Pipe grabbing manipulator

Abstract

The invention relates to the technical field of mechanical grippers, in particular to a pipe gripping manipulator, and aims to solve the technical problems of unstable gripping and increased pipe damage risk caused by change of the number of contact points due to the fact that the pipe gripping manipulator cannot automatically adapt to the size change of a pipe in the prior art. The pipe grabbing manipulator comprises a fixing frame, at least one clamping arm and a driving assembly, wherein the clamping arm is of a chain type structure formed by sequentially hinging a plurality of clamping sections. The driving assembly sequentially drives the clamping sections in the first direction so as to drive the chain type structure to wind the periphery of the pipe. According to the pipe grabbing manipulator, the grabbing action is achieved by winding a pipe through the multiple sequentially-hinged clamping sections, each clamping section can form a contact point with the pipe, and the total number of the contact points is constant and is not affected by the size change of the pipe. The technical problems that due to the fact that an existing pipe grabbing mechanical arm cannot automatically adapt to the size change of the pipe, the number of contact points is changed, grabbing is unstable, and the pipe damage risk is increased are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical grippers, and particularly to a pipe gripping manipulator. Background Art

[0002] In industrial production, existing manipulators apply support forces to a pipe by means of a plurality of arc-shaped distributed contact points formed on the outer periphery of the pipe to support the pipe, and the support forces provided by these contact points are different. However, the clamping mechanisms of existing manipulators are usually designed for pipes of specific sizes. When the size of the pipe changes, the number and distribution range of the contact points will change accordingly, resulting in uneven distribution of the support forces. When the size of the pipe increases, the distribution range of the contact points becomes smaller, and the number of contact points with stronger support forces decreases, thereby increasing the risk of grasping failure. When the size of the pipe decreases, the number of contact points decreases, and the pressure is concentrated on a few contact points, thereby increasing the risk of pipe damage.

[0003] Existing pipe gripping manipulators have technical problems that due to the inability to automatically adapt to the size change of the pipe, the number of contact points changes, leading to unstable grasping and an increased risk of pipe damage. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipe gripping manipulator to solve the technical problems in the related art that due to the inability to automatically adapt to the size change of the pipe, the number of contact points changes, leading to unstable grasping and an increased risk of pipe damage.

[0005] To solve the above technical problems, the technical solution provided by the present invention is as follows: The pipe gripping manipulator provided by the present invention includes: A fixed frame, at least one clamping arm, and a driving component. The clamping arm includes a clamping section, and the clamping section includes a starting clamping claw, a relay clamping claw, and an end clamping claw. The starting clamping claw is installed on the fixed frame. The starting clamping claw, at least one of the relay clamping claws, and the end clamping claw are sequentially hinged to form a chain structure. Along the chain structure, the direction from the starting clamping claw to the end clamping claw is defined as the first direction. The driving component sequentially drives each of the relay clamping claws and the end clamping claw to rotate around the corresponding hinge axis along the first direction to drive the chain structure to wind around the outer periphery of the pipe.

[0006] Specifically, the driving assembly includes a plurality of transmission units, and each transmission unit includes a driven gear and a driving gear that mesh with each other. The transmission units are installed between two adjacent clamping segments. Along the first direction, two adjacent and hinged clamping segments are sequentially defined as a driving arm and a driven arm. The driven gear is coaxially arranged with the hinge shaft and fixedly connected to the driven arm, and the driving gear is rotatably connected to the driving arm. The rotation of the driving gear is used to drive each relay clamping jaw and the end clamping jaw to rotate around the corresponding hinge axis.

[0007] Specifically, the driving assembly further includes a plurality of synchronization units and a first motor. The synchronization units and the transmission units are alternately arranged and sequentially connected in transmission. The first motor is installed on the starting clamping jaw, and the first motor drives the clamping arm to wind around the outer periphery of the pipe through the power transmission of the transmission units and the synchronization units in sequence.

[0008] Specifically, the synchronization unit includes a first synchronous pulley, a second synchronous pulley, and a synchronous belt. The first synchronous pulley is coaxially arranged with the driven gear of the transmission unit closer to the front along the first direction and fixedly connected to the clamping segment closer to the front along the first direction. The second synchronous pulley is coaxially connected to the driving gear of the transmission unit closer to the rear along the first direction and rotates synchronously. The first synchronous pulley and the second synchronous pulley are connected by the synchronous belt for power transmission. Power transmission between two adjacent transmission units is achieved through the synchronization unit.

[0009] Specifically, the starting clamping jaw, the relay clamping jaw, and the end clamping jaw are of equal length. At any moment, the included angle between adjacent clamping segments is equal, and the clamping arm forms an equilateral and equiangular broken-line chain structure.

[0010] Specifically, the size ratio of the driven gear to the driving gear is equal to the size ratio of the first synchronous pulley to the second synchronous pulley.

[0011] Specifically, the driven gear and the driving gear are of the same size, and the first synchronous pulley is smaller than the driven gear in size.

[0012] Specifically, it further includes a delivery assembly. The delivery assembly includes a plurality of rollers. The rollers are rotatably connected to the clamping segments, and the axial direction of the rollers is parallel to the length direction of the clamping segments. The rollers abut against the pipe, and the rotation of the rollers around their own axes is used to drive the pipe to move along its own axial direction.

[0013] Specifically, the delivery assembly further includes a connecting frame and a second motor. The rollers are installed at the output end of the second motor, and the second motor is installed on the clamping segment through the connecting frame.

[0014] Specifically, a wedge cone is further provided on the end clamping claw, and the wedge cone is used to lift the pipe.

[0015] Based on the above technical solutions, the beneficial effects of the present invention are analyzed as follows: The present invention provides a pipe gripping manipulator, including: A fixed frame, at least one clamping arm and a driving component. The clamping arm includes a clamping section, and the clamping section includes a starting clamping claw, a relay clamping claw and an end clamping claw. The starting clamping claw is installed on the fixed frame. The starting clamping claw, at least one of the relay clamping claws and the end clamping claw are sequentially hinged to form a chain structure. Along the chain structure, the direction from the starting clamping claw to the end clamping claw is defined as the first direction. The driving component sequentially drives each of the relay clamping claws and the end clamping claw to rotate around the corresponding hinge axis along the first direction, so as to drive the chain structure to wind around the outer periphery of the pipe.

[0016] In specific application, the fixed frame is moved above the pipe, and the driving component sequentially drives each of the relay clamping claws and the end clamping claw to rotate around the corresponding hinge axis along the first direction, so as to drive the chain structure to wind around the outer periphery of the pipe. After each clamping section swings around the corresponding hinge axis, it abuts against the pipe to form a contact point. Therefore, the total number of contact points is constant and not affected by the size of the pipe. The contact points with a constant number and evenly distributed can form stable support for pipes of any size.

[0017] It can be seen that compared with the prior art, the pipe gripping manipulator realizes the gripping action by winding the pipe with multiple sequentially hinged clamping sections. Each clamping section can stably form a contact point with the pipe, so that the total number of contact points is constant and not affected by the change of the pipe size. It overcomes the technical problems existing in the existing pipe gripping manipulator that due to the inability to automatically adapt to the change of the pipe size, the number of contact points changes, which in turn causes unstable gripping and an increased risk of pipe damage. Description of the Drawings

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 Schematic diagram of the overall structure of the pipe gripping manipulator provided by the embodiment of the present invention Figure 1 ; Figure 2Schematic diagram of the overall structure of the pipe grasping manipulator Figure 2 ; Figure 3 Schematic diagram of the overall structure of the pipe grasping manipulator Figure 3 ; Figure 4 Schematic diagram of the structure of the pipe grasping manipulator when grasping large-sized pipes Figure 1 ; Figure 5 Schematic diagram of the structure of the pipe grasping manipulator when grasping large-sized pipes Figure 2 ; Figure 6 Schematic diagram of the structure of the pipe grasping manipulator when grasping small-sized pipes Figure 1 ; Figure 7 Schematic diagram of the structure of the pipe grasping manipulator when grasping small-sized pipes Figure 2 ; Figure 8 For Figure 3 Schematic diagram of the structure at the clamping arm in Figure 1 ; Figure 9 For Figure 3 Schematic diagram of the structure at the clamping arm in Figure 2 ; Figure 10 For Figure 3 Schematic diagram of the virtual circumference corresponding to the clamping arm; Figure 11 Schematic diagram of the structure of the clamping arm; Figure 12 Schematic diagram of the combined structure of the roller, connecting frame and second motor.

[0020] Icon: 001, Pipe; 100, Fixed frame; 101, Upper joint; 200, Clamping arm; 202, Installation groove; 210, Starting clamping claw; 220, Relay clamping claw; 230, End clamping claw; 201, Wedge cone; 300, Driving component; 310, Transmission unit; 311, Driven gear; 312, Driving gear; 320, Synchronization unit; 321, First synchronous pulley; 322, Second synchronous pulley; 323, Timing belt; 330, First motor; 400, Delivery component; 410, Roller; 420, Connecting frame; 430, Second motor. Specific implementation method

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0023] The following will describe in detail some embodiments of the present invention with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0024] Existing pipe gripping manipulators have the technical problem that due to the inability to automatically adapt to the dimensional changes of pipes, the number of contact points changes, which in turn leads to unstable gripping and an increased risk of pipe damage.

[0025] In view of this, the present invention provides a pipe gripping manipulator, comprising: A fixed frame 100, at least one clamping arm 200, and a driving component 300. The clamping arm 200 includes a clamping section, and the clamping section includes a starting clamping claw 210, a relay clamping claw 220, and an end clamping claw 230. The starting clamping claw 210 is installed on the fixed frame 100. The starting clamping claw 210, at least one relay clamping claw 220, and the end clamping claw 230 are sequentially hinged to form a chain structure. Along the chain structure, the direction from the starting clamping claw 210 to the end clamping claw 230 is defined as the first direction. The driving component 300 drives each relay clamping claw 220 and the end clamping claw 230 to rotate around the corresponding hinge axis in sequence along the first direction, so as to drive the chain structure to wind around the outer periphery of the pipe 001.

[0026] Based on the above technical solutions, the pipe gripping manipulator provided by the present invention can achieve the following technical effects: This pipe gripping manipulator realizes the gripping action by winding the pipe 001 with multiple sequentially hinged clamping sections. Each clamping section can stably form a contact point with the pipe 001, so that the total number of contact points is constant and not affected by the dimensional changes of the pipe 001. It overcomes the technical problem of existing pipe gripping manipulators that due to the inability to automatically adapt to the dimensional changes of pipes, the number of contact points changes, which in turn leads to unstable gripping and an increased risk of pipe damage.

[0027] The following will be combined with Figures 1 to 12The structure and shape of the pipe grabbing robot provided in this embodiment are described in detail: Regarding how the driving assembly 300 drives the clamping section to rotate around the hinge axis, specifically: The drive assembly 300 includes a plurality of transmission units 310, each of which includes a driven gear 311 and a driving gear 312 that mesh with each other. The transmission unit 310 is installed between two adjacent clamping sections. Along the first direction, the two adjacent and hinged clamping sections are defined as a driving arm and a driven arm, respectively. The driven gear 311 is coaxially arranged with the hinge shaft and fixedly connected to the driven arm, and the driving gear 312 is rotatably connected to the driving arm. The rotation of the driving gear 312 is used to drive each relay clamping claw 220 and the end clamping claw 230 to rotate around the corresponding hinge axis. The connection method between the driven gear 311 and the driven arm can be set to welding or to an integrated structure.

[0028] To simplify the control of the swinging of each clamping segment by serially linking them together, the drive assembly 300 in this embodiment also includes multiple synchronization units 320 and a first motor 330. The synchronization units 320 and the transmission units 310 are alternately arranged and sequentially connected. The first motor 330 is mounted on the starting clamping jaw 210. Power is transmitted sequentially from the transmission units 310 and the synchronization units 320 to the first motor 330, driving the clamping arm 200 around the outer circumference of the pipe 001. A driving gear 312 is mounted on the output end of the first motor 330.

[0029] Regarding the structure of the synchronization unit 320, specifically: The synchronization unit 320 includes a first synchronization wheel 321, a second synchronization wheel 322, and a synchronization belt 323. The first synchronization wheel 321 is coaxially arranged with the driven gear 311 of the transmission unit 310 located forward in the first direction and is fixedly connected to the clamping section located forward in the first direction. The second synchronization wheel 322 is coaxially connected with the driving gear 312 of the transmission unit 310 located rearward in the first direction and rotates synchronously. The first synchronization wheel 321 and the second synchronization wheel 322 are power-connected via a synchronization belt 323. Power is transmitted between two adjacent transmission units 310 via the synchronization unit 320. The connection between the first synchronization wheel 321 and the drive arm can be configured as welding or clamping.

[0030] In order to further improve the uniformity of the distribution of the contact points between the clamping sections and the pipe 001 during the grasping of the pipe 001, in the solution of this embodiment, the lengths of the starting clamping claws 210, the relay clamping claws 220, and the end clamping claws 230 are equal. At any moment, the included angles between adjacent clamping sections are equal, and the clamping arms 200 form an equilateral and equiangular broken-line chain structure. Among them, there is a unique intersection point for the perpendicular bisectors of the starting clamping claws 210, each relay clamping claw 220, and the end clamping claws 230, and each hinge section is tangent to the virtual circumference with this intersection point as the center. Specifically, the virtual circumferences corresponding to the respective clamping arms 200 completely coincide in the axial direction of the pipe 001. The grasping process of the manipulator is a process in which the size of this virtual circumference gradually approaches the size of the pipe 001.

[0031] Regarding how each clamping section always maintains an equal included angle during the movement process, specifically: The size ratio of the driven gear 311 to the driving gear 312 is equal to the size ratio of the first synchronous pulley 321 to the second synchronous pulley 322, that is, the transmission ratios of the transmission unit 310 and the synchronous unit 320 are reciprocal to each other, and the adjacent transmission unit 310 and synchronous unit 320 form an isokinetic transmission as a whole.

[0032] Regarding the transmission process between the adjacent transmission unit 310 and the synchronous unit 320, specifically: The driven gear 311 and the first synchronous pulley 321 are both coaxial with the hinge shaft and are respectively fixedly connected to the driven arm and the driving arm. When the driving gear 312 rotates forward, the driven gear 311 meshing with it rotates in the reverse direction with the same angular velocity relative to the driving arm. At the same time, the first synchronous pulley 321 coaxial with the driven gear 311 rotates forward with the same angular velocity relative to the driven arm and drives the second synchronous pulley 322 to also rotate forward with the same angular velocity through the synchronous belt 323, thereby driving the driving gear 312 coaxial with the second synchronous pulley 322 to also rotate forward with the same angular velocity. Because the angular velocities of the rotations of the respective driving gears 312 are exactly the same, the angular velocities of the rotations of the respective driven gears 311 are also exactly the same. Therefore, the swinging angular velocities of the respective clamping sections are also exactly the same.

[0033] Preferably, the driven gear 311 and the driving gear 312 have the same size, and the first synchronous pulley 321 is smaller than the driven gear 311, that is, the transmission ratios of the transmission unit 310 and the synchronous unit 320 are both one.

[0034] In order to adjust the clamping position of the pipe 001 without loosening it and avoid the cumbersome operation of repeated clamping, in the solution of this embodiment, the pipe grasping manipulator further includes a delivery component 400. The delivery component 400 includes a plurality of rollers 410. The rollers 410 are rotatably connected to the clamping section, and the axial direction of the rollers 410 is parallel to the length direction of the clamping section. The rollers 410 abut against the pipe 001, and the rotation of the rollers 410 around their own axes is used to drive the pipe 001 to move along its own axis. Among them, the rollers 410 can be made of rubber material. The flexible contact between the rollers 410 and the pipe 001 can be used to reduce the risk of the pipe 001 being extruded and deformed, and at the same time increase the friction between the rollers 410 and the pipe 001.

[0035] Specifically regarding how the rollers 410 achieve driving: The delivery component 400 further includes a connecting frame 420 and a second motor 430. The rollers 410 are installed at the output end of the second motor 430, and the second motor 430 is installed on the clamping section through the connecting frame 420. Among them, an installation groove 202 is provided on each clamping section. The connecting frame 420 is embedded in the installation groove and is threadedly connected to the clamping section through a fastener.

[0036] In order to enable the end clamping claw 230 to be inserted under the pipe 001 so as to better grasp the pipe 001 from the platform, in the solution of this embodiment, the end clamping claw 230 is further provided with a wedge cone 201, and the wedge cone 201 is used to lift the pipe 001.

[0037] In the solution of this embodiment, the fixing frame 100 is provided with an upper joint 101, and the upper joint 101 is used to dock with the robotic arm.

[0038] In summary, the specific working process of the pipe grasping manipulator provided in this embodiment is as follows: Move the fixing frame 100 above the pipe 001. While the fixing frame 100 moves downward, the first motor 330 drives the driving gear 312 to rotate. The driving gear 312 drives the clamping arm swinging backward in the first direction through the meshing with the driven gear 311, and at the same time drives the driving gear 312 on the clamping arm swinging backward in the first direction to rotate synchronously through the synchronization unit 320.

[0039] The wedge cone 201 of the end clamping claw 230 is inserted into the gap between the pipe 001 and the placement platform, lifting the pipe 001 and separating it from the placement platform.

[0040] As the grasping operation progresses, the size of the virtual circumference tangent to each clamping section gradually approaches the size of the pipe 001. When the virtual circumference completely coincides with the pipe 001, the grasping of the pipe 001 is completed. At this time, each clamping section abuts against the pipe 001 to form a contact point, and the total number of contact points is constant, unaffected by the size of the pipe 001. The contact points with a constant and evenly distributed number can form stable support for pipes 001 of any size.

[0041] When it is necessary to adjust the grasping position of the pipe 001, the second motor 430 drives the roller 410 to rotate around its own axis, and drives the pipe 001 to move axially along itself through the frictional force between the roller 410 and the pipe 001.

[0042] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A pipe gripping manipulator, characterized in that, include: A fixed frame (100), at least one clamping arm (200) and a drive assembly (300), wherein the clamping arm (200) includes a clamping section, the clamping section includes a starting clamping claw (210), a relay clamping claw (220) and an end clamping claw (230), and the starting clamping claw (210) is mounted on the fixed frame (100); The starting clamping claw (210), at least one relay clamping claw (220), and the end clamping claw (230) are hinged in sequence to form a chain structure; A direction along the chain structure from the starting clamping claw (210) to the ending clamping claw (230) is defined as a first direction; The driving assembly (300) sequentially drives each of the relay clamping claws (220) and the terminal clamping claws (230) along the first direction to rotate around the corresponding hinge axis, thereby driving the chain structure to be wound around the outer periphery of the pipe (001).

2. The pipe grabbing robot according to claim 1, characterized in that: The driving assembly (300) includes a plurality of transmission units (310), each of the transmission units (310) including mutually meshing driven gears (311) and driving gears (312); The transmission unit (310) is installed between two adjacent clamping sections, and along the first direction, the two adjacent and hinged clamping sections are defined as a driving arm and a driven arm in sequence; The driven gear (311) is coaxially arranged with the hinge shaft and fixedly connected to the driven arm, and the driving gear (312) is rotatably connected to the driving arm; The rotation of the driving gear (312) is used to drive each of the relay clamping claws (220) and the end clamping claws (230) to rotate around the corresponding hinge axis.

3. The pipe grabbing robot according to claim 2, characterized in that: The driving assembly (300) further comprises a plurality of the synchronization units (320) and a first motor (330), wherein the synchronization units (320) and the transmission units (310) are alternately arranged and sequentially connected in transmission; The first motor (330) is mounted on the starting clamping claw (210), and the first motor (330) drives the clamping arm (200) to be wound around the outer periphery of the pipe (001) through power transmission via the transmission unit (310) and the synchronization unit (320).

4. The pipe grabbing robot according to claim 3, characterized in that: The synchronization unit (320) includes a first synchronization wheel (321), a second synchronization wheel (322) and a synchronization belt (323); The first synchronous wheel (321) is coaxially arranged with the driven gear (311) of the transmission unit (310) located forward along the first direction and is fixedly connected to the clamping section located forward along the first direction; The second synchronous wheel (322) is coaxially connected to the driving gear (312) of the transmission unit (310) located rearward along the first direction and rotates synchronously; The first synchronous wheel (321) and the second synchronous wheel (322) are connected in power via the synchronous belt (323); Power transmission is achieved between two adjacent said transmission units (310) through the said synchronization unit (320).

5. The pipe gripping manipulator according to claim 4, characterized in that: The lengths of the said starting clamping jaws (210), the said relay clamping jaws (220), and the said end clamping jaws (230) are equal; At any moment, the angles between adjacent said clamping segments are equal, and the clamping arms (200) form an equilateral and equiangular broken-line chain structure.

6. The pipe gripping manipulator according to claim 5, characterized in that: The size ratio of the said driven gear (311) to the said driving gear (312) is equal to the size ratio of the said first synchronous pulley (321) to the said second synchronous pulley (322).

7. The pipe gripping manipulator according to claim 6, characterized in that: The sizes of the said driven gear (311) and the said driving gear (312) are the same, and the size of the said first synchronous pulley (321) is smaller than that of the said driven gear (311).

8. The pipe gripping manipulator according to claim 1, characterized in that: It further includes a delivery assembly (400), the delivery assembly (400) includes a plurality of rollers (410), the rollers (410) are rotatably connected to the clamping segments, and the axial direction of the rollers (410) is parallel to the length direction of the clamping segments; The rollers (410) are in contact with the pipe (001), and the rotation of the rollers (410) about their own axes is used to drive the pipe (001) to move along its own axial direction.

9. The pipe gripping manipulator according to claim 8, characterized in that: The delivery assembly (400) further includes a connecting frame (420) and a second motor (430), the rollers (410) are installed at the output end of the second motor (430), and the second motor (430) is installed on the clamping segment through the connecting frame (420).

10. The pipe gripping manipulator according to claim 1, characterized in that: The end clamping jaw (230) is further provided with a wedge cone (201), and the wedge cone (201) is used to lift the pipe (001).

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