurality of expansion frames 27 .

[0050] Specifically, combined with Figure 6 , Figure 7 and Figure 8 As shown, the support frame 24 includes a lifting connection section 241, a supporting connection section 242 and a fixed connection section 243. The lifting connection section 241 is connected to the gripper body 1, and a lifting drive member is provided on the gripper body 1. The lifting connection section 241 is specifically connected to the lifting drive member on the gripper body 1, so that the gripping component 2 moves toward or away from the adjustment component 3. The fixed connection section 243 is connected to the guide frame 26, and the supporting connection section 242 is used to fix the supporting steering gear 21. The supporting connection section 242 and the fixed connection section 243 are located on both sides of the same end, and both ends of the fixed connection section 243 protrude toward one side to form the supporting connection section 242, making the structure more compact.

[0051] The servo 21 is mounted on the supporting connection section 242, and the output end of the servo 21 is connected to the support connecting rod 211, and the support connecting rod 211 is connected to the rotating disk 25. Specifically, the two ends of the servo 21 are respectively fixed on the supporting connection section 242, and the output end of the servo 21 is connected to the cross bar, which spans the fixed connection section 243, and the two ends of the cross bar are respectively provided with support connecting rods 211, and the support connecting rod 211 is fixedly connected to the rotating disk 25, and a connecting rod hole 251 is provided on the rotating disk 25, and the support connecting rod 211 is connected to the connecting rod hole 251, so that the servo 21 drives the rotating disk 25 to rotate through the support connecting rod 211. The support frame 24 is connected to the lifting drive and the servo 21 at the same time, and drives the grab assembly 2 to move linearly while also driving the rotating disk 25 to rotate.

[0052] The guide frame 26 is located at one side of the rotating disk 25, and a connecting shaft 261 is arranged at the center of the guide frame 26. The connecting shaft 261 passes through the center of the rotating disk 25 and is connected to the fixed connecting section 243, and the rotation center of the output end of the servo 21 and the rotation center of the rotating disk 25 are on the same axis, so that the servo 21 drives the rotating disk 25 to rotate. A connecting plate 262 is fixedly arranged at one end of the connecting shaft 261, and is fixedly connected to the fixed connecting section 243 through the connecting plate 262.

[0053] The rotating disk 25 is provided with a plurality of arc holes 252, and the number of the arc holes 252 corresponds to the number of the expansion racks 27. The expansion racks 27 are located on the side of the guide rack 26 away from the rotating disk 25. Figure 5As shown, the expansion frame 27 includes a guide rod 271 and an expansion link 272 and a grab plate 273 respectively arranged on both sides of the guide rod 271. The guide rod 271 is connected with the guide frame 26, and the expansion link 272 passes through the rotating plate 25 and is connected with the arc hole 252. Specifically, a plurality of guide grooves 263 are provided on the guide frame 26, and the guide grooves 263 extend in the radial direction toward the guide frame 26. The guide rod 271 and the guide grooves 263 are connected with each other. A baffle is also provided at one end of the expansion link 272. When the expansion link 272 is connected with the arc hole 252, the baffle is blocked on the other side of the arc hole 252 to prevent the expansion frame 27 from falling.

[0054] When the servo 21 drives the rotating disk 25 to rotate, the expansion link 272 is driven to move along the arc direction of the arc hole 252 through the arc hole 252. At the same time, under the guidance of the guide frame 26, the plurality of expansion frames 27 move away from or close to each other, so that the grabbing plate 273 can grab or release the three-way malleable cast iron pipe fitting 4.

[0055] In this embodiment, the steering gear 21 is used to drive the rotating plate 25 to rotate. The steering gear 21 rotates at an angle between 40 and 45 degrees to achieve the expansion and contraction of the expansion frame 27.

[0056] The internally supported three-way malleable cast iron pipe grabbing mechanism in this embodiment also includes a cylinder 22 and a power supply 36, wherein the piston rod of the cylinder 22 is connected to the grabbing assembly 2, and the power supply 36 is connected to the electromagnetic component 31. The cylinder 22 is a lifting driving component connected to the lifting connecting section 241. The cylinder 22 is also connected to the air source 23, which can be an air pump, for driving the piston rod of the cylinder 22 to move.

[0057] like Figure 1 As shown, as a preferred embodiment, the cylinder 22, the air source 23 and the power supply 36 are all arranged on the gripper body 1, and a part of space is formed by a depression on the gripper body 1, and the power supply 36 is arranged in the depression space. The cylinder 22 is located between the gripper body 1 and the gripping assembly 2 and is arranged close to the side wall of the gripper body 1. Moreover, the two sides of the gripper body 1 where the cylinder 22 is arranged protrude to form a side plate 11. When the lifting connection section 241 of the support frame 24 is connected to the cylinder 22, the side plate 11 is located on both sides of the lifting connection section 241 at the same time, so that the cylinder 22 is accommodated and arranged there, and the lifting connection section 241 is also guided. The air source 23 is arranged close to the cylinder 22. The gripper body 1 is arranged with the cylinder 22, the air source 23 and the power supply 36 in this way, so that the gripping mechanism structure is very compact, and the cylinder 22, the air source 23 and the power supply 36 do not occupy the space outside the gripping mechanism.

[0058] The gripper body 1 of the internally supported three-way malleable cast iron pipe grasping mechanism in this embodiment is installed on the mechanical arm, and the entire grasping mechanism can be connected to the mechanical arm and controlled by the mechanical arm. When grasping the three-way malleable cast iron pipe 4 in different postures, the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34 pre-determine the position and orientation of the three-way malleable cast iron pipe 4. After the electromagnetic component 31 is adsorbed, the first opening 41, the second opening 42 and the third opening 43 of the three-way malleable cast iron pipe 4 are respectively located at the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34. The cylinder 22 drives the grasping assembly 2 to approach the three-way malleable cast iron pipe 4, so that the grasping disk 273 of the expansion frame 27 enters the third opening 43, and the steering gear 21 drives the rotating disk 25 to rotate, so that the expansion frame 27 is expanded, and the grasping disk 273 is supported on the inner wall of the third opening 43 to grasp the three-way malleable cast iron pipe 4. The grabbing plate 273 is arc-shaped so as to match the inner wall of the third opening 43. In this solution, the three-way malleable cast iron pipe fitting 4 is adjusted by the first adjustment position 32, the second adjustment position 33 and the third adjustment position 34 in the adjustment component 3 before grabbing, thereby improving the positive power of grabbing, and the three-way malleable cast iron pipe fitting 4 placed in different postures can be grabbed by setting the adjustment component 3. Before the grabbing component 2 successfully grabs the three-way malleable cast iron pipe fitting 4, the electromagnetic component 31 always maintains the adsorption of the three-way malleable cast iron pipe fitting 4 to keep the three-way malleable cast iron pipe fitting 4 in the adjusted posture, thereby improving the grabbing stability and success rate.

[0059] In addition, a visual camera can be arranged at the center of one side of the guide frame 26 close to the adjustment component 3, so as to accurately identify the center position of the third opening 43 of the three-way malleable cast iron pipe fitting 4, and further improve the success rate of grasping. This solution adopts the adjustment component 3 and the grasping component 2 to cooperate with each other, and stably grasps the three-way malleable cast iron pipe fittings 4 in different postures, which has strong applicability and can effectively improve the production efficiency of the three-way malleable cast iron pipe fittings 4.

[0060] The terms "installed", "set", "provided with", and "connected" used in this application should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0061] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

Claims

1. An internal support type three-way malleable cast iron pipe grabbing mechanism, characterized in that: It comprises a gripper body (1), a gripping component (2) and an adjusting component (3); The gripping assembly (2) is connected to the gripper body (1) and can move closer to or farther from the adjusting assembly (3); The adjustment component (3) and the gripping component (2) are located on the same side; the adjustment component (3) comprises a first adjustment position (32), a second adjustment position (33) and a third adjustment position (34) which are recessed on the gripping body (1) and adapted to the three-way malleable cast iron pipe fitting (4), and also comprises an electromagnetic component (31) installed on the gripping body (1); the third adjustment position (34) is arranged in a direction close to the gripping component (2); When the gripping mechanism approaches the three-way malleable cast iron pipe fitting (4), the electromagnetic component (31) adsorbs the three-way malleable cast iron pipe fitting (4) onto the gripper body (1) and adapts the opening of the three-way malleable cast iron pipe fitting (4) to the first adjustment position (32), the second adjustment position (33) and the third adjustment position (34).

2. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 1, characterized in that: The first alignment position (32), the second alignment position (33) and the third alignment position (34) are arc-shaped grooves.

3. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 2 is characterized in that: The electromagnetic component (31) has at least one, and the electromagnetic component (31) is located between the first adjustment position (32) and the second adjustment position (33) and is embedded in the gripper body (1).

4. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 3 is characterized in that: The electromagnetic component (31) is located on a side close to the third adjustment position (34) relative to the center line of the first adjustment position (32) or the second adjustment position (33).

5. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 2, characterized in that: The electromagnetic components (31) are respectively arranged at the first adjustment position (32), the second adjustment position (33) and the third adjustment position (34).

6. The internally supported three-way malleable cast iron pipe grabbing mechanism according to any one of claims 1 to 5, characterized in that: Elastic parts (35) are also installed on the first adjustment position (32), the second adjustment position (33) and the third adjustment position (34).

7. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 6, characterized in that: The grabbing assembly (2) comprises a rotating disk (25), a guide frame (26) and a plurality of expansion frames (27); the rotating disk (25) is provided with a plurality of arc-shaped holes (252); the expansion frame (27) comprises a guide rod (271) and an expansion connecting rod (272) and a grabbing disk (273) respectively arranged on both sides of the guide rod (271); the guide rod (271) is connected in cooperation with the guide frame (26); the expansion connecting rod (272) passes through the rotating disk (25) and is connected in cooperation with the arc-shaped holes (252); When the rotating disk (25) rotates, the arc-shaped hole (252) drives the plurality of expansion frames (27) to move away from or approach each other, so that the grabbing disk (273) can grab or release the three-way malleable cast iron pipe fitting (4).

8. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 7, characterized in that: The gripping assembly (2) further comprises a support frame (24), wherein the support frame (24) comprises a lifting connection section (241), a supporting connection section (242) and a fixed connection section (243); the lifting connection section (241) is connected to the gripper body (1), and the fixed connection section (243) is connected to the guide frame (26).

9. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 8, characterized in that: The grabbing assembly (2) further comprises a steering gear (21), wherein the steering gear (21) is mounted on the supporting connection section (242), wherein an output end of the steering gear (21) is connected to a support connecting rod (211), and the support connecting rod (211) is connected to the rotating disk (25); A connecting shaft (261) is arranged at the center of the guide frame (26), and the connecting shaft (261) passes through the rotating disk (25) and is connected to the fixed connecting section (243), and the rotation center of the output end of the steering gear (21) and the rotation center of the rotating disk (25) are on the same axis.

10. The internally supported three-way malleable cast iron pipe grabbing mechanism according to claim 1, characterized in that: It also comprises a cylinder (22) and a power source (36), wherein the piston rod of the cylinder (22) is connected to the grabbing assembly (2), and the power source (36) is connected to the electromagnetic component (31).

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