Holding and conveying mechanism

Abstract

The invention relates to the technical field of cold rolled pipe holding and conveying mechanisms, in particular to a holding and conveying mechanism which comprises a main body frame, a plurality of holding and clamping assemblies are arranged in the main body frame and can move to get close to or get away from the central axis of the main body frame, and a sensing assembly is arranged on the main body frame and used for detecting the displacement and angle of the holding and clamping assemblies. The holding and clamping assembly comprises a holding and clamping arm and a driving module used for driving the holding and clamping arm to move, the driving module comprises an air cylinder, and a piston of the air cylinder is fixedly connected with the holding and clamping arm; the adjusting mechanism is connected with the outer wall of the main body frame through a rotary joint; and the holding and clamping assembly, the induction assembly, the adjusting mechanism and the driving module are all electrically connected with the control module, and the control module controls the holding and clamping assembly to move according to feedback of the induction assembly. According to the holding and conveying mechanism, the sensing assembly accurately detects the displacement of the holding and clamping assembly, and the control module can accurately control the movement of the holding and clamping assembly according to the feedback of the sensing assembly so as to adapt to cold rolled tubes with different tube diameters.

Description

Technical Field

[0001] The invention relates to the technical field of cold-rolled tube holding and conveying, in particular to a holding and conveying mechanism. Background Art

[0002] In industrial production, especially in the fields of metal pipe processing and transportation, the transportation of pipes is a common and important operation. For example, in the production process of cold-rolled pipes, the processed cold-rolled pipes need to be transported from one station to another for subsequent processing, testing or storage. However, the existing transportation mechanism has many problems in practical applications and it is difficult to meet the production requirements of high efficiency, precision and safety.

[0003] Traditional holding and conveying mechanisms usually use simple mechanical structures to achieve the clamping action, and the movement control of the clamping components is not precise enough. When holding and conveying cold-rolled tubes, the clamping components cannot be accurately controlled to move closer to or away from the center axis, which can easily lead to the clamping being too tight or too loose. Clamping too tight may damage the surface of the cold-rolled tube and affect the quality of the tube, while clamping too loose may cause the tube to slip during the holding and conveying process, which will not only damage the tube but also cause safety accidents. In addition, different specifications of cold-rolled tubes have different requirements for clamping force, and the existing holding and conveying mechanism is difficult to flexibly adjust according to the specific conditions of the tube, resulting in limited scope of application.

[0004] In actual production, the placement angle of cold-rolled tubes may vary, and the angle of the tubes may need to be adjusted during the conveying process. However, most existing conveying mechanisms lack effective angle adjustment functions, or the angle adjustment methods are complex and low in precision. This makes it impossible for the conveying mechanism to accurately convey and adjust the cold-rolled tubes placed at non-standard angles to the appropriate angle, requiring additional manual intervention and adjustment, which greatly reduces production efficiency.

[0005] With the increasing diversification and personalized needs of industrial production, higher requirements are placed on the versatility and flexibility of the holding and conveying mechanism. The existing holding and conveying mechanism is usually designed for pipes of specific specifications and shapes, and it is difficult to adapt to the needs of holding and conveying pipes of different specifications and shapes. When it is necessary to hold and convey cold-rolled pipes of different specifications, it is often necessary to replace the entire holding and conveying mechanism or make a lot of adjustments and modifications, which not only increases production costs, but also reduces production efficiency.

[0006] Therefore, a novel holding and sending mechanism is needed to solve the above problems. Summary of the invention

[0007] The present application provides a holding and conveying mechanism to solve the problem that the holding and conveying mechanism cannot automatically adapt to different pipe diameters and holding and conveying angle adjustments.

[0008] In order to solve the above technical problems, the present application provides a holding and delivering mechanism, including:

[0009] A main frame, wherein a plurality of clamping assemblies are arranged in the main frame, wherein the clamping assemblies are movable to approach or move away from the central axis of the main frame, wherein a sensing assembly is arranged on the main frame, wherein the sensing assembly is used to detect the displacement and angle of the clamping assembly, wherein the clamping assembly comprises a clamping arm and a driving module for driving the clamping arm to move, wherein the driving module comprises a cylinder, wherein a piston of the cylinder is fixedly connected to the clamping arm;

[0010] An adjustment mechanism, the adjustment mechanism being connected to the outer wall of the main frame via a rotary joint;

[0011] The control module, the clamping assembly, the sensing assembly, the adjusting mechanism and the driving module are all electrically connected to the control module, and the control module controls the movement of the clamping assembly according to the feedback of the sensing assembly.

[0012] According to the holding and conveying mechanism of the present application, the rotating joint includes a rotating shaft, a rotating sleeve mounted on the outside of the rotating shaft, and a power component for driving the rotating sleeve to rotate, the power component includes a stepping motor and a harmonic reducer in transmission connection, the output shaft of the stepping motor is connected to the input shaft of the harmonic reducer, the output shaft of the harmonic reducer is fixedly connected to the rotating sleeve, the rotating sleeve is fixed to the main frame, and the rotating shaft is connected to the adjusting mechanism.

[0013] Optionally, an angular contact ball bearing is arranged between the rotating shaft and the rotating sleeve, the inner ring of the angular contact ball bearing is interference fit with the rotating shaft, the outer ring of the angular contact ball bearing is transition fit with the rotating sleeve, the rotating shaft comprises a first end and a second end opposite to each other in the axial direction, the first end is provided with a locking nut, a wave spring washer is further arranged between the locking nut and the angular contact ball bearing, the second end is provided with a shaft end cover, the shaft end cover is fixedly connected to the rotating shaft by bolts, and a rubber sealing ring is arranged between the shaft end cover and the angular contact ball bearing.

[0014] Optionally, the rotating shaft is configured as a hollow structure, a lubrication channel is provided in the hollow structure and runs through the axial direction of the rotating shaft, a plurality of radial oil outlet holes are evenly distributed in the circumference of the rotating shaft, the oil outlet holes correspond to the angular contact ball bearings, and a spiral guide groove is provided on the inner wall of the rotating sleeve.

[0015] Optionally, the adjustment mechanism includes a mounting seat, an angle adjustment component arranged on the mounting seat, the angle adjustment component includes an arc-shaped guide rail, a slider and an electric push rod, the electric push rod drives the slider to slide on the arc-shaped guide rail, the slider is fixedly connected to the rotating shaft of the rotating joint, a dovetail groove is arranged on the inner side of the arc-shaped guide rail, the slot width of the dovetail groove is greater than the slot bottom width, an oil groove is arranged on the inner surface of the dovetail groove, and an oil drain hole is also arranged at the bottom of the dovetail groove, the slider includes a slider body and rollers arranged on both sides of the slider body, and the rollers on both sides are respectively Symmetrically and respectively abutting against the arc guide rail, the outer surface of the roller is provided with an inverted V-shaped V-groove, the V-groove is clamped in a rubber layer, the surface of the rubber layer is provided with anti-slip grooves, the bottom of the slider body is provided with a boss that cooperates with the dovetail groove, the boss is clamped in the dovetail groove, and mechanical limit blocks are provided at both ends of the arc guide rail, the limit blocks are fixed to the mounting seat by bolts, and the side of the limit block close to the slider is an inclined structure, and when the slider moves to abut against the inclined structure, the inclined structure fits with the end surface of the slider body.

[0016] Optionally, a universal joint is connected between the electric push rod and the slider, and the universal joint includes a ball head and a ball socket, the ball head is connected to the piston rod of the electric push rod, and the ball socket is connected to the slider.

[0017] According to the holding and conveying mechanism of the present application, a guide track and a counterweight block that can slide in the guide track are arranged in the main frame, the counterweight block is made of aluminum alloy, and an elastic rubber layer is arranged at the bottom of the counterweight block.

[0018] According to the holding and conveying mechanism of the present application, the sensing component includes a laser displacement sensor and an inclination sensor. The laser displacement sensor is installed on the clamping arm and is adjacent to the clamping working surface. The emitting end of the laser displacement sensor is parallel to the clamping direction of the clamping arm. The inclination sensor is installed on the main frame and is adjacent to the connection position between the main frame and the rotating joint.

[0019] According to the holding and conveying mechanism of the present application, a strain gauge pressure sensor is embedded in the clamping working surface of the clamping arm, and the strain gauge pressure sensor is electrically connected to the control module. A rubber pad is provided on the clamping working surface of the clamping arm, and the rubber pad is located on the outside of the strain gauge pressure sensor. The rubber pad is provided with anti-slip patterns on the side facing away from the clamping working surface, and a magnet is embedded in the rubber pad.

[0020] According to the conveying mechanism of the present application, a visual recognition system is arranged on the main frame, and the visual recognition system includes an industrial camera and an image processing unit which are electrically connected. The image processing unit is electrically connected to the control module. The industrial camera is arranged on the top of the main frame, and is used to collect image information of the objects to be conveyed in the conveying area. The image processing unit processes the image information to identify the position, size and angle information of the objects to be conveyed and transmits it to the control module.

[0021] The present invention has at least the following beneficial effects: by arranging multiple groups of movable clamping components in the main frame, the clamping components can approach or move away from the central axis of the main frame, and can adapt to cold-rolled tubes of different diameters by combining the accurate detection of the displacement of the clamping components by the sensing components. The control module can accurately control the movement of the clamping components according to the feedback of the sensing components, avoiding the problem of too tight or too loose clamping, which can not only protect the surface of the cold-rolled tube being transported from damage, but also prevent the tube from slipping during the transport process, improve the accuracy of the clamping position and force control, and expand the scope of application of cold-rolled tubes of different specifications. The adjustment mechanism is connected to the main frame through a rotating joint, and the main frame is arranged on the adjustment mechanism. The control module can realize the accurate adjustment of the angle of the main frame by controlling the coordinated action of the adjustment mechanism and the rotating joint according to the angle information detected by the sensing component, and can cope with cold-rolled tubes of different placement angles without additional human intervention, which greatly improves production efficiency. The real-time monitoring and feedback functions of the sensing components enable the control module to obtain the working status of the clamping components in a timely manner. Once a fault or abnormal displacement occurs, it can respond and adjust quickly, effectively avoiding the failure of the clamping operation, equipment damage and safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A three-dimensional diagram of a holding and conveying mechanism provided in an embodiment of the present invention;

[0023] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0024] Figure 3 A three-dimensional diagram from another angle of a holding and conveying mechanism provided by an embodiment of the present invention;

[0025] Figure 4 A side view of a holding and conveying mechanism provided by an embodiment of the present invention;

[0026] In the figure: a main frame 10, a clamping assembly 11, a clamping arm 12, a driving module 13, an adjustment mechanism 20, a mounting seat 21, an arc guide rail 22, a slider 23, a rotating joint 30, a rotating shaft 31, a rotating sleeve 32, a stepping motor 34, a harmonic reducer 35, and an industrial camera 50. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] like Figure 1-Figure 3 As shown, the holding and conveying mechanism according to the embodiment of the present application includes: a main frame 10, an adjustment mechanism 20 and a control module.

[0029] Specifically, a plurality of groups of clamping assemblies 11 are provided in the main frame 10. The clamping assemblies 11 can move toward or away from the central axis of the main frame 10. A sensing assembly is provided on the main frame 10 for detecting the displacement and angle of the clamping assembly 11. The clamping assembly 11 includes a clamping arm 12 and a driving module 13 for driving the clamping arm 12 to move, and is electrically connected to a control module. The driving module 13 includes a cylinder, a piston of which is fixedly connected to the clamping arm 12. The adjusting mechanism 20 is connected to the outer wall of the main frame 10 through a rotating joint 30. The clamping assembly 11, the sensing assembly, the adjusting mechanism 20 and the driving module 13 are all electrically connected to the control module, and the control module controls the movement of the clamping assembly 11 according to the feedback of the sensing assembly.

[0030] In a specific embodiment, the main frame 10 is a rectangular frame structure as a whole, which has high stability and strength and can provide reliable support for other components of the holding and conveying mechanism. The main frame 10 is made of high-strength metal materials, such as aluminum alloy or stainless steel, and is processed and welded with precision to ensure the dimensional accuracy and structural stability of the main frame 10. The four corners of the main frame 10 are designed with rounded corners to avoid harm to the operator during operation, while also enhancing the overall aesthetics of the main frame 10.

[0031] The main frame 10 defines an inner cavity with openings at both ends for the cold-rolled tube to pass through. Clamping assemblies 11 are symmetrically arranged on two or three sides of the inner cavity of the main frame 10. These clamping assemblies 11 are evenly distributed along the direction of the inner cavity extension axis to form a multi-layer clamping structure to meet the needs of pipes of different lengths and diameters. It should be noted that the central axis of the main frame 10 is the extension axis of the inner cavity.

[0032] In a specific embodiment, two oppositely disposed clamping assemblies 11 are staggered with each other to further improve the stability when clamping the cold-rolled tube.

[0033] The control module is usually installed outside the main frame 10 and is packaged in an independent control cabinet. The control cabinet is electrically connected to the clamping assembly 11, the sensing assembly and the adjustment mechanism 20 through cables, which is convenient for operators to operate and maintain. An operation panel and a display screen are provided on the surface of the control cabinet. The operator can input control instructions through the operation panel, and the display screen displays the working status information such as the displacement and angle of the clamping assembly 11 in real time.

[0034] According to the holding and conveying mechanism of the embodiment of the present application, by setting multiple groups of movable clamping components 11 in the main frame 10, the clamping components 11 can move closer to or farther from the central axis of the main frame 10, and combined with the accurate detection of the displacement of the clamping components 11 by the sensing components, it can adapt to cold-rolled pipes of different diameters. The control module can accurately control the movement of the clamping components 11 according to the feedback of the sensing components, avoiding the problem of the traditional holding and conveying mechanism clamping too tight or too loose, which can not only protect the surface of the cold-rolled pipe being held and conveyed from damage, but also prevent the pipe from slipping during the holding and conveying process, improve the accuracy of the clamping position and force control, and expand the scope of application of cold-rolled pipes of different specifications. The adjustment mechanism 20 is connected to the main frame 10 through the rotating joint 30, and the main frame 10 is arranged on the adjustment mechanism 20. The control module can realize the accurate adjustment of the angle of the main frame 10 by controlling the coordinated action of the adjustment mechanism 20 and the rotating joint 30 according to the angle information detected by the sensing component, and can adapt to cold-rolled pipes with different placement angles without additional human intervention, which greatly improves production efficiency. The real-time monitoring and feedback function of the sensing component enables the control module to obtain the working status of the clamping component 11 in a timely manner. Once a fault or abnormal displacement occurs, it can respond and adjust quickly, effectively avoiding the failure of the holding and delivery operation, equipment damage and safety accidents.

[0035] According to the holding and conveying mechanism of the embodiment of the present application, the rotating joint 30 includes a rotating shaft 31, a rotating sleeve 32 mounted on the outside of the rotating shaft 31, and a power component for driving the rotating sleeve 32 to rotate, the power component includes a stepping motor 34 and a harmonic reducer 35 that are transmission-connected, the output shaft of the stepping motor 34 is connected to the input shaft of the harmonic reducer 35, the output shaft of the harmonic reducer 35 is fixedly connected to the rotating sleeve 32, the rotating sleeve 32 is fixed to the main frame 10, and the rotating shaft 31 is connected to the adjustment mechanism 20.

[0036] In the above-mentioned embodiment, the rotating joint 30 is driven by a stepper motor 34 and a harmonic reducer 35. The pulse control characteristics of the stepper motor 34 are combined with the high transmission ratio of the harmonic reducer 35 to ensure that the clamping assembly 11 always remains perpendicular to the axis of the pipe. The rotating sleeve 32 is fixed to the main frame 10 and the rotating shaft 31 is connected to the adjustment mechanism 20. The design converts the rotational motion into an overall angle adjustment of the main frame 10, thereby realizing the angle adjustment of the main frame 10.

[0037] In some embodiments, an angular contact ball bearing is arranged between the rotating shaft 31 and the rotating sleeve 32, the inner ring of the angular contact ball bearing is interference fit with the rotating shaft 31, and the outer ring of the angular contact ball bearing is transition fit with the rotating sleeve 32. The rotating shaft 31 includes a first end and a second end that are axially opposite to each other, a locking nut is arranged at the first end, and a wave spring washer is also arranged between the locking nut and the angular contact ball bearing, and a shaft end cover is arranged at the second end. The shaft end cover is fixedly connected to the rotating shaft 31 by bolts, and a rubber sealing ring is arranged between the shaft end cover and the angular contact ball bearing. The rotating shaft 31 is arranged as a hollow structure, and a lubrication channel is arranged in the hollow structure that runs through the axial direction of the rotating shaft 31. A plurality of radial oil outlets are evenly distributed circumferentially of the rotating shaft 31, and the oil outlets correspond to the angular contact ball bearings. A spiral guide groove is arranged on the inner wall of the rotating sleeve 32.

[0038] In the above-mentioned embodiment, the angular contact ball bearing can bear radial load and axial load at the same time, thereby improving rotational stability; the shaft end cover and the rubber sealing ring cooperate to block the invasion of external dust and prevent grease leakage; the rotating shaft 31 cooperates with the oil outlet hole through the internal lubrication channel to supply oil to the angular contact ball bearing, and cooperates with the spiral guide groove on the inner wall of the rotating sleeve 32 to form an oil film vortex during rotation, thereby reducing the friction coefficient.

[0039] like Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the adjustment mechanism 20 includes a mounting seat 21, an angle adjustment component arranged on the mounting seat 21, the angle adjustment component includes an arc guide rail 2222, a slider 2323 and an electric push rod, the electric push rod drives the slider 2323 to slide on the arc guide rail 2222, the slider 2323 is fixedly connected to the rotating shaft 31 of the rotating joint 30, a dovetail groove is arranged on the inner side of the arc guide rail 22, the slot width of the dovetail groove is greater than the slot bottom width, an oil groove is arranged on the inner surface of the dovetail groove, and an oil drain hole is also arranged at the bottom of the dovetail groove, and the slider 23 includes a slider body And rollers are arranged on both sides of the slider body, the rollers on both sides are symmetrical and abut on the arc guide rail 22 respectively, the outer surface of the roller is provided with an inverted V-shaped V-groove, the V-groove is clamped in the rubber layer, the surface of the rubber layer is provided with anti-slip grooves, the bottom of the slider body is provided with a boss that cooperates with the dovetail groove, the boss is clamped in the dovetail groove, and mechanical limit blocks are provided at both ends of the arc guide rail 22. The limit blocks are fixed to the mounting seat by bolts, and the side of the limit block close to the slider 23 is a slope structure. When the slider 23 moves to abut against the slope structure, the slope structure fits with the end face of the slider body.

[0040] In the above embodiment, the mounting seat 21 provides stable support for the entire adjustment mechanism 20 to ensure that the various components can cooperate in an orderly manner. The electric push rod drives the slider 23 to slide on the arc guide rail 22, and the slider 23 is fixedly connected to the rotating shaft 31 of the rotary joint 30, so that the rotary joint 30 can change its position as the slider 23 moves. When the sensing component detects that there is a deviation in the placement angle of the pipe, the information is fed back to the control module, and the control module controls the action of the electric push rod to push the slider 23 to move along the arc guide rail 22, thereby driving the rotary joint 30 to move to a suitable position. After that, the power component of the rotary joint 30 starts to work, driving the rotating sleeve 32 to rotate, thereby driving the main frame 10 and the clamping assembly 11 connected to the rotating sleeve 32 to adjust the angle. In this way, the clamping assembly 11 can be quickly adjusted to a state matching the placement angle of the pipe, so that the multi-layer clamping structure can evenly apply the clamping force, avoiding the local uneven force caused by inappropriate angles, preventing the pipe from slipping during the holding and transportation process, and protecting the surface of the pipe from damage. The adjustment mechanism 20 forms a tight closed-loop control system with the clamping assembly 11, the sensing assembly, and the control module, which significantly improves the versatility and adaptability of the conveying mechanism, enabling it to efficiently cope with pipe conveying operations under various complex working conditions, thereby improving production efficiency and product quality.

[0041] The mouth of the dovetail groove is wider than the bottom of the groove, which can provide precise guidance for the slider and prevent the slider from lateral deviation during movement, ensuring the stability and accuracy of the slider moving along the arc guide rail. The oil groove on the inner surface of the dovetail groove can store lubricating oil and continuously provide lubrication for the mating surface between the dovetail groove and the slider boss, reducing the friction coefficient, reducing wear, and increasing the service life of the slider. The oil drain hole at the bottom of the dovetail groove can discharge excess lubricating oil in time to avoid the normal sliding of the slider being affected by the accumulation of lubricating oil.

[0042] The rollers symmetrically arranged on both sides of the slider abut against the arc-shaped guide rail, and the inverted V-shaped V-groove on the outer surface of the roller better fits the guide rail. The rubber layer in the V-groove and the anti-skid pattern on the surface increase the friction between the roller and the guide rail, making the slider more stable and less likely to slip when moving, ensuring the effectiveness of power transmission. The mechanical limit blocks at both ends of the arc-shaped guide rail are fixed to the mounting seat by bolts. The inclined structure close to the side of the slider can fit with the end face of the slider body when the slider moves to the limit position, playing a buffering role, avoiding direct rigid collision between the slider and the limit block, reducing the damage to the equipment caused by the impact force, and at the same time limiting the movement range of the slider, ensuring the safe and reliable operation of the entire adjustment mechanism.

[0043] In some embodiments, a universal joint is connected between the electric push rod and the slider 23 , and the universal joint includes a ball head and a ball socket. The ball head is connected to the piston rod of the electric push rod, and the ball socket is connected to the slider 23 .

[0044] In the above embodiment, the electric push rod is connected to the slider 23 through a universal joint, and the spherical contact between the ball head and the ball socket allows a certain angle deviation between the two, which can compensate for installation errors and avoid bending and deformation of the electric push rod, ensuring the linear transmission of the driving force. The universal joint can absorb the radial impact force generated when the slider 23 moves, protect the lead screw pair and bearings inside the electric push rod, improve the impact resistance of the adjustment mechanism, and extend the service life of the equipment.

[0045] In some embodiments, a guide track and a counterweight block that can slide in the guide track are provided in the main frame 10. The counterweight block is made of aluminum alloy, and an elastic rubber layer is provided at the bottom of the counterweight block.

[0046] In the above-mentioned embodiment, the guide rail provides a precise sliding path for the counterweight block to ensure that it moves along a preset trajectory. The counterweight block made of aluminum alloy can significantly reduce the mass of the counterweight block while ensuring strength, thereby reducing the influence of inertia force on the main frame 10. At the same time, the elastic rubber layer at the bottom of the counterweight block can form a flexible buffer when in contact with the guide rail, which can both absorb the impact of movement and increase the friction coefficient, thereby preventing the counterweight block from sliding freely under inclined conditions. By adjusting the position of the counterweight block, the center of gravity of the main frame 10 can be balanced, thereby improving the overall stability of the holding and conveying mechanism and adapting to different loads and working postures.

[0047] like Figure 1 As shown, according to the clamping and conveying mechanism of the embodiment of the present application, a rubber pad is provided on the clamping working surface of the clamping arm 12. The rubber pad on the clamping working surface is made of highly elastic material. On the basis of precise displacement control by the cylinder, the impact force during the clamping process is further absorbed by the elastic deformation of the rubber pad to protect the smoothness of the surface of the cold-rolled tube. The opposite clamping working surface of the rubber pad is provided with anti-slip texture, and a magnet is embedded in the rubber pad.

[0048] In the above-mentioned embodiment, when the control module controls the action of the clamping assembly 11 according to the feedback of the sensing assembly, so that the clamping arm 12 approaches the central axis of the main frame 10 and clamps the pipe, the rubber pad directly contacts the surface of the pipe. The anti-slip texture on the rubber pad increases the friction with the surface of the pipe. Under the action of the clamping force, it can effectively prevent the pipe from sliding due to vibration, movement and other factors during the clamping process. At the same time, the magnet embedded in the rubber pad generates an adsorption force on the magnetically conductive pipe, further enhancing the stability of the clamp. The dual effects of friction and magnetism enable the clamping assembly 11 to hold the pipe more firmly, ensuring that the pipe will not slip easily. Moreover, the elasticity of the rubber pad itself can buffer the clamping force and protect the surface of the pipe from damage. In addition, it works closely with the sensing component, control module, drive module 13, etc. The sensing component monitors the status of the clamping component 11 in real time and feeds back to the control module. The control module accurately controls the clamping force through the drive module 13. The rubber pad ensures stable clamping while maintaining the safety and reliability of the entire conveying process, thereby improving the adaptability and work efficiency of the conveying mechanism to different pipes.

[0049] In some embodiments, the sensing component includes a laser displacement sensor and an inclination sensor. The laser displacement sensor is installed on the clamping arm 12 and is adjacent to the clamping working surface. The transmitting end of the laser displacement sensor is parallel to the clamping direction of the clamping arm 12. The inclination sensor is installed on the main frame 10 and is adjacent to the connection position between the main frame 10 and the rotating joint 30.

[0050] In the above-mentioned embodiment, the sensing component effectively solves the problem that the traditional holding and conveying mechanism cannot accurately obtain the spatial position information of the clamping component 11 in real time through the synergistic effect of the laser displacement sensor and the inclination sensor. The laser displacement sensor is installed at a position near the working surface of the clamping arm 12 and the transmitting end is parallel to the clamping direction, ensuring that the vertical distance from the pipe surface to the clamping arm 12 can be directly measured with the shortest optical path during the clamping process, thereby realizing precise control of the clamping displacement and avoiding fluctuations in the clamping force caused by changes in the pipe diameter or uneven surface; the inclination sensor is installed on the main frame 10 and near the connection position between the main frame 10 and the rotating joint 30, and can adjust the angle of the main frame 10 to compensate for the posture deviation of the pipe caused by gravity or placement angle, so that the multi-layer clamping component 11 always maintains an ideal clamping state perpendicular to the pipe axis, significantly improving the adaptability to irregularly placed pipes, reducing the need for manual calibration, and reducing the equipment failure rate.

[0051] In some embodiments, a strain gauge pressure sensor is embedded in the clamping working surface of the clamping arm 12 , and the strain gauge pressure sensor is electrically connected to the control module.

[0052] In the above embodiment, when the clamping assembly 11, under the control of the control module, pushes the clamping arm 12 toward the central axis of the main frame 10 through the cylinder of the driving module 13 to clamp the cold-rolled tube, the strain gauge pressure sensor can detect the pressure between the clamping arm 12 and the tube in real time and accurately. If the detected pressure value is too large, it means that the clamping force is too tight, which may damage the surface of the tube. The control module will adjust the action of the cylinder in time based on this feedback information, so that the clamping arm 12 is appropriately away from the central axis to reduce the clamping force; on the contrary, if the pressure value is too small, it means that the clamping force is insufficient, and the tube may slip during the holding and delivery process. The control module will control the cylinder to further push the clamping arm 12 closer to the central axis to increase the clamping force. At the same time, the sensor cooperates with the laser displacement sensor and the inclination sensor in the sensing component. The laser displacement sensor obtains the displacement information of the clamping arm 12, and the inclination sensor obtains the angle information. Combined with the pressure information of the strain gauge pressure sensor, the control module can comprehensively judge the working status of the clamping component 11, and more accurately control the movement and angle adjustment of the clamping component 11 (the angle adjustment is achieved by adjusting the angle of the main frame 10 to adjust the angle of the clamping component 11), ensuring stable, safe and lossless delivery of pipes of different specifications and different placement angles, thereby improving the working reliability and stability of the entire delivery mechanism and enhancing the adaptability to different pipes.

[0053] like Figure 4 As shown, according to the holding and conveying mechanism of the embodiment of the present application, a visual recognition system is arranged on the main frame 10, and the visual recognition system includes an industrial camera 50 and an image processing unit which are electrically connected. The image processing unit is electrically connected to the control module. The industrial camera 50 is arranged on the top of the main frame 10, and is used to collect image information of the objects to be conveyed in the holding and conveying area. The image processing unit processes the image information to identify the position, size and angle information of the objects to be conveyed and transmits it to the control module.

[0054] In the above-mentioned embodiment, the industrial camera 50 acquires the image of the holding and conveying area, the image processing unit completes the pipe contour recognition and posture solution, and outputs the parameters such as the pipe center coordinates, diameter size and inclination angle; the control module aligns the visual data with the distance sensor data in time and space, generates the pipe posture information in the three-dimensional space coordinate system, drives the electric push rod and the rotating joint 30 of the adjustment mechanism 20 to work together, realizes the large-range dynamic angle compensation of the clamping assembly 11, and the visual recognition system is linked with the driving motor of the mobile chassis 40, which can plan the optimal path according to the pipe position information, guide the holding and conveying mechanism to complete precise positioning, and improve efficiency.

[0055] The industrial camera 50 may be disposed on a side surface of the main frame 10 .

[0056] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0057] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A holding and delivering mechanism, characterized in that: include: A main frame, wherein a plurality of clamping assemblies are arranged in the main frame, wherein the clamping assemblies are movable to approach or move away from the central axis of the main frame, wherein a sensing assembly is arranged on the main frame, wherein the sensing assembly is used to detect the displacement and angle of the clamping assembly, wherein the clamping assembly comprises a clamping arm and a driving module for driving the clamping arm to move, wherein the driving module comprises a cylinder, wherein a piston of the cylinder is fixedly connected to the clamping arm; An adjustment mechanism, the adjustment mechanism being connected to the outer wall of the main frame via a rotary joint; The control module, the clamping assembly, the sensing assembly, the adjusting mechanism and the driving module are all electrically connected to the control module, and the control module controls the movement of the clamping assembly according to the feedback of the sensing assembly.

2. The holding and conveying mechanism according to claim 1, characterized in that: The rotary joint includes a rotating shaft, a rotating sleeve sleeved outside the rotating shaft, and a power component for driving the rotating sleeve to rotate, the power component includes a stepping motor and a harmonic reducer in transmission connection, the output shaft of the stepping motor is connected to the input shaft of the harmonic reducer, the output shaft of the harmonic reducer is fixedly connected to the rotating sleeve, the rotating sleeve is fixed to the main frame, and the rotating shaft is connected to the adjusting mechanism.

3. The holding and conveying mechanism according to claim 2, characterized in that: An angular contact ball bearing is arranged between the rotating shaft and the rotating sleeve, the inner ring of the angular contact ball bearing is interference fit with the rotating shaft, and the outer ring of the angular contact ball bearing is transition fit with the rotating sleeve. The rotating shaft includes a first end and a second end opposite to each other in the axial direction, the first end is provided with a locking nut, a wave spring washer is further arranged between the locking nut and the angular contact ball bearing, the second end is provided with a shaft end cover, the shaft end cover is fixedly connected to the rotating shaft by bolts, and a rubber sealing ring is arranged between the shaft end cover and the angular contact ball bearing.

4. The holding and conveying mechanism according to claim 3, characterized in that: The rotating shaft is configured as a hollow structure, a lubrication channel penetrating along the axial direction of the rotating shaft is provided in the hollow structure, a plurality of radial oil outlet holes are evenly distributed in the circumference of the rotating shaft, the oil outlet holes correspond to the angular contact ball bearings, and a spiral guide groove is provided on the inner wall of the rotating sleeve.

5. The holding and conveying mechanism according to claim 4, characterized in that: The adjustment mechanism includes a mounting seat, an angle adjustment component arranged on the mounting seat, the angle adjustment component includes an arc-shaped guide rail, a slider and an electric push rod, the electric push rod drives the slider to slide on the arc-shaped guide rail, the slider is fixedly connected to the rotating shaft of the rotating joint, a dovetail groove is arranged on the inner side of the arc-shaped guide rail, the slot width of the dovetail groove is greater than the slot bottom width, an oil groove is arranged on the inner surface of the dovetail groove, and an oil drain hole is also arranged at the bottom of the dovetail groove, the slider includes a slider body and rollers arranged on both sides of the slider body, and the rollers on both sides are symmetrical Respectively and abutting on the arc guide rail, the outer surface of the roller is provided with an inverted V-shaped V-groove, the V-groove is clamped in a rubber layer, the surface of the rubber layer is provided with anti-slip grooves, the bottom of the slider body is provided with a boss that cooperates with the dovetail groove, the boss is clamped in the dovetail groove, and mechanical limit blocks are provided at both ends of the arc guide rail, the limit blocks are fixed to the mounting seat by bolts, and the side of the limit block close to the slider is a slope structure, and when the slider moves to abut against the slope structure, the slope structure fits with the end surface of the slider body.

6. The holding and conveying mechanism according to claim 5, characterized in that: A universal joint is connected between the electric push rod and the slider, and the universal joint includes a ball head and a ball socket. The ball head is connected to the piston rod of the electric push rod, and the ball socket is connected to the slider.

7. The holding and conveying mechanism according to claim 1, characterized in that: A guide track and a counterweight block which can slide in the guide track are arranged in the main frame. The counterweight block is made of aluminum alloy, and an elastic rubber layer is arranged at the bottom of the counterweight block.

8. The holding and conveying mechanism according to claim 1, characterized in that: The sensing component includes a laser displacement sensor and an inclination sensor. The laser displacement sensor is installed on the clamping arm and adjacent to the clamping working surface. The transmitting end of the laser displacement sensor is parallel to the clamping direction of the clamping arm. The inclination sensor is installed on the main frame and adjacent to the connection position between the main frame and the rotating joint.

9. The holding and conveying mechanism according to claim 1, characterized in that: A strain gauge pressure sensor is embedded in the clamping working surface of the clamping arm, and the strain gauge pressure sensor is electrically connected to the control module. A rubber pad is provided on the clamping working surface of the clamping arm, and the rubber pad is located on the outside of the strain gauge pressure sensor. The rubber pad is provided with anti-slip patterns on the side facing away from the clamping working surface, and a magnet is embedded in the rubber pad.

10. The holding and conveying mechanism according to claim 1, characterized in that: A visual recognition system is provided on the main frame, and the visual recognition system includes an industrial camera and an image processing unit that are electrically connected. The image processing unit is electrically connected to the control module. The industrial camera is provided on the top of the main frame and is used to collect image information of the objects to be transported in the transport area. The image processing unit processes the image information to identify the position, size and angle information of the objects to be transported and transmits it to the control module.

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