A mechanical arm clamping device for pipe bending production

Abstract

The present invention discloses a robotic arm clamping device for pipe bending production, which relates to the technical field of mechanical automation equipment, including a base frame, a robotic arm main body, an adjustment mechanism and a clamping mechanism; the telescopic end of the adjustment mechanism is fixedly connected with a clamping mechanism, and the clamping mechanism includes a crossbeam plate, a movable plate, a ring frame and an infrared detector; two sets of embedded grooves are provided at the bottom of the crossbeam plate. In the present invention, the device completes longitudinal angle adjustment through the cooperation of multiple components; the cylinder drives the extension plate to realize the longitudinal depth adjustment of the magnetic seat. This design can flexibly adjust the position and angle of the clamping mechanism according to the bending degree of the bent pipe, and can easily cope with U-shaped, S-shaped and other special-shaped bent pipes, breaking through the ±90° swing limit of conventional rotating mechanisms, and eliminating the need for manual secondary positioning. At the same time, the clamping position and angle are precisely adjusted to solve the problem of large fitting errors of traditional clamps, ensure that the relative position of the clamps and the bent pipe remains unchanged, and improve the stability and accuracy of clamping.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation equipment, in particular to a mechanical arm clamping device for pipe bending production. Background Art

[0002] In modern industrial production, pipe bends, as important pipe connectors, are widely used in aerospace, automobile manufacturing, petrochemical and other fields. With the improvement of the degree of automation in pipe bend production, the performance of the robotic arm clamping device, as a key link in the production line, directly affects production efficiency and product quality.

[0003] However, the traditional fixed clamp currently adopts a rigid arc surface design. When clamping a pipe with a large diameter and a bending angle exceeding 90°, the fitting error between the clamp arc surface and the actual bending arc of the pipe body is more than 12°. The measured data shows that when the curvature radius is large, the failure rate of the workpiece falling due to insufficient friction is high. In addition, 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-stage 90° bending), the spatial posture adjustment cannot be completed and manual secondary positioning must be relied upon, resulting in reduced production efficiency of a single machine. There is a lack of devices for adaptive adjustment of pipe diameter and visual positioning system. When switching specifications of products, it is necessary to stop the machine and manually turn the screw to adjust the jaw spacing. The adjustment takes a long time, affecting production efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a robotic arm clamping device for pipe bending production, so as to solve the problem proposed in the above background technology that the traditional fixed clamping claw is a rigid arc surface. When the arc of the clamped bent pipe is too large, the workpiece is easy to fall when the curvature is large. The conventional rotating mechanism has a swing angle of only ±90°, which cannot cope with special-shaped bent pipes and requires manual positioning. In addition, when switching specifications, the machine needs to be stopped to adjust the clamping claw, which is time-consuming and inefficient.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a robotic arm clamping device for pipe bending production, comprising a base frame, a robotic arm body, an adjustment mechanism, and a clamping mechanism; the telescopic end of the adjustment mechanism is fixedly connected to the clamping mechanism;

[0006] The cam is secured to the upper and lower surfaces of the gear units, and the cams are secured to the upper and lower surfaces of the gear units, and the cams are secured to the lower surfaces of the gear units.

[0007] Preferably, a bearing seat is fixedly mounted on one side of the outer wall of the two annular linkage seats, and a driving rod is rotatably connected to the interior of the two groups of bearing seats.

[0008] Preferably, outer walls of the two driving rods are fixedly connected with micro gears, and the two micro gears are respectively in meshing transmission with the outer annular gear plate.

[0009] Preferably, one side of the outer wall of the two annular linkage seats is fixedly connected to a cylinder, the telescopic ends of the two cylinders are fixedly connected to a connecting plate, and one side of the outer wall of the two connecting plates is fixedly connected to an extension plate.

[0010] Preferably, the bottoms of the two annular linkage seats are fixedly connected to a limiting telescopic rod, and one end of the two limiting telescopic rods is respectively fixedly connected to one side of the outer wall of the connecting plate.

[0011] Preferably, a movable magnetic seat is embedded in the interior of the two annular linkage seats, and the adsorption ends of the two magnetic seats are fixedly connected to a magnetic strip.

[0012] Preferably, a group of infrared detectors are fixedly connected to the upper and lower ends of the two groups of annular frames respectively.

[0013] Preferably, a robotic arm body is fixedly mounted on the top of the base frame;

[0014] The robotic arm body includes a rotating base assembly.

[0015] Preferably, the rotating end of the rotating base assembly is fixedly connected to a three-axis robotic arm assembly, and the adjusting end of the three-axis robotic arm assembly is fixedly connected to an electric telescopic assembly.

[0016] Preferably, the adjustment mechanism includes an adjustment shaft, the adjustment end of the adjustment shaft is fixedly connected to an electric telescopic rod, and the telescopic end of the electric telescopic rod is fixedly connected to the top of the crossbeam plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] In the present invention, with the cooperation of various components of the device, two micro motors drive the gear column to engage with the side gear plate for transmission, and the embedded block slides in the embedded groove to drive the movable plate and the annular frame to move horizontally; the annular slider slides in the inner drive annular groove, and cooperates with the driving rod to drive the micro gear to engage with the outer annular gear plate for transmission, thereby realizing the annular movement of the annular linkage seat in the annular frame and completing the longitudinal angle adjustment. In addition, the cylinder drives the extension plate to move to achieve 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, and can easily cope with U-shaped, S-shaped and other special-shaped bent pipes, breaking through the limitation of the swing angle of conventional rotating mechanisms, without the need for manual secondary positioning, and adjusting the position and angle of the clamping mechanism to ensure that the relative position of 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, making the clamping more accurate and stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a perspective view of the main structure of a robotic arm clamping device for pipe bending production according to the present invention;

[0020] Figure 2 This is a partial structural perspective view of a mechanical arm clamping device for pipe bending production according to the present invention;

[0021] Figure 3 This is a schematic structural diagram of a shaft contact assembly in a robotic arm gripping device for pipe bending production according to the present invention;

[0022] Figure 4 This is a schematic structural diagram of a clamping mechanism in a robotic arm clamping device for pipe bending production according to the present invention;

[0023] Figure 5 This is a bottom view structural diagram of a clamping mechanism in a robotic arm clamping device for pipe bending production according to the present invention;

[0024] Figure 6 This is a three-dimensional exploded view of the structure of the clamping mechanism of a robotic arm clamping device for pipe bending production according to the present invention;

[0025] Figure 7 The figure is a schematic diagram of the internal structure of a clamping mechanism in a robotic arm clamping device for pipe bending production according to the present invention.

[0026] In the figure: 1. Base frame; 2. Robotic arm body; 21. Rotating base assembly; 22. Three-axis robot arm assembly; 23. Electric telescopic assembly; 3. Adjustment mechanism; 31. Adjustment shaft; 32. Electric telescopic rod; 4. Clamping mechanism; 41. Crossbeam plate; 411. Embedded groove; 412. Side gear plate; 42. Embedded block; 43. Moving plate; 431. Micro motor; 432. Gear column; 44. Ring frame; 441. Inner drive ring groove; 442. Outer ring gear plate; 443. Ring slide; 45. Ring linkage seat; 451. Bearing seat; 452. Drive rod; 453. Micro gear; 46. Cylinder; 461. Connecting plate; 47. Extension plate; 471. Limiting telescopic rod; 48. Magnetic seat; 481. Magnetic strip; 49. Infrared detector. DETAILED DESCRIPTION

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] In order to solve the above problems, the present invention provides a technical solution. Figure 1 and Figure 2 As shown: A robotic arm clamping device for pipe bending production includes a base frame 1, a robotic arm 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.

[0029] Specifically: First, the entire robot arm body 2 is installed on its top, and the base frame 1 is used to maintain contact with the ground. By maintaining its own stability, the adjustment mechanism 3 can effectively adjust the angle of the clamping mechanism 4 in the process of clamping the bent pipe, so that the clamping mechanism 4 improves the stability of the bent pipe itself.

[0030] In some embodiments, according to Figure 4-Figure 7As shown, the clamping mechanism 4 includes a crossbeam plate 41, a movable plate 43, an annular frame 44 and an infrared detector 49; two sets of embedded grooves 411 are opened at the bottom of the crossbeam plate 41, and the outer wall of the crossbeam plate 41 is fixedly connected to two side gear plates 412, and the inner surface walls of the two sets of embedded grooves 411 are slidably embedded with embedded blocks 42, and the bottoms of the two sets of embedded blocks 42 are respectively fixedly connected to the top of the movable plate 43, and the bottoms of the two movable plates 43 are fixedly connected to micro motors 431, and the rotating ends of the two micro motors 431 are both inserted into the interior of the movable plate 43. The rotating ends of the motors 431 are fixedly connected to gear columns 432, and the outer walls of the two groups of gear columns 432 are respectively in meshing transmission with the side gear plates 412, and one side of the outer walls of the two movable plates 43 is respectively fixedly connected to one side of the outer wall of the annular frame 44. The interiors of the two annular frames 44 are preset with inner drive annular grooves 441, and the outer walls of the two groups of annular frames 44 are fixedly connected to outer annular gear plates 442. The inner walls of the two groups of inner drive annular grooves 441 are slidably embedded with annular sliders 443, and the outer walls of the two groups of annular sliders 443 are fixedly connected with an annular linkage seat 45.

[0031] 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, 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 calculates the time difference from the emission to the reception of the infrared light, converts the distance between the detector and the surface of the bent pipe, and calculates the offset of the clamping position and angle. After the bent pipe is predicted, it needs to be clamped. In this process, the infrared light generated by the infrared detector 49 is used to measure the bent pipe. According to the degree of bending at different positions of the bent pipe, one position of the equipment needs to be adjusted. First, the two micromotors 431 are energized and rotated, and the rotation of the two gear columns 432 respectively engages with the inside of the two side gear plates 412, and the two embedded blocks 42 are respectively slidably embedded in the embedded grooves 411, which can drive the two moving plates 43 and the components linked thereto to move laterally, converting the rotational motion into linear motion, thereby adjusting a position of the internal components of the clamping mechanism 4. Then, the two sets of annular sliders 443 can be slidably embedded in the inner drive annular grooves 441, which can adjust the annular linkage seat 45 and the components fixed thereto to move in an annular manner;

[0032] When the bent pipe moves on the conveyor belt, the infrared detector 49 continuously tracks it, and the controller adjusts the position and angle of the clamping mechanism 4 in real time to ensure that the relative position of the clamping claw and the bent pipe remains unchanged. For the same specification of bent pipes produced in batches, the system can memorize the optimal clamping parameters. The next time the operation is carried out, there is no need to re-detect and the preset parameters can be directly called. When obstacles are detected around the bent pipe, the controller automatically plans an obstacle avoidance path and gives priority to the unobstructed clamping angle to avoid equipment collision and damage.

[0033] In some embodiments, according to Figure 6 and Figure 7 As shown, a bearing seat 451 is fixedly installed on one side of the outer wall of the two annular linkage seats 45, and the interior of the two groups of bearing seats 451 are rotatably connected to the driving rod 452, and the outer wall of the two driving rods 452 is fixedly connected to the micro gear 453, and the two micro gears 453 are respectively in meshing transmission with the outer annular gear plate 442, and the outer wall of the two annular linkage seats 45 is fixedly connected to the cylinder 46, and the telescopic ends of the two cylinders 46 are fixedly connected to the connecting plate 461, and the outer wall side of the two connecting plates 461 is fixedly connected to the extension plate 47, and the bottom of the two annular linkage seats 45 is fixedly connected to the limiting telescopic rod 471, and one end of the two limiting telescopic rods 471 is respectively fixedly connected to the outer wall side of the connecting plate 461, and the interior of the two annular linkage seats 45 is embedded with a movable magnetic seat 48, and the adsorption ends of the two magnetic seats 48 are fixedly connected to the magnetic strip 481, and the upper and lower ends of the two groups of annular frames 44 are respectively fixedly connected to a group of infrared detectors 49.

[0034] To be more specific: after being adjusted to a suitable position, the driving rod 452 is driven by the external motor to rotate inside the bearing seat 451, and the driving rod 452 and the micro gear 453 are in a fixed connection state, and under such drive, the micro gear 453 can be in meshing transmission with the inside of the outer annular gear plate 442, and with the cooperation of the annular slider 443 slidingly embedded in the inner drive annular groove 441, the annular linkage seat 45 can effectively achieve an annular movement inside the annular frame 44, thereby adjusting the annular linkage seat 45 and the components fixed thereto for longitudinal angle adjustment, and adjusting to After reaching a suitable position, the cylinder 46 generates elasticity after being energized, and uses the connecting plate 461 as a medium to drive the extension plate 47 to be embedded and moved inside the annular linkage seat 45, and the other end of the extension plate 47 itself remains fixed to the bottom of the magnetic seat 48. When the magnetic seat 48 is embedded and moved inside the annular linkage seat 45, a longitudinal depth adjustment of the magnetic seat 48 itself can be achieved. Then, when the magnetic seat 48 is in contact with the bent pipe, the magnetic seat 48 is energized to generate strong magnetism with the magnetic strip 481, which can firmly adsorb the bent pipe inside the magnetic seat 48.

[0035] In some embodiments, according to Figures 1-4 As shown, a robotic arm body 2 is fixedly mounted on the top of the base frame 1;

[0036] The robot body 2 includes a rotating base assembly 21;

[0037] The rotating end of the rotating base assembly 21 is fixedly connected to the three-axis robotic arm assembly 22, the adjustment end of the three-axis robotic arm assembly 22 is fixedly connected to the electric telescopic assembly 23, the adjustment mechanism 3 includes an adjustment shaft 31, the adjustment end of the adjustment shaft 31 is fixedly connected to the electric telescopic rod 32, and the telescopic end of the electric telescopic rod 32 is fixedly connected to the top of the crossbeam plate 41.

[0038] To be more specific: first, the robot arm body 2 is installed on the top of the base frame 1, and under the action of the rotating base assembly 21, it can maintain the three-axis robot arm assembly 22 for rotation processing, and on the basis of the three-axis robot arm assembly 22, the joint adjustment is performed, and the position and angle of its adjustment end can be adjusted.

[0039] Working principle: In the production of bent pipes, the robot arm clamping device realizes the clamping of bent pipes through the coordinated operation of various mechanisms. The base frame 1 is installed on the ground to provide stable support for the entire device, ensuring that the robot arm body 2 and other mechanisms remain stable during operation and will not be displaced or shaken due to force. The robot arm body 2 is installed on the top of the base frame 1, and its rotating base assembly 21 can drive the three-axis robot arm assembly 22 to rotate. The three-axis robot arm assembly 22 can accurately 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, so that the entire robot arm can move to the specified position in three-dimensional space. The adjustment shaft 31 in the adjustment mechanism 3 can adjust the electric telescopic rod 3 2, 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 adjusting shaft 31, the multi-angle adjustment of the clamping mechanism 4 in space is realized to adapt to the clamping requirements of the bent pipe at different positions and angles. During the working process 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 profile 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 from the emission to the 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 emits an infrared beam to scan the surface of the bent pipe, and calculates the three-dimensional profile 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 from the emission to the 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. The measuring instrument 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 of the clamping claw and the bent pipe remains unchanged. For the same specification bent pipes produced in batches, the system can memorize the optimal clamping parameters and directly call them during the next operation without re-detection. If obstacles are detected around the bent pipe, the controller will automatically plan an obstacle avoidance path and give priority to the unobstructed clamping angle to avoid equipment collision damage. During the clamping process, when it is necessary to adjust the position of the internal components of the clamping mechanism 4, the two micro motors 431 are energized and rotated, driving the gear column 432 to rotate, and the gear column 432 engages with the side gear plate 412 for transmission. At the same time, the embedded block 42 slides in the embedded groove 411, thereby driving the movable plate 43 and the components connected thereto to move laterally, and the rotating The rotation of the ring block 452 is converted into linear motion to achieve position adjustment. After that, the annular slider 443 slides in the inner driving annular groove 441, and the annular linkage seat 45 and related components can be adjusted to move in an annular manner. When adjusted to the appropriate position, the external motor drives the driving rod 452 to rotate in the bearing seat 451, and the driving rod 452 drives the micro gear 453 to engage with the outer annular gear plate 442 for transmission. With the cooperation of the annular slider 443, the annular linkage seat 45 is moved in an annular frame 44 to complete the longitudinal angle adjustment. Then, the cylinder 46 is energized and retracted, and the extension plate 47 is driven to move in the annular linkage seat 45 through the connecting plate 461. The extension plate 47 drives the magnetic seat 48 to move, thereby achieving the longitudinal depth adjustment of the magnetic seat 48. When the magnetic seat 48 contacts the bent pipe,When the magnetic base 48 is energized, the magnetic strip 481 generates strong magnetism, firmly adsorbing the bent pipe within the magnetic base 48 and completing the clamping action. The entire device achieves efficient and accurate clamping during the pipe bending production process through the stable support of the base frame 1, the spatial positioning of the robot arm body 2, the angle and position fine-tuning of the adjustment mechanism 3, and the precise detection and clamping of the clamping mechanism 4, ensuring the continuity and stability of pipe bending production.

[0040] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robotic arm gripping device for pipe bending production, characterized by: It comprises a base frame (1), a mechanical arm 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 crossbeam plate (41), a movable plate (43), an annular frame (44) and an infrared detector (49); two groups of embedded grooves (411) are provided at the bottom of the crossbeam plate (41), and the outer wall of the crossbeam plate (41) is fixedly connected to two side gear plates (412), and the inner wall of the two groups of embedded grooves (411) are slidably embedded with embedded blocks (42), and the bottoms of the two groups of embedded blocks (42) are respectively fixedly connected to the top of the movable plate (43), and the bottoms of the two movable plates (43) are fixedly connected to micro motors (431), and the rotating ends of the two micro motors (431) are both inserted into the interior of the movable plate (43). The rotating ends of the micro motors (431) are fixedly connected to tooth columns (432), and the outer walls of the two groups of tooth columns (432) are respectively in meshing transmission with the side gear plates (412), and one side of the outer walls of the two movable plates (43) is respectively fixedly connected to one side of the outer wall of the annular frame (44), and the interiors of the two annular frames (44) are preset with inner drive annular grooves (441), and the outer walls of the two groups of annular frames (44) are fixedly connected to the outer annular tooth plates (442), and the inner walls of the two groups of the inner drive annular grooves (441) are slidably embedded with annular sliders (443), and an annular linkage seat (45) is fixedly connected between the outer walls of the two groups of the annular sliders (443); The outer walls of the two annular linkage seats (45) are fixedly mounted with bearing seats (451), the interiors of the two sets of bearing seats (451) are rotatably connected to driving rods (452), the outer walls of the two driving rods (452) are fixedly connected to micro gears (453), and the two micro gears (453) are respectively in meshing transmission with the outer annular gear plate (442), the outer walls of the two annular linkage seats (45) are fixedly connected to cylinders (46), the telescopic ends of the two cylinders (46) are fixedly connected to connecting plates (461), and the two One side of the outer wall of the connecting plate (461) is fixedly connected to an extension plate (47), the bottoms of the two annular linkage seats (45) are fixedly connected to a limiting telescopic rod (471), and one end of the two limiting telescopic rods (471) is fixedly connected to one side of the outer wall of the connecting plate (461), and the interiors of the two annular linkage seats (45) are embedded with a movable magnetic seat (48), and the adsorption ends of the two magnetic seats (48) are fixedly connected to a magnetic strip (481), and the upper and lower ends of the two groups of annular frames (44) are respectively fixedly connected to a group of infrared detectors (49).

2. A robotic arm gripping device for pipe bending production according to claim 1, characterized in that: A robotic arm body (2) is fixedly mounted on the top of the base frame (1); The robotic arm body (2) comprises a rotating base assembly (21).

3. The robotic arm gripping device for pipe bending production according to claim 2, characterized in that: The rotating end of the rotating base assembly (21) is fixedly connected to a three-axis mechanical arm assembly (22), and the adjusting end of the three-axis mechanical arm assembly (22) is fixedly connected to an electric telescopic assembly (23).

4. The robotic arm gripping device for pipe bending production according to claim 3, characterized in that: The adjustment mechanism (3) comprises an adjustment shaft (31), the adjustment end of the adjustment shaft (31) is fixedly connected to an electric telescopic rod (32), and the telescopic end of the electric telescopic rod (32) is fixedly connected to the top of the crossbeam plate (41).

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