Mechanical arm clamping device for elbow production

Abstract

The invention discloses a mechanical arm clamping device for elbow production, and relates to the technical field of mechanical automation equipment, the mechanical arm clamping device comprises a base frame, a mechanical arm main body, an adjusting mechanism and a clamping mechanism; the telescopic end of the adjusting mechanism is fixedly connected with a clamping mechanism; the clamping mechanism comprises a cross beam plate, a moving plate, an annular frame and an infrared detector; and two groups of embedding grooves are formed in the bottom of the cross beam plate. According to the device, through cooperation of multiple assemblies, longitudinal angle adjustment is completed; the cylinder drives the extension plate to realize longitudinal depth adjustment of the magnetic seat. According to the design, the position and the angle of the clamping mechanism can be flexibly adjusted according to the bending degree of the bent pipe, U-shaped, S-shaped and other special-shaped bent pipes can be easily dealt with, the + / -90-degree swing limitation of a conventional rotating mechanism is broken through, and manual secondary positioning is not needed. And meanwhile, the clamping position and angle are accurately adjusted, the problem that the attaching error of a traditional clamping jaw is large is solved, it is ensured that the relative position of the clamping jaw and the bent pipe is unchanged, and the clamping stability and precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation equipment, and particularly to a robotic arm clamping device for bent pipe production. Background Technique

[0002] In modern industrial production, bent pipes, as important pipe connectors, are widely used in fields such as aerospace, automobile manufacturing, and petrochemical industry. With the improvement of the automation level of bent pipe production, the robotic arm clamping device, as a key link on the production line, its performance directly affects production efficiency and product quality.

[0003] However, currently, the traditional fixed jaws adopt a rigid arc surface design. When clamping a bent pipe with a pipe diameter and a bending angle exceeding 90°, the fitting error between the arc surface of the jaws and the actual bending arc of the pipe body is more than 12°. And the measured data shows that when the curvature radius is relatively large, the failure rate of workpiece dropping due to insufficient friction is relatively high. Moreover, the conventional rotating mechanism is restricted by the gear-rack transmission structure, and the swing angle can only reach ±90°. When facing special-shaped bent pipes such as U-shaped (180° bending) and S-shaped (double-section 90° bending), it is impossible to complete the spatial attitude adjustment and manual secondary positioning must be relied on, resulting in a reduction in the single-machine production efficiency. And for a device lacking a pipe diameter adaptive adjustment and visual positioning system, when switching products of different specifications, it is necessary to stop the machine and manually turn the screw to adjust the jaw spacing, which takes a long time and affects production efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm clamping device for bent pipe production to solve the problems raised in the above background technique, that is, the traditional fixed jaws are of a rigid arc surface, when clamping a bent pipe with a large bending angle, the workpiece is likely to drop when the curvature is large, the swing angle of the conventional rotating mechanism is only ±90°, it is impossible to deal with special-shaped bent pipes, manual positioning is required, and when switching specifications, it is necessary to stop the machine to adjust the jaws, which is time-consuming and inefficient.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A robotic arm clamping device for bent pipe production, including a base frame, a robotic arm main body, an adjusting mechanism, and a clamping mechanism; the telescopic end of the adjusting mechanism is fixedly connected to the clamping mechanism; The clamping mechanism includes a cross beam plate, a moving plate, an annular frame, and an infrared detector; two sets of embedding grooves are provided at the bottom of the cross beam plate, and two side gear plates are fixedly connected to the outer surface wall of the cross beam plate. The inner surface walls of the two sets of embedding grooves are both slidably embedded with embedding blocks, and the bottom parts of the two sets of embedding blocks are respectively fixedly connected to the top of the moving plate. Miniature motors are fixedly connected to the bottoms of the two moving plates, and the rotating ends of the two miniature motors penetrate inside the moving plates. The rotating ends of the two miniature motors are both fixedly connected with tooth columns, and the outer surface walls of the two sets of tooth columns are respectively in meshing transmission with the side gear plates. One side of the outer walls of the two moving plates is respectively fixedly connected to one side of the outer wall of the annular frame. Inner driving annular grooves are preset inside the two annular frames. Outer annular tooth plates are fixedly connected to the outer surface walls of the two sets of annular frames. Annular sliders are slidably embedded in the inner surface walls of the two sets of inner driving annular grooves, and annular linkage seats are fixedly connected between the outer surface walls of the two sets of annular sliders.

[0006] Preferably, bearing seats are fixedly installed on one side of the outer walls of the two annular linkage seats, and driving rotating rods are rotatably connected inside the two sets of bearing seats.

[0007] Preferably, miniature gears are fixedly connected to the outer surface walls of the two driving rotating rods, and the two miniature gears are respectively in meshing transmission with the outer annular tooth plates.

[0008] Preferably, air cylinders are fixedly connected to one side of the outer walls of the two annular linkage seats, the telescopic ends of the two air cylinders are both fixedly connected with connecting plates, and extension plates are fixedly connected to one side of the outer walls of the two connecting plates.

[0009] Preferably, limiting telescopic rods are fixedly connected to the bottoms of the two annular linkage seats, and one ends of the two limiting telescopic rods are respectively fixedly connected to one side of the outer wall of the connecting plate.

[0010] Preferably, magnetic seats are slidably embedded inside the two annular linkage seats, and magnetic attraction strips are fixedly connected to the adsorption ends of the two magnetic seats.

[0011] Preferably, a group of infrared detectors are respectively fixedly connected to the upper and lower ends of the two sets of annular frames.

[0012] Preferably, a robotic arm main body is fixedly installed on the top of the base frame; The robotic arm main body includes a rotary base assembly.

[0013] Preferably, the rotating end of the rotary base assembly is fixedly connected with a three-axis robotic arm assembly, and the adjusting end of the three-axis robotic arm assembly is fixedly connected with an electric telescopic assembly.

[0014] Preferably, the adjusting mechanism includes an adjusting shaft, and an electric telescopic rod is fixedly connected to the adjusting end of the adjusting shaft. The telescopic end of the electric telescopic rod is fixedly connected to the top of the cross beam plate.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: In the present invention, with the cooperation of various components of the device, two micro motors drive the tooth column to mesh with the side gear plate, and combined with the sliding of the embedding block in the embedding groove, the moving plate and the annular frame are driven to move horizontally; the annular slider slides in the inner driving annular groove, and cooperates with the driving rod to drive the micro gear to mesh with the outer annular tooth plate, realizing the annular movement of the annular linkage seat in the annular frame and completing the longitudinal angle adjustment. In addition, the air cylinder drives the extension plate to move, realizing the longitudinal depth adjustment of the magnetic seat. These structures enable the device to flexibly adjust the position and angle of the internal components of the clamping mechanism according to the bending degree of different positions of the bent pipe, easily handle special-shaped bent pipes such as U-shaped and S-shaped ones, break through the limitation of the swing angle of the conventional rotating mechanism, eliminate the need for manual secondary positioning, and adjust the position and angle of the clamping mechanism to ensure that the relative position between the clamping jaw and the bent pipe remains unchanged, solving the problem of large fitting error between the traditional fixed clamping jaw and the bent pipe, and making the clamping more accurate and stable. Description of the Drawings

[0016] Figure 1 is the main view three-dimensional structure diagram of a robotic arm clamping device for bent pipe production in the present invention; Figure 2 is the partial three-dimensional structure diagram of a robotic arm clamping device for bent pipe production in the present invention; Figure 3 is the structural schematic diagram of the shaft middle contact component in a robotic arm clamping device for bent pipe production in the present invention; Figure 4 is the structural schematic diagram of the clamping mechanism in a robotic arm clamping device for bent pipe production in the present invention; Figure 5 is the bottom view structural schematic diagram of the clamping mechanism in a robotic arm clamping device for bent pipe production in the present invention; Figure 6 is the partial three-dimensional disassembly diagram of the clamping mechanism in a robotic arm clamping device for bent pipe production in the present invention; Figure 7 is the partial internal structural schematic diagram of the clamping mechanism in a robotic arm clamping device for bent pipe production in the present invention.

[0017] In the figure: 1. Base frame; 2. Manipulator main body; 21. Rotary base assembly; 22. Three-axis manipulator assembly; 23. Electric telescopic assembly; 3. Adjusting mechanism; 31. Adjusting shaft; 32. Electric telescopic rod; 4. Gripping mechanism; 41. Cross beam plate; 411. Embedded groove; 412. Side gear plate; 42. Embedded block; 43. Moving plate; 431. Micro motor; 432. Tooth column; 44. Ring frame; 441. Inner drive ring groove; 442. Outer ring tooth plate; 443. Ring slider; 45. Ring linkage seat; 451. Bearing seat; 452. Driving rod; 453. Micro gear; 46. Cylinder; 461. Connecting plate; 47. Extension plate; 471. Limit telescopic rod; 48. Magnetic seat; 481. Magnetic strip; 49. Infrared detector. Detailed implementation mode

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] In order to solve the above problems, the present invention provides technical solution means, referring to Figure 1 and Figure 2 As shown: A manipulator clamping device for bent pipe production includes a base frame 1, a manipulator main body 2, an adjusting mechanism 3 and a clamping mechanism 4; the telescopic end of the adjusting mechanism 3 is fixedly connected to the clamping mechanism 4.

[0020] Specifically: First, the whole manipulator main body 2 is installed on its top, and the base frame 1 is used to keep in contact with the ground to maintain its own stability. Through the adjusting mechanism 3, the angle of the clamping mechanism 4 during the clamping of the bent pipe can be effectively adjusted, so that the clamping mechanism 4 improves the stability of the bent pipe itself.

[0021] In some embodiments, according to Figures 4 - 7As shown in the figure, the clamping mechanism 4 includes a cross beam plate 41, a moving plate 43, an annular frame 44, and an infrared detector 49; two sets of embedding grooves 411 are opened at the bottom of the cross beam plate 41, and two side gear plates 412 are fixedly connected to the outer surface wall of the cross beam plate 41. The inner surface walls of the two sets of embedding grooves 411 are both slidably embedded with embedding blocks 42, and the bottoms of the two sets of embedding blocks 42 are respectively fixedly connected to the top of the moving plate 43. Miniature motors 431 are fixedly connected to the bottoms of the two moving plates 43, and the rotating ends of the two miniature motors 431 penetrate inside the moving plate 43. The rotating ends of the two miniature motors 431 are both fixedly connected with tooth columns 432, and the outer surface walls of the two sets of tooth columns 432 are respectively in meshing transmission with the side gear plates 412. One side of the outer walls of the two moving plates 43 is respectively fixedly connected to one side of the outer wall of the annular frame 44. Inner driving annular grooves 441 are preset inside the two annular frames 44. Outer annular tooth plates 442 are fixedly connected to the outer surface walls of the two sets of annular frames 44. Annular sliders 443 are slidably embedded in the inner surface walls of the two sets of inner driving annular grooves 441, and annular linkage seats 45 are fixedly connected between the outer surface walls of the two sets of annular sliders 443.

[0022] More specifically: The infrared detector 49 is used to detect the bent pipe. The infrared detector 49 emits an infrared beam to scan the surface of the bent pipe, calculates the three-dimensional contour data of the bent pipe through the reflected light. The controller compares the measured data with the preset parameters, calculates the time difference from the emission to the reception of the infrared light, converts it into the distance between the detector and the surface of the bent pipe, and calculates the offset of the clamping position and angle. After predicting the bent pipe, it needs to be clamped. During this process, the infrared rays generated by the infrared detector 49 are used to measure the bent pipe. According to the bending degree of different positions of the bent pipe, a position of the device needs to be adjusted. First, the two miniature motors 431 are powered on and rotate. With the rotation of the two tooth columns 432, they respectively generate meshing touches inside the two side gear plates 412. And with the cooperation that the two embedding blocks 42 are respectively slidably embedded inside the embedding grooves 411, it can drive the two moving plates 43 and the components linked to them to move horizontally, converting the rotational motion into a linear motion, thereby adjusting a position of the components inside the clamping mechanism 4. Then, the two sets of annular sliders 443 can respectively be slidably embedded inside the inner driving annular grooves 441, and can adjust the annular movement of the annular linkage seat 45 and the components fixed to it; When the bent pipe moves on the conveyor belt, the infrared detector 49 continuously tracks, and the controller adjusts the position and angle of the clamping mechanism 4 in real time to ensure that the relative position between the clamping jaw and the bent pipe remains unchanged. For bent pipes of the same specification in mass production, the system can memorize the optimal clamping parameters. During the next operation, there is no need to re-detect, and the preset parameters can be directly called. When an obstacle is detected around the bent pipe, the controller automatically plans an obstacle avoidance path and preferentially selects a clamping angle without obstacles to avoid damage to the equipment due to collision.

[0023] In some embodiments, according to Figure 6 and Figure 7 As shown, on one side of the outer wall of each of the two annular linkage seats 45, a bearing seat 451 is fixedly installed. A drive rod 452 is rotatably connected inside each of the two groups of bearing seats 451. A micro gear 453 is fixedly connected to the outer surface wall of each of the two drive rods 452. The two micro gears 453 are respectively in meshing transmission with the outer annular tooth plate 442. On one side of the outer wall of each of the two annular linkage seats 45, a cylinder 46 is fixedly connected. A connecting plate 461 is fixedly connected to the telescopic end of each of the two cylinders 46. An extension plate 47 is fixedly connected to one side of the outer wall of each of the two connecting plates 461. A limit telescopic rod 471 is fixedly connected to the bottom of each of the two annular linkage seats 45. One end of each of the two limit telescopic rods 471 is fixedly connected to one side of the outer wall of the connecting plate 461. A magnetic seat 48 is embedded and moved inside each of the two annular linkage seats 45. A magnetic attraction strip 481 is fixedly connected to the adsorption end of each of the two magnetic seats 48. A group of infrared detectors 49 are fixedly connected to the upper and lower ends of each of the two groups of annular frames 44.

[0024] More specifically: After adjusting to a suitable position, driven by an external motor, the drive rod 452 rotates self in the bearing seat 451. The drive rod 452 is in a fixed connection state with the micro gear 453. Under this kind of drive, the micro gear 453 can be in meshing transmission with the inside of the outer annular tooth plate 442. With the annular slider 443 slidingly embedded in the inner drive annular groove 441, it can effectively realize the annular movement of the annular linkage seat 45 inside the annular frame 44, thereby adjusting the longitudinal angle of the annular linkage seat 45 and the components fixed thereto. After adjusting to a suitable position, after the cylinder 46 is powered on, it generates elasticity, and through the connecting plate 461 as a medium, it drives the extension plate 47 to be embedded and moved inside the annular linkage seat 45. And at the other end of the extension plate 47, it is fixed to the bottom of the magnetic seat 48. When the magnetic seat 48 is embedded and moved inside the annular linkage seat 45, it can realize the longitudinal depth adjustment of the magnetic seat 48 itself. Then when the magnetic seat 48 is in contact with the elbow pipe, the magnetic seat 48 is powered on, and a strong magnetic force is generated by the magnetic attraction strip 481, which can firmly adsorb the elbow pipe inside the magnetic seat 48.

[0025] In some embodiments, according to Figures 1 - 4 As shown, a robotic arm main body 2 is fixedly installed on the top of the base frame 1; The robotic arm main body 2 includes a rotary base assembly 21; The rotating end of the rotating base assembly 21 is fixedly connected with a three-axis robotic arm assembly 22, and the adjusting end of the three-axis robotic arm assembly 22 is fixedly connected with an electric telescopic assembly 23. The adjusting mechanism 3 includes an adjusting shaft 31, and the adjusting end of the adjusting shaft 31 is fixedly connected with an electric telescopic rod 32. The telescopic end of the electric telescopic rod 32 is fixedly connected with the top of the cross beam plate 41.

[0026] More specifically: First, the robotic arm main body 2 is installed on the top of the base frame 1, and under the action of the rotating base assembly 21, the three-axis robotic arm assembly 22 can be rotated, and on the basis of the three-axis robotic arm assembly 22, joint adjustment can be performed to adjust the position and angle of its adjusting end.

[0027] Working principle: In the production of bent pipes, the manipulator clamping device realizes the clamping of bent pipes through the coordinated operation of various mechanisms. The base frame 1 is installed on the ground, providing stable support for the entire device to ensure that the manipulator main body 2 and other mechanisms remain stable during operation and will not displace or shake due to force. The manipulator main body 2 is installed on the top of the base frame 1, and its rotating base assembly 21 can drive the three-axis manipulator assembly 22 to rotate. The three-axis manipulator assembly 22 can precisely adjust the position and angle of its adjustment end through joint adjustment. The electric telescopic assembly 23 further realizes the telescopic control of the end effector, enabling the entire manipulator to move to a specified position in three-dimensional space. The adjustment shaft 31 in the adjustment mechanism 3 can adjust the direction of the electric telescopic rod 32. The telescopic end of the electric telescopic rod 32 is fixedly connected to the crossbeam plate 41. Through the telescopic action of the electric telescopic rod 32, the position of the clamping mechanism 4 in the vertical direction can be adjusted. At the same time, combined with the angle adjustment of the adjustment shaft 31, multi-angle adjustment of the clamping mechanism 4 in space can be realized to adapt to the clamping requirements of bent pipes at different positions and angles. During the operation of the clamping mechanism 4, the infrared detector 49 emits an infrared beam to scan the surface of the bent pipe, and calculates the three-dimensional contour data of the bent pipe through the reflected light. The controller compares the measured data with the preset parameters, and at the same time calculates the time difference between the emission and reception of the infrared light to convert the distance between the detector and the surface of the bent pipe, and then obtains the offset of the clamping position and angle. When the bent pipe moves on the conveyor belt, the infrared detector 49 continuously tracks, and the controller adjusts the position and angle of the clamping mechanism 4 in real time to ensure that the relative position between the clamping jaws and the bent pipe remains unchanged. For bent pipes of the same specification in batch production, the system can memorize the optimal clamping parameters and directly call them during the next operation without re-detection. If an obstacle is detected around the bent pipe, the controller will automatically plan an obstacle avoidance path and preferentially select a clamping angle without obstacles to avoid damage to the equipment due to collision. During the clamping process, when it is necessary to adjust the position of the internal components of the clamping mechanism 4, two micro-motors 431 are energized to rotate, driving the tooth column 432 to rotate. The tooth column 432 meshes with the side gear plate 412 for transmission. At the same time, the embedding block 42 slides in the embedding groove 411, thereby driving the moving plate 43 and the components connected thereto to move horizontally, converting the rotational motion into a linear motion to achieve position adjustment. Then, the annular slider 443 slides in the inner drive annular groove 441, and can adjust the annular linkage seat 45 and related components to move annularly. When adjusted to the appropriate position, the external motor drives the drive rod 452 to rotate selflessly in the bearing seat 451. The drive rod 452 drives the micro-gear 453 to mesh with the outer annular tooth plate 442 for transmission. With the cooperation of the annular slider 443, the annular movement of the annular linkage seat 45 in the annular frame 44 is realized to complete the longitudinal angle adjustment. Then, the cylinder 46 is energized to expand and contract, driving the extension plate 47 to move in the annular linkage seat 45 through the connecting plate 461. The extension plate 47 drives the magnetic seat 48 to move, realizing the longitudinal depth adjustment of the magnetic seat 48. When the magnetic seat 48 contacts the bent pipe,The magnetic base 48 is powered on, and the magnetic strip 481 generates a strong magnetic force, firmly adsorbing the bent pipe inside the magnetic base 48 to complete the clamping action. Through the stable support of the base frame 1, the spatial positioning of the robotic arm main body 2, the fine adjustment of the angle and position of the adjustment mechanism 3, and the precise detection and clamping of the clamping mechanism 4, the entire device realizes the efficient and precise clamping operation during the production process of the bent pipe, ensuring the continuity and stability of the bent pipe production.

[0028] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robotic arm clamping device for bent pipe production, characterized in that: It includes a base frame (1), a robotic arm main body (2), an adjustment mechanism (3), and a clamping mechanism (4); the telescopic end of the adjustment mechanism (3) is fixedly connected to the clamping mechanism (4). The clamping mechanism (4) includes a cross beam plate (41), a moving plate (43), a ring frame (44), and an infrared detector (49); two sets of embedding grooves (411) are opened at the bottom of the cross beam plate (41), two side gear plates (412) are fixedly connected to the outer surface wall of the cross beam plate (41), embedding blocks (42) are slidably embedded in the inner surface walls of the two sets of embedding grooves (411), and the bottoms of the two sets of embedding blocks (42) are respectively fixedly connected to the top of the moving plate (43). Miniature motors (431) are fixedly connected to the bottoms of the two moving plates (43), and the rotating ends of the two miniature motors (431) penetrate inside the moving plate (43). Tooth columns (432) are fixedly connected to the rotating ends of the two miniature motors (431), and the outer surface walls of the two sets of tooth columns (432) are respectively in meshing transmission with the side gear plates (412). One side of the outer walls of the two moving plates (43) is respectively fixedly connected to one side of the outer wall of the ring frame (44). Inner driving ring grooves (441) are preset inside the two ring frames (44). Outer ring tooth plates (442) are fixedly connected to the outer surface walls of the two sets of ring frames (44). Ring sliders (443) are slidably embedded in the inner surface walls of the two sets of inner driving ring grooves (441). Ring linkage seats (45) are fixedly connected between the outer surface walls of the two sets of ring sliders (443).

2. The robotic arm clamping device for elbow pipe production according to claim 1, wherein: Bearing seats (451) are fixedly installed on one side of the outer walls of the two ring linkage seats (45). Driving rotating rods (452) are rotatably connected inside the two sets of bearing seats (451).

3. The robotic arm clamping device for elbow pipe production according to claim 2, wherein: Miniature gears (453) are fixedly connected to the outer surface walls of the two driving rotating rods (452), and the two miniature gears (453) are respectively in meshing transmission with the outer ring tooth plates (442).

4. The robotic arm clamping device for elbow pipe production according to claim 1, wherein: Cylinders (46) are fixedly connected to one side of the outer walls of the two ring linkage seats (45). Connecting plates (461) are fixedly connected to the telescopic ends of the two cylinders (46). Extension plates (47) are fixedly connected to one side of the outer walls of the two connecting plates (461).

5. The robotic arm clamping device for elbow pipe production according to claim 1, characterized in that: Limit telescopic rods (471) are fixedly connected to the bottoms of the two ring linkage seats (45), and one ends of the two limit telescopic rods (471) are respectively fixedly connected to one side of the outer wall of the connecting plate (461).

6. The robotic arm clamping device for bent pipe production according to claim 5, wherein: Magnetic seats (48) are embedded and moved inside the two ring linkage seats (45), and magnetic attraction strips (481) are fixedly connected to the adsorption ends of the two magnetic seats (48).

7. The robotic arm clamping device for elbow pipe production according to claim 1, wherein: One set of infrared detectors (49) are respectively fixedly connected to the upper and lower ends of the two sets of ring frames (44).

8. A robotic arm clamping device for elbow pipe production according to claim 1, characterized in that: The robotic arm main body (2) is fixedly installed on the top of the base frame (1). The robotic arm main body (2) includes a rotating base assembly (21).

9. The robotic arm clamping device for bent pipe production according to claim 8, wherein: The rotating end of the rotating base assembly (21) is fixedly connected with a three-axis robotic arm assembly (22), and the adjusting end of the three-axis robotic arm assembly (22) is fixedly connected with an electric telescopic assembly (23).

10. The robotic arm gripping device for bent pipe production according to claim 9, characterized in that: The adjusting mechanism (3) includes an adjusting shaft (31). The adjusting end of the adjusting shaft (31) is fixedly connected with an electric telescopic rod (32), and the telescopic end of the electric telescopic rod (32) is fixedly connected with the top of the cross beam plate (41).

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