A pick-up mechanism

Abstract

The present application relates to a cold-rolled pipe holding mechanism technical field, specifically to a holding mechanism including a main frame, a plurality of holding and clamping assemblies are arranged in the main frame, the holding and clamping assemblies are movable to approach or move away from the central axis of the main frame, a sensing assembly is arranged on the main frame, the sensing assembly is used for detecting the displacement and angle of the holding and clamping assembly, the holding and clamping assembly includes a holding and clamping arm and a driving module used for driving the holding and clamping arm to move, the driving module includes a cylinder, the piston of the cylinder is fixedly connected with the holding and clamping arm, an adjusting mechanism is connected with the outer wall of the main frame through a rotary joint, a control module, the holding and clamping assembly, the sensing assembly, the adjusting mechanism and the driving module are electrically connected with the control module, and the control module controls the movement of the holding and clamping assembly according to the feedback of the sensing assembly. According to the holding mechanism of the present application, 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 to adapt to cold-rolled pipes with different diameters.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cold-rolled pipe holding and conveying, in particular to a holding and conveying mechanism. BACKGROUND

[0002] In industrial production, especially in the field of metal pipe processing and transportation, the holding and conveying operation 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 held and conveyed from one station to another for subsequent processing, detection or storage. However, the existing holding and conveying mechanisms have many problems in actual application, and it is difficult to meet the efficient, accurate and safe production requirements.

[0003] Traditional holding and conveying mechanisms usually use simple mechanical structures to realize the holding and clamping action, and the movement control of the holding and clamping assembly is not accurate enough. When holding and conveying cold-rolled pipes, it is difficult to accurately control the displacement of the holding and clamping assembly towards the center axis, which may cause the holding and clamping to be too tight or too loose. Holding and clamping too tightly may cause damage to the surface of the cold-rolled pipe, affecting the quality of the pipe; holding and clamping too loosely may cause the pipe to slip during holding and conveying, which not only damages the pipe but also may cause safety accidents. In addition, different specifications of cold-rolled pipes have different requirements for holding and clamping force, and the existing holding and conveying mechanisms are difficult to flexibly adjust according to the specific conditions of the pipes, which limits their scope of application.

[0004] In actual production, the placement angle of cold-rolled pipes may be different, and the angle of the pipes may need to be adjusted during holding and conveying. However, the existing holding and conveying mechanisms mostly lack effective angle adjustment functions, or the angle adjustment method is complex and has low precision. This makes it difficult for the holding and conveying mechanism to accurately hold and convey cold-rolled pipes placed at non-standard angles and adjust them to the appropriate angle, which requires additional manual intervention and adjustment, greatly reducing production efficiency.

[0005] With the increasing diversification and individualization of industrial production, higher requirements are placed on the universality and flexibility of holding and conveying mechanisms. The existing holding and conveying mechanisms are usually designed for specific specifications and shapes of pipes, and are difficult to adapt to the holding and conveying needs of pipes of different specifications and shapes. When holding and conveying 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, there is an urgent need for a new type of holding and conveying mechanism to solve the above problems. SUMMARY

[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 adjustment.

[0008] To solve the above technical problems, the embodiment of the present application provides a holding and conveying mechanism, comprising:

[0009] A main frame is internally provided with a plurality of holding and clamping assemblies, the holding and clamping assemblies are movable to approach or move away from the central axis of the main frame, the main frame is provided with a sensing assembly 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 for driving the holding and clamping arm to move, the driving module comprises a cylinder, and the piston of the cylinder is fixedly connected with the holding and clamping arm;

[0010] An adjusting mechanism is connected with the outer wall of the main frame through a rotary joint;

[0011] A control module is electrically connected with the holding and clamping assembly, the sensing assembly, the adjusting mechanism and the driving module, and the control module controls the movement of the holding and clamping assembly according to the feedback of the sensing assembly.

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

[0013] Optionally, an angular contact ball bearing is arranged between the rotary shaft and the rotary sleeve, the inner ring of the angular contact ball bearing is in interference fit with the rotary shaft, the outer ring of the angular contact ball bearing is in transition fit with the rotary sleeve, the rotary shaft comprises first and second ends opposite 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 an end cover, the end cover is fixedly connected with the rotary shaft through bolts, and a rubber sealing ring is arranged between the end cover and the angular contact ball bearing.

[0014] Optionally, the rotary shaft is arranged in a hollow structure, a lubricating channel penetrating through the rotary shaft in the axial direction is arranged in the hollow structure, a plurality of radial oil outlets are uniformly distributed in the circumferential direction of the rotary shaft, the oil outlets correspond to the angular contact ball bearing, and a spiral flow guide groove is arranged on the inner wall of the rotary sleeve.

[0015] Optionally, the adjusting mechanism comprises a mounting base, an angle adjusting assembly arranged on the mounting base, the angle adjusting assembly comprising an arc-shaped guide rail, a sliding block and an electric push rod, the electric push rod driving the sliding block to slide on the arc-shaped guide rail, the sliding block being fixedly connected with a rotating shaft of the rotating joint, an inner side of the arc-shaped guide rail being provided with a dovetail groove, a slot width of the dovetail groove being greater than a groove bottom width, an inner surface of the dovetail groove being provided with an oil groove, the dovetail groove bottom being further provided with an oil discharge hole, the sliding block comprising a sliding block body and rollers arranged on both sides of the sliding block body, the rollers on both sides being respectively symmetrically and abuttingly arranged on the arc-shaped guide rail, an outer surface of the roller being provided with a V-shaped groove in inverted V shape, the V-shaped groove being clamped with a rubber layer, a surface of the rubber layer being provided with anti-skid lines, a bottom of the sliding block body being provided with a boss matched with the dovetail groove, the boss being clamped in the dovetail groove, both ends of the arc-shaped guide rail being provided with mechanical limit blocks, the limit blocks being fixed on the mounting base through bolts, a side of the limit block close to the sliding block being in inclined surface structure, when the sliding block moves to abut against the inclined surface structure, the inclined surface structure is in close contact with an end surface of the sliding block body.

[0016] Optionally, a universal joint is connected between the electric push rod and the sliding block, the universal joint comprising a ball head and a ball socket, the ball head being connected with a piston rod of the electric push rod, the ball socket being connected with the sliding block.

[0017] According to the holding and conveying mechanism, the main body frame is provided with a guide rail and a counterweight block slidable in the guide rail, the counterweight block is made of aluminum alloy, and the bottom of the counterweight block is provided with an elastic rubber layer.

[0018] According to the holding and conveying mechanism, the sensing assembly comprises a laser displacement sensor and an inclination sensor, the laser displacement sensor is mounted on the holding and clamping arm and adjacent to the holding and clamping working surface, the emitting end of the laser displacement sensor is parallel to the clamping direction of the holding and clamping arm, and the inclination sensor is mounted on the main body frame and adjacent to the connection position between the main body frame and the rotating joint.

[0019] According to the holding and conveying mechanism, the holding and clamping working surface of the holding and clamping arm is embedded with a strain gauge type pressure sensor, the strain gauge type pressure sensor is electrically connected with the control module, a rubber pad is arranged on the holding and clamping working surface of the holding and clamping arm, the rubber pad is located on the outer side of the strain gauge type pressure sensor, anti-skid lines are arranged on the side of the rubber pad away from the holding and clamping working surface, and a magnet is embedded in the rubber pad.

[0020] According to the holding mechanism provided by the application, the main frame is provided with a visual identification system, the visual identification system comprises an industrial camera and an image processing unit in electrical connection, the image processing unit is electrically connected with the control module, the industrial camera is arranged on the top of the main frame and is used for collecting image information of a holding object in a holding area, and the image processing unit processes the image information to identify position, size and angle information of the holding object and transmits the information to the control module.

[0021] The application has at least the following advantages: by arranging a plurality of movable holding components in the main frame, the holding components can move towards or away from the central axis of the main frame, the accurate detection of the displacement of the holding components by the sensing component can adapt to cold-rolled pipes of different diameters, the control module can accurately control the movement of the holding components according to the feedback of the sensing component, the problem of too tight or too loose holding is avoided, the surface of the cold-rolled pipe being held is protected from damage, and the pipe is prevented from falling during holding, the accuracy of the holding position and force control is improved, and the application range of the cold-rolled pipes of different specifications is expanded. The adjusting mechanism is connected with the main frame through the rotary joint, the main frame is arranged on the adjusting mechanism, the control module can accurately adjust the angle of the main frame through the coordinated action of the adjusting mechanism and the rotary joint according to the angle information detected by the sensing component, the cold-rolled pipes of different placement angles can be handled without manual intervention, and the production efficiency is greatly improved. The real-time monitoring and feedback function of the sensing component enables the control module to obtain the working state of the holding component in time, and the control module can respond and adjust quickly once a fault or abnormal displacement occurs, so that holding failure, equipment damage and safety accidents are effectively avoided. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 A perspective view of a holding mechanism provided by an embodiment of the application is shown in the figure;

[0023] Figure 2 A perspective view of a holding mechanism provided by an embodiment of the application is shown in the figure; Figure 1 An enlarged view of position A in the figure;

[0024] Figure 3 A perspective view of a holding mechanism provided by an embodiment of the application is shown in the figure;

[0025] Figure 4 A side view of a holding mechanism provided by an embodiment of the application is shown in the figure;

[0026] In the figure: main frame 10, holding component 11, holding arm 12, driving module 13, adjusting mechanism 20, mounting seat 21, arc-shaped guide rail 22, sliding block 23, rotary joint 30, rotary shaft 31, rotary sleeve 32, stepping motor 34, harmonic reducer 35, industrial camera 50. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0028] As shown in the drawings, the holding and conveying mechanism according to the embodiments of the present application comprises a main frame 10, an adjusting mechanism 20 and a control module. Figures 1-3

[0029] Specifically, a plurality of holding and clamping assemblies 11 are arranged in the main frame 10, and the holding and clamping assemblies 11 are movable to approach or move away from the central axis of the main frame 10. An inductive assembly is arranged on the main frame 10, and the inductive assembly is used to detect the displacement and angle of the holding and clamping assemblies 11. The holding and clamping assembly 11 comprises a holding and clamping arm 12 and a driving module 13 for driving the holding and clamping arm 12 to move, and the driving module 13 is electrically connected with the control module. The driving module 13 comprises a pneumatic cylinder, and the piston of the pneumatic cylinder is fixedly connected with the holding and clamping arm 12. The adjusting mechanism 20 is connected with the outer wall of the main frame 10 through a rotary joint 30. The holding and clamping assembly 11, the inductive assembly, the adjusting mechanism 20 and the driving module 13 are all electrically connected with the control module, and the control module controls the movement of the holding and clamping assembly 11 according to the feedback of the inductive assembly.

[0030] In a specific embodiment, the main frame 10 has 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 material, such as aluminum alloy or stainless steel, and is processed and welded precisely to ensure the dimensional accuracy and structural stability of the main frame 10. The four corners of the main frame 10 are designed with round corners to avoid causing harm to the operator during operation and also to enhance the overall aesthetics of the main frame 10.

[0031] The main frame 10 defines an inner cavity with two open ends for the cold-rolled pipe to pass through. The holding and clamping assemblies 11 are symmetrically arranged on two or three sides of the inner cavity of the main frame 10, and are uniformly distributed along the extension axis of the inner cavity to form a multi-layer holding and clamping structure to adapt to the holding and conveying requirements of pipes with 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, the two oppositely arranged holding and clamping assemblies 11 are staggered with each other to further improve the stability during holding and clamping of the cold-rolled pipe.

[0033] ​The control module is usually mounted outside the main frame 10 and packaged in a separate control cabinet. The control cabinet is electrically connected with the clamping assembly 11, the sensing assembly and the adjusting mechanism 20 through cables, facilitating the operation and maintenance of the operator. The surface of the control cabinet is provided with an operation panel and a display screen. The operator can input control instructions through the operation panel, and the display screen displays the working state information of the displacement and angle of the clamping assembly 11 in real time.

[0034] According to the clamping and conveying mechanism, a plurality of movable clamping assemblies 11 are arranged in the main frame 10, and the clamping assemblies 11 can move towards or away from the central axis of the main frame 10. In combination with the accurate detection of the displacement of the clamping assembly 11 by the sensing assembly, the clamping and conveying mechanism can adapt to cold-rolled pipes of different diameters. The control module can accurately control the movement of the clamping assembly 11 according to the feedback of the sensing assembly, avoiding the problems of too tight or too loose clamping of the traditional clamping and conveying mechanism. The clamping and conveying mechanism can protect the surface of the clamped and conveyed cold-rolled pipe from being damaged and prevent the pipe from slipping during the clamping and conveying process, improve the accuracy of the clamping position and force control, and expand the application range of the clamping and conveying mechanism to cold-rolled pipes of different specifications. The adjusting mechanism 20 is connected with the main frame 10 through the rotary joint 30, and the main frame 10 is arranged on the adjusting mechanism 20. According to the angle information detected by the sensing assembly, the control module can control the coordinated action of the adjusting mechanism 20 and the rotary joint 30 to accurately adjust the angle of the main frame 10, so that the clamping and conveying mechanism can adapt to cold-rolled pipes placed at different angles without additional manual intervention, thereby greatly improving the production efficiency. The real-time monitoring and feedback function of the sensing assembly enables the control module to obtain the working state of the clamping assembly 11 in time. Once a fault or abnormal displacement occurs, the control module can respond quickly and make adjustments to effectively avoid the failure of the clamping and conveying operation, equipment damage and safety accidents.

[0035] According to the clamping and conveying mechanism, the rotary joint 30 includes a rotating shaft 31, a rotating sleeve 32 arranged outside the rotating shaft 31, and a power assembly for driving the rotating sleeve 32 to rotate. The power assembly includes a stepping motor 34 and a harmonic reducer 35 connected in transmission. The output shaft of the stepping motor 34 is connected with the input shaft of the harmonic reducer 35, the output shaft of the harmonic reducer 35 is fixedly connected with the rotating sleeve 32, the rotating sleeve 32 is fixed with the main frame 10, and the rotating shaft 31 is connected with the adjusting mechanism 20.

[0036] In the above embodiment, the rotary joint 30 is combined with the stepping motor 34 and the harmonic reducer 35 in transmission. The pulse control characteristics of the stepping motor 34 are combined with the high transmission ratio of the harmonic reducer 35 to ensure that the clamping assembly 11 is always perpendicular to the pipe axis. The design that the rotating sleeve 32 is fixed with the main frame 10 and the rotating shaft 31 is connected with the adjusting mechanism 20 converts the rotary motion into the overall angle adjustment of the main frame 10 to achieve the angle adjustment of the main frame 10.

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

[0038] In the above embodiments, the angular contact ball bearing can simultaneously withstand radial and axial loads, improving rotational stability; the shaft end cover and the rubber seal ring work together to block external dust intrusion and prevent grease leakage; the rotating shaft 31 can supply oil to the angular contact ball bearing through the internal through lubrication channel and the oil outlet hole; and the spiral guide groove on the inner wall of the rotating sleeve 32 forms an oil film vortex during rotation, reducing the coefficient of friction.

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

[0040] In the above embodiment, the mounting base 21 provides stable support for the entire adjusting mechanism 20, ensuring that the components can cooperate in an orderly manner. The electric push rod drives the sliding block 23 to slide on the arc-shaped guide rail 22, and the sliding block 23 is fixedly connected with the rotating shaft 31 of the rotating joint 30, so that the rotating joint 30 can change position along with the movement of the sliding block 23. When the inductive assembly detects that the pipe placement angle deviates, it feeds back information to the control module, which controls the electric push rod to act, pushing the sliding block 23 to move along the arc-shaped guide rail 22, and in turn driving the rotating joint 30 to move to the appropriate position. Subsequently, the power assembly of the rotating joint 30 starts to work, driving the rotating sleeve 32 to rotate, thereby driving the main frame 10 and the clamping assembly 11 connected with the rotating sleeve 32 to adjust the angle. In this way, the clamping assembly 11 can quickly adjust to a state matching the pipe placement angle, so that the multi-layer clamping structure can uniformly apply clamping force, avoiding uneven force on local parts due to improper angle, preventing the pipe from slipping during clamping and conveying, and protecting the pipe surface from damage. The adjusting mechanism 20, the clamping assembly 11, the inductive assembly, and the control module form a closed-loop control system, significantly improving the universality and adaptability of the clamping and conveying mechanism, enabling it to efficiently handle pipe clamping and conveying operations under various complex working conditions, and improving production efficiency and product quality.

[0041] The dovetail groove has a wider slot than a groove bottom, which can provide precise guidance for the sliding block, prevent the sliding block from moving laterally during movement, and ensure the stability and accuracy of the sliding block moving along the arc-shaped guide rail. The oil groove on the inner surface of the dovetail groove can store lubricating oil, continuously lubricating the mating surface of the dovetail groove and the sliding block boss, reducing the friction coefficient, reducing wear, and improving the service life of the sliding block. The oil drain hole at the bottom of the dovetail groove can timely drain excess lubricating oil, avoiding the influence of accumulated lubricating oil on the normal sliding of the sliding block.

[0042] The rollers symmetrically arranged on both sides of the sliding block abut against the arc-shaped guide rail. The inverted V-shaped groove on the outer surface of the roller better fits the guide rail, and the rubber layer and surface anti-skid pattern in the V-shaped groove increase the friction between the roller and the guide rail, making the sliding block more stable during movement and less likely to slip, ensuring the effectiveness of power transmission. The mechanical limiting blocks at both ends of the arc-shaped guide rail are fixed on the mounting base by bolts, and the inclined surface structure on the side close to the sliding block can abut against the end surface of the sliding block body when the sliding block moves to the limit position, serving as a buffer to avoid direct rigid collision between the sliding block and the limiting block, reducing the damage of impact force to the equipment, and also limiting the movement range of the sliding block, ensuring the safe and reliable operation of the entire adjusting mechanism.

[0043] In some embodiments, a universal joint is connected between the electric push rod and the sliding block 23, the universal joint including a ball head and a ball socket, the ball head being connected with the piston rod of the electric push rod, and the ball socket being connected with the sliding block 23.

[0044] In the above embodiment, the electric push rod is connected with the sliding block 23 through the universal joint, the spherical surface contact between the ball head and the socket allows a certain angular deviation between the two, which can compensate for installation errors and avoid bending deformation of the electric push rod, ensuring straight-line transmission of driving force. The universal joint can absorb the radial impact force generated when the sliding block 23 moves, protecting the screw pair and bearings inside the electric push rod, improving the impact resistance of the adjustment mechanism and prolonging the service life of the equipment.

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

[0046] In the above embodiment, the guide rail provides a precise sliding path for the counterweight block, ensuring that it moves along the preset trajectory. The aluminum alloy material of the counterweight block can significantly reduce the mass of the counterweight block while ensuring strength, reducing the impact of inertial force on the main body frame 10. At the same time, the elastic rubber layer at the bottom of the counterweight block can form a flexible buffer when it comes into contact with the guide rail, which can not only absorb the impact of movement but also increase the friction coefficient, preventing the counterweight block from sliding freely in the inclined working condition. By adjusting the position of the counterweight block, the center of gravity of the main body frame 10 can be balanced, and the stability of the whole holding and conveying mechanism can be improved, which is suitable for different loads and working postures.

[0047] As shown in Figure 1 The holding and conveying mechanism according to the embodiment of the present application is provided with a rubber pad on the holding working surface of the holding and clamping arm 12. The rubber pad on the holding working surface is made of high-elasticity material. On the basis of precise displacement control of the cylinder, the impact force in the clamping process is further absorbed through the elastic deformation of the rubber pad, protecting the smoothness of the surface of the cold-rolled pipe. The rubber pad is provided with anti-slip patterns on the side away from the holding working surface, and a magnet is embedded in the rubber pad.

[0048] In the above embodiment, when the control module controls the action of the clamping assembly 11 according to the feedback of the sensing assembly, the rubber pad directly contacts the surface of the pipe. The anti-skid pattern on the rubber pad increases the friction with the surface of the pipe, and under the action of the clamping force, it can effectively prevent the pipe from sliding due to vibration, movement and other factors during clamping. At the same time, the magnet embedded in the rubber pad generates an attractive force on the pipe with magnetic permeability, further enhancing the stability of the clamping. The double action of friction and magnetism makes the clamping assembly 11 more firmly hold the pipe, ensuring that the pipe will not easily slip. Moreover, the elasticity of the rubber pad can buffer the clamping force and protect the surface of the pipe from damage. In addition, it closely cooperates with the sensing assembly, control module, drive module 13, etc. The sensing assembly monitors the state of the clamping assembly 11 in real time and feeds back to the control module, which 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 clamping process, improving the adaptability and work efficiency of the clamping mechanism for different pipes.

[0049] In some embodiments, the sensing assembly includes a laser displacement sensor and an inclination sensor. The laser displacement sensor is installed on the clamping arm 12 adjacent to the clamping working surface, and the emission 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 adjacent to the connection position of the main frame 10 and the rotary joint 30.

[0050] In the above embodiment, the sensing assembly effectively solves the problem that the traditional clamping mechanism cannot accurately obtain the spatial position information of the clamping assembly 11 in real time through the cooperation of the laser displacement sensor and the inclination sensor. The laser displacement sensor is installed on the clamping arm 12 adjacent to the working surface and the emission 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 light path during clamping, achieving accurate control of clamping displacement and avoiding fluctuations in clamping force caused by changes in pipe diameter or uneven surface. The inclination sensor is installed on the main frame 10 adjacent to the connection position of the main frame 10 and the rotary joint 30, which can adjust the angle of the main frame 10 to compensate for the attitude deviation of the pipe caused by gravity or placement angle, so that the multi-layer clamping assembly 11 always maintains the ideal clamping state perpendicular to the pipe axis, significantly improving the adaptability to irregularly placed pipes, reducing the need for manual calibration, and reducing 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 is controlled by the control module to push the clamping arms 12 towards the central axis of the main frame 10 to clamp the cold-rolled pipe by driving the cylinders of the drive module 13, the strain gauge pressure sensor can accurately detect the pressure between the clamping arms 12 and the pipe in real time. If the detected pressure value is too large, it means that the clamping force is too tight and may damage the surface of the pipe. The control module will adjust the action of the cylinder in time according to this feedback information to make the clamping arms 12 appropriately away from the central axis to reduce the clamping force. Conversely, if the pressure value is too small, it means that the clamping force is insufficient and the pipe may slip during the clamping and conveying process. The control module will control the cylinder to further push the clamping arms 12 towards 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 assembly. The laser displacement sensor obtains the displacement information of the clamping arms 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 state of the clamping assembly 11 and more accurately control the movement and angle adjustment of the clamping assembly 11 (the angle adjustment is realized by adjusting the angle of the main frame 10 to adjust the angle of the clamping assembly 11), so as to ensure the stable, safe and lossless clamping and conveying of pipes of different specifications and different placement angles, improve the working reliability and stability of the whole clamping and conveying mechanism, and enhance the adaptability to different pipes.

[0053] As shown in Figure 4 , according to the clamping and conveying mechanism of the embodiment of the present application, the main frame 10 is provided with a visual recognition system, which includes an industrial camera 50 and an image processing unit in electrical connection. The image processing unit is electrically connected with 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 to-be-clamped and-conveyed piece in the clamping and conveying area. The image processing unit processes the image information to identify the position, size and angle information of the to-be-clamped and-conveyed piece and transmits them to the control module.

[0054] In the above embodiment, the industrial camera 50 obtains the image of the clamping and conveying area. The image processing unit completes the pipe contour recognition and attitude calculation and outputs the pipe center coordinates, diameter size and inclination angle and other parameters. The control module performs space-time alignment on the visual data and distance sensor data to generate the pipe pose information in the three-dimensional space coordinate system. The electric push rod of the drive adjustment mechanism 20 and the rotary joint 30 cooperatively act to realize large-range dynamic angle compensation of the clamping assembly 11. The visual recognition system is linked with the drive motor of the mobile chassis 40 and can plan the optimal path according to the pipe position information to guide the clamping and conveying mechanism to complete accurate positioning and improve the efficiency.

[0055] The industrial camera 50 can be arranged on the side surface of the main frame 10.

[0056] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting, since the scope of the present application will be limited to the appended claims. It must be noted that, as used in the specification and the appended claims, the singular form "a," "an" and "the" include plural referents unless the context clearly dictates otherwise. Thus, for example, reference to "a component" can include a plurality of components. Similarly, the words "comprise," "comprises," and "comprising," as well as the words "include," "includes," and "including," when used in this specification and in the following claims, are intended to specify the presence of stated features, regions, integers, steps, operations, elements, or components, but they do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components, or groups thereof. Furthermore, these terms do not necessarily denote the presence of anything that can be claimed as new. The meaning of "a," "an," and "the" also includes plural references and plural forms, for example, "a" or "an" entity includes one or more entities.

[0057] While the embodiments of the application have been shown and described herein, it is understood that modifications, substitutions, changes, and alterations can be made by those skilled in the art without departing from the spirit and scope of the present application.

Claims

1. A pick-up mechanism, characterized in that The utility model relates to a kind of adjustable clamp, including: Main body frame, multiple groups of clamping components are arranged in the main body frame, the clamping components are movable to close or away from the central axis of the main body frame, inductive component is provided on the main body frame, the inductive component is used to detect the displacement and angle of the clamping component, the clamping component includes clamping arm and the drive module for driving the clamping arm moves, the drive module includes cylinder, the piston of the cylinder is fixedly connected with the clamping arm; Adjusting mechanism, the adjusting mechanism is connected with the outer wall of the main body frame by rotating joint, the adjusting mechanism includes mounting seat, angle adjusting component is arranged on the mounting seat, the angle adjusting component includes arc-shaped guide rail, slider and electric push rod, the electric push rod drives the slider to slide on the arc-shaped guide rail, the slider is fixedly connected with the rotating shaft of the rotating joint, the inner side of the arc-shaped guide rail is provided with dovetail groove, the slot width of the dovetail groove is greater than the groove bottom width, the inner surface of the dovetail groove is provided with oil groove, the bottom of the dovetail groove is further provided with oil discharge hole, the slider includes slider body and roller arranged on both sides of the slider body, the rollers on both sides are respectively symmetrically and respectively abut on the arc-shaped guide rail, the outer surface of the roller is provided with inverted V-shaped V-shaped groove, the V-shaped groove is clamped in rubber layer, the surface of the rubber layer is provided with anti-skid pattern, the bottom of the slider body is provided with boss matched with the dovetail groove, the boss is clamped in the dovetail groove, both ends of the arc-shaped guide rail are provided with mechanical limit block, the limit block is fixed on the mounting seat by bolt, the side of the limit block close to the slider is inclined surface structure, when the slider moves to abut with the inclined surface structure, the inclined surface structure is attached with the end surface of the slider body; Control module, the clamping component, the inductive component, the adjusting mechanism and the drive module are electrically connected with the control module, the control module controls the displacement of the clamping component according to the feedback of the inductive component.

2. The gripping mechanism according to claim 1, wherein The rotating joint includes rotating shaft, rotating sleeve sleeved outside the rotating shaft and power component for driving the rotating sleeve to rotate, the power component includes transmission-connected stepping motor and harmonic reducer, the output shaft of the stepping motor is connected with the input shaft of the harmonic reducer, the output shaft of the harmonic reducer is fixedly connected with the rotating sleeve, the rotating sleeve is fixed with the main body frame, the rotating shaft is connected with the adjusting mechanism.

3. The gripping mechanism of claim 2, wherein 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 includes first end and second end opposite in axial direction, the first end is provided with locking nut, wave spring washer is further arranged between the locking nut and the angular contact ball bearing, the second end is provided with shaft end cover, the shaft end cover is fixedly connected with rotating shaft by bolt, rubber sealing ring is arranged between the shaft end cover and the angular contact ball bearing.

4. The gripping mechanism of claim 3, wherein The rotating shaft is provided as a hollow structure, a lubricating channel penetrating through the rotating shaft in an axial direction is arranged in the hollow structure, a plurality of radial oil outlets are uniformly distributed in a circumferential direction of the rotating shaft, the oil outlets correspond to the angular contact ball bearings, and a spiral flow guide groove is arranged on an inner wall of the rotating sleeve.

5. The gripper mechanism of claim 1, wherein, A universal joint is connected between the electric push rod and the sliding block, the universal joint comprises a ball head and a ball socket, the ball head is connected with a piston rod of the electric push rod, and the ball socket is connected with the sliding block.

6. The gripping mechanism of claim 1, wherein A guide rail and a counterweight block that can slide in the guide rail are arranged in the main body frame, the counterweight block is made of aluminum alloy, and an elastic rubber layer is arranged at the bottom of the counterweight block.

7. The gripper mechanism of claim 1, wherein, The sensing assembly comprises a laser displacement sensor and an inclination sensor, the laser displacement sensor is installed on the clamping arm and adjacent to a clamping working surface of the clamping arm, an emitting end of the laser displacement sensor is parallel to a clamping direction of the clamping arm, and the inclination sensor is installed on the main body frame and adjacent to a connection position between the main body frame and the rotary joint.

8. The gripping mechanism of claim 1, wherein A strain gauge type pressure sensor is embedded in the clamping working surface of the clamping arm, the strain gauge type pressure sensor is electrically connected with the control module, a rubber pad is arranged on the clamping working surface of the clamping arm, the rubber pad is located outside the strain gauge type pressure sensor, anti-skid lines are arranged on the rubber pad away from the clamping working surface, and a magnet is embedded in the rubber pad.

9. The gripper mechanism of claim 1, wherein, A visual recognition system is arranged on the main body frame, the visual recognition system comprises an industrial camera and an image processing unit that are electrically connected, the image processing unit is electrically connected with the control module, the industrial camera is arranged on the top of the main body frame and is used for collecting image information of a to-be-clamped part in a clamping area, the image processing unit processes the image information to identify position, size and angle information of the to-be-clamped part and transmits the information to the control module.

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