Pipe grabbing robot

Abstract

The present application relates to the technical field of mechanical gripper, and particularly relates to a pipe grabbing mechanical hand, which aims to solve the technical problem of unstable grabbing and increased pipe damage risk caused by the change of contact point number due to the inability to automatically adapt to the size change of the pipe in the related art. The pipe grabbing mechanical hand comprises a fixing frame, at least one clamping arm and a driving assembly, and the clamping arm is a chain structure formed by sequentially hinging multiple clamping segments. The driving assembly sequentially drives each clamping segment in the first direction to drive the chain structure to wrap around the outer periphery of the pipe. The pipe grabbing mechanical hand realizes the grabbing action by wrapping the pipe with the multiple segments of the clamping segments which are sequentially hinged. Each clamping segment can form a contact point with the pipe, and the total number of contact points is constant and is not affected by the size change of the pipe. The pipe grabbing mechanical hand overcomes the technical problem of unstable grabbing and increased pipe damage risk caused by the change of contact point number due to the inability to automatically adapt to the size change of the pipe in the existing pipe grabbing mechanical hand.

Description

Technical Field

[0001] This invention relates to the field of mechanical gripper technology, and more particularly to a pipe gripper. Background Technology

[0002] In industrial production, existing robotic arms support pipes by applying a supporting force to the pipe through multiple arc-shaped contact points formed on the outer circumference. These contact points provide varying levels of support. However, the gripping mechanisms of existing robotic arms are typically designed for pipes of specific dimensions. When the pipe size changes, the number and distribution of contact points also change, resulting in uneven distribution of the supporting force. As the pipe size increases, the distribution of contact points decreases, reducing the number of contact points with strong supporting force and increasing the risk of gripping failure. Conversely, as the pipe size decreases, the number of contact points decreases, concentrating pressure on a few points and increasing the risk of pipe damage.

[0003] Existing pipe gripping robots have technical problems: they cannot automatically adapt to changes in pipe size, resulting in changes in the number of contact points, which in turn leads to unstable gripping and an increased risk of pipe damage. Summary of the Invention

[0004] The purpose of this invention is to provide a pipe gripping robot to solve the technical problem in related technologies where the inability to automatically adapt to changes in pipe size leads to changes in the number of contact points, resulting in unstable gripping and increased risk of pipe damage.

[0005] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0006] The pipe gripping robot provided by this invention includes:

[0007] The device includes a fixed frame, at least one clamping arm, and a drive assembly. The clamping arm includes a clamping section comprising a starting clamping claw, a relay clamping claw, and an end clamping claw. The starting clamping claw is mounted on the fixed frame. The starting clamping claw, at least one relay clamping claw, and the end clamping claw are sequentially hinged to form a chain structure. The direction along the chain structure from the starting clamping claw to the end clamping claw is defined as a first direction. The drive assembly sequentially drives each relay clamping claw and the end clamping claw to rotate about its corresponding hinge axis along the first direction, thereby causing the chain structure to wind around the outer circumference of the pipe.

[0008] Specifically, the drive assembly includes multiple transmission units, each comprising a driven gear and a driving gear meshing with each other. The transmission units are installed between two adjacent clamping sections. Along the first direction, the two adjacent and hinged clamping sections are sequentially defined as a driving arm and a driven arm. The driven gear is coaxially arranged with the hinge axis and fixedly connected to the driven arm, while the driving gear is rotatably connected to the driving arm. The rotation of the driving gear drives each intermediate clamping claw and the end clamping claw to rotate around the corresponding hinge axis.

[0009] Specifically, the drive assembly further includes multiple synchronization units and a first motor, with the synchronization units and transmission units alternately arranged and sequentially connected for transmission. The first motor is mounted on the starting clamping claw, and the first motor drives the clamping arm to wind around the outer circumference of the tube through the power transmission of the transmission unit and the synchronization unit in sequence.

[0010] Specifically, the synchronization unit includes a first synchronization pulley, a second synchronization pulley, and a synchronization belt. The first synchronization pulley is coaxially arranged with the driven gear of the transmission unit located forward along the first direction and is fixedly connected to the clamping section located forward along the first direction. The second synchronization pulley is coaxially connected with the driving gear of the transmission unit located rearward along the first direction and rotates synchronously. The first and second synchronization pulleys are poweredly connected by the synchronization belt. Power transmission is achieved between two adjacent transmission units through the synchronization unit.

[0011] Specifically, the starting gripper, the intermediate gripper, and the end gripper are of equal length. At any given time, the included angles between adjacent gripping segments are equal, and the gripping arms form an equilateral and equiangular zigzag chain structure.

[0012] 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.

[0013] Specifically, the driven gear and the driving gear are the same size, and the first synchronizing pulley is smaller than the size of the driven gear.

[0014] Specifically, it also includes a delivery assembly comprising multiple rollers rotatably connected to the clamping section, with the axial direction of the rollers parallel to the length direction of the clamping section. The rollers abut against the pipe, and rotation of the rollers about their own axes drives the pipe to move axially.

[0015] Specifically, the delivery assembly further includes a connecting frame and a second motor, with the roller mounted on the output end of the second motor and the second motor mounted on the clamping section via the connecting frame.

[0016] Specifically, the end gripper is also provided with a wedge-shaped cone, which is used to lift the pipe.

[0017] Based on the above technical solutions, the beneficial effects of the present invention are analyzed as follows:

[0018] This invention provides a pipe gripping robot, comprising:

[0019] The device includes a fixed frame, at least one clamping arm, and a drive assembly. The clamping arm includes a clamping section comprising a starting clamping claw, a relay clamping claw, and an end clamping claw. The starting clamping claw is mounted on the fixed frame. The starting clamping claw, at least one relay clamping claw, and the end clamping claw are sequentially hinged to form a chain structure. The direction along the chain structure from the starting clamping claw to the end clamping claw is defined as a first direction. The drive assembly sequentially drives each relay clamping claw and the end clamping claw to rotate about its corresponding hinge axis along the first direction, thereby causing the chain structure to wind around the outer circumference of the pipe.

[0020] In practical applications, the fixing frame is moved above the pipe, and the driving component sequentially drives each of the intermediate clamping claws and the end clamping claws to rotate around the corresponding hinge axis along the first direction, thereby causing the chain structure to wind around the outer circumference of the pipe. Each clamping segment abuts against the pipe after swinging around the corresponding hinge axis, forming a contact point. Therefore, the total number of contact points is constant and unaffected by the size of the pipe. The constant and evenly distributed number of contact points can provide stable support for pipes of any size.

[0021] As can be seen, compared with existing technologies, this pipe-grabbing robot achieves its gripping action by winding multiple sequentially hinged clamping segments around the pipe. Each clamping segment can stably form a contact point with the pipe, thus keeping the total number of contact points constant and unaffected by changes in pipe size. This overcomes the technical problem of existing pipe-grabbing robots, which cannot automatically adapt to changes in pipe size, leading to variations in the number of contact points, resulting in unstable gripping and increased risk of pipe damage. Attached Figure Description

[0022] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0023] Figure 1 A schematic diagram of the overall structure of the pipe gripping robot provided in this embodiment of the invention. Figure 1 ;

[0024] Figure 2 A schematic diagram of the overall structure of the pipe-grabbing robot. Figure 2 ;

[0025] Figure 3 A schematic diagram of the overall structure of the pipe-grabbing robot. Figure 3 ;

[0026] Figure 4 This is a schematic diagram of the structure of the pipe-grabbing robot when it grasps a large-sized pipe. Figure 1 ;

[0027] Figure 5 This is a schematic diagram of the structure of the pipe-grabbing robot when it grasps a large-sized pipe. Figure 2 ;

[0028] Figure 6 This is a schematic diagram of the structure of the pipe-grabbing robot when it grasps small-sized pipes. Figure 1 ;

[0029] Figure 7 This is a schematic diagram of the structure of the pipe-grabbing robot when it grasps small-sized pipes. Figure 2 ;

[0030] Figure 8 for Figure 3 Schematic diagram of the structure at the middle clamping arm Figure 1 ;

[0031] Figure 9 for Figure 3 Schematic diagram of the structure at the middle clamping arm Figure 2 ;

[0032] Figure 10 for Figure 3 A schematic diagram of the virtual circumference corresponding to the middle clamping arm;

[0033] Figure 11 This is a schematic diagram of the clamping arm.

[0034] Figure 12 This is a schematic diagram of the combined structure of the roller, connecting frame, and second motor.

[0035] icon:

[0036] 001. Pipes;

[0037] 100. Fixing bracket; 101. Upper connector;

[0038] 200. Clamping arm; 202. Mounting slot; 210. Starting clamping claw; 220. Intermediate clamping claw; 230. End clamping claw; 201. Wedge cone;

[0039] 300. Drive assembly; 310. Transmission unit; 311. Driven gear; 312. Drive gear; 320. Synchronization unit; 321. First synchronous pulley; 322. Second synchronous pulley; 323. Synchronous belt; 330. First motor;

[0040] 400, delivery assembly; 410, roller; 420, connecting frame; 430, second motor. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0043] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] Existing pipe gripping robots have technical problems: they cannot automatically adapt to changes in pipe size, resulting in changes in the number of contact points, which in turn leads to unstable gripping and an increased risk of pipe damage.

[0045] In view of this, the present invention provides a pipe gripping robot, comprising:

[0046] The system comprises a fixed frame 100, at least one clamping arm 200, and a drive assembly 300. The clamping arm 200 includes a clamping section comprising a starting clamping claw 210, a relay clamping claw 220, and an end clamping claw 230. 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 sequentially hinged to form a chain structure. The direction along the chain structure from the starting clamping claw 210 to the end clamping claw 230 is defined as a first direction. The drive assembly 300 sequentially drives each relay clamping claw 220 and the end clamping claw 230 to rotate around their corresponding hinge axes along the first direction, thereby causing the chain structure to wind around the outer circumference of the pipe 001.

[0047] In summary, the pipe gripping robot provided by this invention can achieve the following technical effects:

[0048] This pipe-grabbing robot achieves its gripping action by winding multiple sequentially hinged clamping segments around the pipe 001. Each clamping segment can stably form a contact point with the pipe 001, thus keeping the total number of contact points constant and unaffected by changes in the pipe 001's dimensions. This overcomes the technical problem of existing pipe-grabbing robots, which cannot automatically adapt to changes in pipe dimensions, leading to variations in the number of contact points, resulting in unstable gripping and increased risk of pipe damage.

[0049] The following combination Figures 1 to 12 The structure and shape of the pipe gripping robot provided in this embodiment are described in detail below:

[0050] Specifically, regarding how the drive assembly 300 drives the clamping section to rotate around the hinge axis:

[0051] The drive assembly 300 includes multiple transmission units 310, each transmission unit 310 comprising a driven gear 311 and a driving gear 312 that mesh with each other. The transmission units 310 are mounted between two adjacent clamping sections. Along a first direction, the two adjacent and hinged clamping sections are sequentially defined as a driving arm and a driven arm. The driven gear 311 is coaxially arranged with the hinge axis and fixedly connected to the driven arm, while the driving gear 312 is rotatably connected to the driving arm. The rotation of the driving gear 312 drives each intermediate clamping claw 220 and the end clamping claw 230 to rotate around the corresponding hinge axis. The connection between the driven gear 311 and the driven arm can be either welded or integrally formed.

[0052] To simplify control by connecting the swing control of each clamping segment in series, the drive assembly 300 in this embodiment further includes multiple synchronization units 320 and a first motor 330. The synchronization units 320 and transmission units 310 are alternately arranged and sequentially connected for transmission. The first motor 330 is mounted on the starting clamping jaw 210, and the first motor 330 drives the clamping arm 200 to wind around the outer circumference of the tube 001 through the power transmission of the transmission units 310 and the synchronization units 320. The drive gear 312 is mounted on the output end of the first motor 330.

[0053] Regarding the structural composition of the synchronization unit 320, specifically:

[0054] The synchronization unit 320 includes a first synchronization pulley 321, a second synchronization pulley 322, and a synchronization belt 323. The first synchronization pulley 321 is coaxially arranged with the driven gear 311 of the forward transmission unit 310 along the first direction and is fixedly connected to the forward clamping section along the first direction. The second synchronization pulley 322 is coaxially connected with the driving gear 312 of the rearward transmission unit 310 along the first direction and rotates synchronously. The first synchronization pulley 321 and the second synchronization pulley 322 are poweredly connected through the synchronization belt 323. Two adjacent transmission units 310 achieve power transmission through the synchronization unit 320. The connection method between the first synchronization pulley 321 and the drive arm can be welding or snap-fit.

[0055] To further improve the uniformity of the contact points between the gripping segments and the pipe 001 when gripping the pipe 001, in this embodiment, the initial gripping claw 210, intermediate gripping claws 220, and final gripping claw 230 are of equal length. At any given time, the included angles between adjacent gripping segments are equal, and the gripping arms 200 form an equilateral and equiangular broken-line chain structure. The perpendicular bisectors of the initial gripping claw 210, each intermediate gripping claw 220, and the final gripping claw 230 have a unique intersection point, and each hinge segment is tangent to a virtual circle centered at this intersection point. Specifically, the virtual circles corresponding to each gripping arm 200 completely coincide along the axial direction of the pipe 001. The gripping process of the robotic arm is the process by which the size of this virtual circle gradually approaches the size of the pipe 001.

[0056] Specifically, regarding how each clamping segment maintains an equal angle during movement:

[0057] 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 reciprocals of each other, and the adjacent transmission units 310 and synchronous units 320 form a constant speed transmission as a whole.

[0058] Regarding the transmission process between the adjacent transmission unit 310 and the synchronization unit 320, specifically:

[0059] Both the driven gear 311 and the first synchronous pulley 321 are coaxial with the hinge shaft and are fixedly connected to the driven arm and the drive arm, respectively. When the driving gear 312 rotates in the forward direction, the driven gear 311 meshing with it rotates in the opposite direction with the same angular velocity relative to the drive arm. At the same time, the first synchronous pulley 321, which is coaxial with the driven gear 311, rotates in the forward direction with the same angular velocity relative to the driven arm. This rotation, via the synchronous belt 323, drives the second synchronous pulley 322 to rotate in the forward direction with the same angular velocity, which in turn drives the driving gear 312, which is coaxial with the second synchronous pulley 322, to rotate in the forward direction with the same angular velocity. Because the angular velocities of the driving gears 312 are exactly the same, the angular velocities of the driven gears 311 are also exactly the same, and therefore the oscillation angular velocities of the clamping sections are also exactly the same.

[0060] Preferably, the driven gear 311 and the driving gear 312 are the same size, and the first synchronizing pulley 321 is smaller than the size of the driven gear 311, that is, the transmission ratio of the transmission unit 310 and the synchronizing unit 320 is one.

[0061] To adjust the clamping position of pipe 001 without loosening it, avoiding tedious repeated clamping operations, the pipe gripping robot in this embodiment further includes a delivery component 400. The delivery component 400 includes multiple rollers 410, which 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 drives the pipe 001 to move along their own axial direction. The rollers 410 may be made of rubber; the flexible contact between the rollers 410 and the pipe 001 reduces the risk of the pipe 001 being squeezed and deformed, while increasing the friction between the rollers 410 and the pipe 001.

[0062] Specifically, regarding how the 410 drum is driven:

[0063] The delivery assembly 400 also includes a connecting frame 420 and a second motor 430. The roller 410 is mounted on the output end of the second motor 430, and the second motor 430 is mounted on the clamping section via the connecting frame 420. Each clamping section has a mounting groove 202, and the connecting frame 420 is embedded in the mounting groove 202 and threadedly connected to the clamping section via fasteners.

[0064] In order to enable the end gripper 230 to be inserted under the tube 001 so as to better pick up the tube 001 from the platform, in this embodiment, the end gripper 230 is also provided with a wedge cone 201, which is used to lift the tube 001.

[0065] In this embodiment, the fixing frame 100 is provided with an upper connector 101, which is used to dock the robotic arm.

[0066] In summary, the specific working process of the pipe gripping robot provided in this embodiment is as follows:

[0067] The fixing bracket 100 is moved above the pipe 001. As the fixing bracket 100 moves downward, the first motor 330 drives the drive gear 312 to rotate. The drive gear 312, through meshing with the driven gear 311, drives the clamping arm 200 to swing backward in the first direction. At the same time, the synchronization unit 320 drives the drive gear 312 on the clamping arm 200 to rotate synchronously in the first direction.

[0068] The wedge-shaped cone 201 of the end gripper 230 is inserted into the gap between the pipe 001 and the placement platform, lifting the pipe 001 and detaching it from the placement platform.

[0069] As the gripping action progresses, the size of the virtual circumference tangent to each clamping segment gradually approaches the size of the pipe 001. When the virtual circumference completely overlaps with the pipe 001, the gripping of the pipe 001 is complete. At this point, each clamping segment abuts against the pipe 001 to form a contact point. The total number of contact points is constant and unaffected by the size of the pipe 001. This constant and evenly distributed number of contact points can provide stable support for pipes 001 of any size.

[0070] When it is necessary to adjust the gripping position of the pipe 001, the second motor 430 drives the roller 410 to rotate around its own axis, and the friction between the roller 410 and the pipe 001 drives the pipe 001 to move along its own axis.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 robot, characterized in that, include: The fixture (100), at least one clamping arm (200), and drive assembly (300) include a clamping section comprising a starting clamping claw (210), a relay clamping claw (220), and an end clamping claw (230), wherein the starting clamping claw (210) is mounted on the fixture (100). The starting gripper (210), at least one of the intermediate gripper (220) and the end gripper (230) are sequentially hinged to form a chain structure; Along the chain structure, the direction from the starting gripper (210) to the ending gripper (230) is defined as the first direction; The drive assembly (300) sequentially drives each of the relay clamping claws (220) and the end clamping claws (230) to rotate around the corresponding hinge axis along the first direction, so as to drive the chain structure to be wound around the outer periphery of the tube (001); The drive assembly (300) includes multiple transmission units (310), multiple synchronization units (320), and a first motor (330). The transmission units (310) are installed between two adjacent clamping sections. The synchronization units (320) and the transmission units (310) are alternately arranged and sequentially connected for transmission. The first motor (330) is mounted on the starting gripper (210). The first motor (330) drives the gripper arm (200) to wind around the outer periphery of the tube (001) through the power transmission of the transmission unit (310) and the synchronization unit (320); The starting gripper (210), the intermediate gripper (220), and the end gripper (230) are of equal length; At any given time, the included angle between adjacent clamping segments is equal, and the clamping arm (200) forms an equilateral and equiangular broken-line chain structure; The transmission unit (310) includes a driven gear (311) and a driving gear (312) that mesh with each other. Along the first direction, the two adjacent and hinged clamping segments are sequentially defined as the driving arm and the driven arm; 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 drive gear (312) is used to drive each of the relay gripping claws (220) and the end gripping claws (230) to rotate about the corresponding hinge axis; The synchronization unit (320) includes a first synchronization pulley (321), a second synchronization pulley (322), and a synchronization belt (323). The first synchronous pulley (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 pulley (322) is coaxially connected to the drive gear (312) of the transmission unit (310) located rearward along the first direction and rotates synchronously. The first synchronous pulley (321) and the second synchronous pulley (322) are connected by the synchronous belt (323); The two adjacent transmission units (310) transmit power through the synchronization unit (320); 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).

2. The pipe gripping robot according to claim 1, characterized in that: The driven gear (311) is the same size as the driving gear (312), and the first synchronizing pulley (321) is smaller than the size of the driven gear (311).

3. The pipe gripping robot according to claim 1, characterized in that: It also includes a delivery assembly (400) comprising a plurality of rollers (410) rotatably connected to the clamping section, wherein the axial direction of the rollers (410) is parallel to the length direction of the clamping section; The roller (410) abuts against the pipe (001), and the rotation of the roller (410) around its own axis is used to drive the pipe (001) to move along its own axis.

4. The pipe gripping robot according to claim 3, characterized in that: The delivery assembly (400) also includes a connecting frame (420) and a second motor (430), the roller (410) is mounted on the output end of the second motor (430), and the second motor (430) is mounted on the clamping section via the connecting frame (420).

5. The pipe gripping robot according to claim 1, characterized in that: The end gripper (230) is also provided with a wedge cone (201), which is used to lift the tube (001).

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