Automatic identification grabbing manipulator for PVC (polyvinyl chloride) pipe production process

Abstract

The invention relates to the field of manipulators, in particular to an automatic identifying and grabbing manipulator for a PVC (polyvinyl chloride) pipe production process, which comprises a mechanical arm, a hand frame is fixedly mounted at the end of the mechanical arm, a threaded rod is rotatably mounted at one end of the hand frame, a door frame is fixedly mounted at the other end of the hand frame, and the threaded rod is rotatably connected with the inner side of the door frame. A threaded sleeve is screwed on the outer surface of the threaded rod, three stand columns are fixedly installed on the outer surface of the threaded sleeve in an annular array mode, a claw seat is embedded in the end of each stand column, a main claw frame is elastically installed at the lower end of each claw seat, a rod seat is rotatably installed at the side end of each claw seat in a penetrating mode, and a jacking wheel is connected to one end of each rod seat. A jacking block is arranged at the lower end of the jacking wheel in an attached mode. According to the six-side porous PVC pipe grabbing device, a six-side porous PVC pipe can be firmly grabbed, the production requirement is effectively met, and meanwhile the phenomenon that the six-side porous PVC pipe is broken in the grabbing process is avoided.

Description

Technical Field

[0001] The present invention relates to the field of manipulators, and in particular to an automatic identification and grasping manipulator for a PVC pipe production process. Background Art

[0002] Manipulators are essentially mechatronic devices that achieve operations such as grasping objects through the coordinated operation of their mechanical structure, drive system, and control system. They are a crucial component of industrial robots. Manipulators typically operate under program control. In the production of PVC pipes, manipulators are often used to grasp pipes.

[0003] However, when grasping some special-shaped pipe fittings such as hexagonal porous PVC pipes, due to their special shape, traditional robots find it difficult to adapt to the shape of hexagonal porous PVC pipes and grasp them firmly, so it is difficult to meet production needs. In addition, during the grasping process, the pipes are easily broken due to excessive grasping force. Summary of the Invention

[0004] The purpose of the present invention is to solve the shortcomings of the background technology and to propose an automatic identification and grasping robot for a PVC pipe production process.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is: an automatic identification and grasping robot for PVC pipe production process, including a robot arm, a hand frame is fixedly installed at the end of the robot arm, a threaded rod is rotatably installed at one end of the hand frame, a door frame is fixedly installed at the other end of the hand frame, the threaded rod is rotatably connected to the inner side of the door frame, a threaded sleeve is screwed on the outer surface of the threaded rod, and three columns are fixedly installed in a circular array on the outer surface of the threaded sleeve, the end of the column is inlaid with a claw seat, the lower end of the claw seat is elastically mounted with a main claw frame, and the claw seat The side end portion of the rod seat is rotatably installed with a rod seat, one end of the rod seat is connected to a driving wheel, the lower end of the driving wheel is fitly provided with a lifting block, and the lifting block is fixed on the main claw frame, the other end of the rod seat is connected to the lifting wheel, the driving wheel and the lifting wheel are staggered at ninety degrees, the lower end of the lifting wheel is fitly provided with a pushing block, and the pushing block is fixed on the door frame, the lower end of the main claw frame is fixedly installed with a main grabbing claw, the shape of the main grabbing claw is adapted to the shape of the groove on the outer surface of the porous PVC pipe, and a protective top piece is installed at the lower end of the claw seat.

[0006] Preferably, a positioning plate is fixedly mounted on the base of the robotic arm, and a contact sensor is provided through the positioning plate.

[0007] Preferably, a slide is provided below the threaded rod, the two ends of the slide are respectively fixed to the hand frame and the door frame, the threaded sleeve is slidably installed on the outer surface of the slide, a servo motor is fixedly installed on the side of the hand frame, and the output end of the servo motor is fixed to the threaded rod.

[0008] Preferably, two guide rods are symmetrically fixedly installed on the upper end of the main claw frame, the lifting block is located between the two guide rods, the claw seat is slidably installed on the outer surface of the guide rod, and a return spring is wound around the outer side of the guide rod, one end of the return spring is fixed to the claw seat, and the other end of the return spring is fixed to the end of the guide rod.

[0009] Preferably, a top wheel frame is vertically extended from one end of the rod seat, and the driving wheel is installed inside the top wheel frame. A wheel lifting frame is horizontally extended from the other end of the rod seat, and the lifting wheel is installed inside the wheel lifting frame.

[0010] Preferably, the protective top piece includes a No. 2 guide column symmetrically and obliquely fixedly installed on the lower end of the claw seat, and the outer surfaces of the two No. 2 guide columns are slidably installed with a secondary claw frame, and the upper end of the secondary claw frame is fixedly installed with a secondary grabbing claw, and the secondary grabbing claw is located below the main grabbing claw. The secondary claw frame and the secondary grabbing claw are both inclined, and the inclination of the secondary grabbing claw is adapted to the inclination of the inner wall of the porous PVC pipe.

[0011] Preferably, two No. 1 guide columns are symmetrically and obliquely extended from the middle of the column, the end of the auxiliary claw frame is slidably installed on the outer surface of the No. 1 guide column, and the end of the main claw frame is fixedly installed with a No. 1 tooth plate, and the side of the No. 1 tooth plate is engaged with a gear, and the gear is rotatably connected to the claw seat, and the side of the gear is engaged with a No. 2 tooth plate, and the side of the No. 2 tooth plate is symmetrically and obliquely connected with two pulling claw frames, and the two pulling claw frames are respectively connected to the two auxiliary claw frames.

[0012] Preferably, the front and rear ends of the No. 2 tooth plate are slidably installed with guide ears, the ends of the guide ears are fixed to the claw seats, and a connecting seat is fixedly installed at the upper edge of the side of the No. 2 tooth plate. The upper end of the pulling claw frame is rotatably connected to the end of the connecting seat, and the upper end of the auxiliary claw frame is fixedly installed with a connecting frame, which is located between the No. 2 guide column and the No. 1 guide column, and the lower end of the pulling claw frame is rotatably connected to the inside of the connecting frame.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The rotating threaded rod can drive the threaded sleeve to move, and then drive the main claw frame on the claw seat to move toward the direction of the hexagonal porous PVC pipe, so that the main grabbing claw can move to the outside of the hexagonal porous PVC pipe. At this time, the lifting wheel on the claw seat just moves to the pushing block, and then the threaded sleeve continues to move, causing the lifting wheel to roll along the inclined surface of the pushing block, thereby driving the jacking wheel on the rod seat to rotate with the rod seat as the center and roll along the inclined surface of the jacking block, so that the main claw frame gradually moves downward, allowing the main grabbing claw to be clamped in the groove on the surface of the hexagonal porous PVC pipe, so as to firmly grasp the hexagonal porous PVC pipe to meet production needs.

[0014] 2. When the threaded sleeve moves and drives the main grabbing claw to move to the outside of the hexagonal porous PVC pipe, the auxiliary grabbing claw on the claw seat will be inserted into the inside of the hexagonal porous PVC pipe at the same time. When the main claw frame moves down to clamp the main grabbing claw in the groove on the surface of the hexagonal porous PVC pipe, the main claw frame that moves down will simultaneously drive the No. 1 tooth plate to move down, and then drive the No. 2 tooth plate to move up through the gear, thereby driving the two pulling claw frames to move synchronously to pull the auxiliary claw frame, so that the auxiliary claw frame is on the No. 1 guide column and No. 2 guide column. Under the guidance of the guide column, it moves upward obliquely, so that the auxiliary grasping claw on the auxiliary claw frame is pressed tightly against the inner wall of the hexagonal porous PVC pipe. On the one hand, it can clamp and grasp the hexagonal porous PVC pipe from the inside and outside simultaneously to improve the grasping firmness of the hexagonal porous PVC pipe. On the other hand, it can bear the clamping force of the main grasping claw from the inside of the hexagonal porous PVC pipe to reduce the stress on the hexagonal porous PVC pipe and avoid the hexagonal porous PVC pipe from breaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural schematic diagram of an automatic identification and grasping manipulator for a PVC pipe production process of the present invention; Figure 2 This is a schematic diagram of a threaded rod of an automatic recognition and grasping manipulator for a PVC pipe production process of the present invention; Figure 3 This is a schematic diagram of the arm support of an automatic identification and grabbing manipulator for a PVC pipe production process of the present invention; Figure 4 This is a schematic diagram of the claw seat of an automatic identification and grasping manipulator for a PVC pipe production process of the present invention; Figure 5 This is a schematic diagram of a claw frame of an automatic identification and grabbing manipulator for a PVC pipe production process of the present invention; Figure 6 This is a cross-sectional view of the second tooth plate of an automatic identification and grabbing manipulator for a PVC pipe production process according to the present invention; Figure 7 This is a schematic diagram of the main claw frame of an automatic identification and grasping manipulator for a PVC pipe production process of the present invention; Figure 8 This is a view of the use of an automatic identification and grasping manipulator for a PVC pipe production process of the present invention; Figure 9 This is a distribution view of the main grasping claw and auxiliary grasping claw of the automatic identification grasping manipulator used in the PVC pipe production process of the present invention clamped on the hexagonal porous PVC pipe.

[0016] In the figure: 1. Robotic arm; 2. Threaded rod; 3. Positioning plate; 4. Contact sensor; 5. Hand frame; 6. Servo motor; 7. Threaded sleeve; 8. Column; 9. Claw seat; 10. Slide; 11. Push block; 12. Door frame; 13. Guide column No. 1; 14. Lifting block; 15. Top wheel frame; 16. Top wheel; 17. Rod seat; 18. Lifting wheel; 19. Lifting wheel frame; 20. Return spring; 21. Main claw frame; 22. Auxiliary claw frame; 23. No. 1 gear plate; 24. Gear; 25. No. 2 gear plate; 26. Guide ear; 27. Connecting seat; 28. Pull claw frame; 29. ​​Connecting frame; 30. Guide rod; 31. No. 2 guide column; 32. Auxiliary grab claw; 33. Main grab claw; 34. Hexagonal porous PVC pipe. DETAILED DESCRIPTION

[0017] The following description is intended to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are merely examples, and those skilled in the art may conceive of other obvious variations.

[0018] like Figures 1-9The automatic identification and grabbing robot for the PVC pipe production process shown in the figure includes a robot arm 1, a hand frame 5 is fixedly installed on the end of the robot arm 1, a threaded rod 2 is rotatably installed on one end of the hand frame 5, and a door frame 12 is fixedly installed on the other end of the hand frame 5, the hand frame 5 and the door frame 12 play a bearing role, the threaded rod 2 is rotatably connected to the inner side of the door frame 12, the outer surface of the threaded rod 2 is screwed with a threaded sleeve 7, the threaded rod 2 plays the role of driving the threaded sleeve 7 to move, and three columns 8 are fixedly installed in a circular array on the outer surface of the threaded sleeve 7, the end of the column 8 is inlaid with a claw seat 9, the column 8 plays the role of fixing the claw seat 9 on the threaded sleeve 7, the lower end of the claw seat 9 is elastically installed with a main claw frame 21, the main claw frame 21 plays the role of carrying the main grabbing claw 33, the side end of the claw seat 9 is rotatably installed with a rod seat 17, one end of the rod seat 17 is connected to a driving wheel 16, the rod seat 17 plays the role of toggling the driving wheel 16, and the driving wheel 1 6 is fitted with a lifting block 14 at the lower end, which is fixed to the main claw frame 21. The other end of the rod seat 17 is connected to a lifting wheel 18. The lifting wheel 16 and the lifting wheel 18 are staggered at ninety degrees. The lower end of the lifting wheel 18 is fitted with a pushing block 11, which is fixed to the door frame 12. The lifting wheel 18 rolls along the inclined surface of the pushing block 11, thereby driving the lifting wheel 16 on the rod seat 17 to rotate with the rod seat 17 as the center, and along the lifting wheel 18. The inclined surface of the lifting block 14 rolls, causing the main claw frame 21 to gradually move downward, allowing the main grabbing claw 33 to be clamped in the groove on the surface of the hexagonal porous PVC pipe 34. The main grabbing claw 33 is fixedly installed at the lower end of the main claw frame 21. The shape of the main grabbing claw 33 is adapted to the shape of the groove on the outer surface of the hexagonal porous PVC pipe 34, allowing the main grabbing claw 33 to fully fit on the hexagonal porous PVC pipe 34 when clamping. A protective top piece is installed at the lower end of the claw seat 9.

[0019] A positioning plate 3 is fixedly installed on the base of the robotic arm 1, and a contact sensor 4 is penetrated by the positioning plate 3. The hexagonal porous PVC pipe 34 is transported by the conveyor belt. At this time, the positioning plate 3 intercepts the transported hexagonal porous PVC pipe 34. After the contact sensor 4 senses and identifies the hexagonal porous PVC pipe 34, the robotic arm 1 automatically drives the threaded rod 2 to move to the end center position of the hexagonal porous PVC pipe 34 under the control of the program. Since the use of the contact sensor 4 for automatic identification and driving the robotic arm 1 to the specified position under the control of the program is an existing technology and has been widely used, it is not elaborated here.

[0020] A slide 10 is provided below the threaded rod 2, and the two ends of the slide 10 are respectively fixed to the hand frame 5 and the door frame 12. The threaded sleeve 7 is slidably installed on the outer surface of the slide 10, and the slide 10 prevents the threaded sleeve 7 from rotating. A servo motor 6 is fixedly installed on the side of the hand frame 5, and the output end of the servo motor 6 is fixed to the threaded rod 2. The servo motor 6 drives the threaded rod 2 to rotate.

[0021] Two guide rods 30 are symmetrically fixedly installed on the upper end of the main claw frame 21, and the lifting block 14 is located between the two guide rods 30. The guide rod 30 serves to guide the main claw frame 21. The claw seat 9 is slidably installed on the outer surface of the guide rod 30. A return spring 20 is wrapped around the outer side of the guide rod 30. One end of the return spring 20 is fixed to the claw seat 9. The return spring 20 serves to reset the main claw frame 21 after it moves downward, and the other end of the return spring 20 is fixed to the end of the guide rod 30.

[0022] A top wheel frame 15 is vertically extended from one end of the rod seat 17, and a driving wheel 16 is installed inside the top wheel frame 15. The top wheel frame 15 serves to support the driving wheel 16. A wheel lifting frame 19 is horizontally extended from the other end of the rod seat 17. A lifting wheel 18 is installed inside the wheel lifting frame 19. The wheel lifting frame 19 serves to support the lifting wheel 18.

[0023] The protective top piece includes a No. 2 guide column 31 which is symmetrically and obliquely fixedly installed on the lower end of the claw seat 9. The outer surfaces of the two No. 2 guide columns 31 are slidably mounted with auxiliary claw frames 22. The No. 2 guide column 31 plays a role in obliquely guiding the auxiliary claw frame 22. The upper end of the auxiliary claw frame 22 is fixedly mounted with an auxiliary grasping claw 32. The auxiliary claw frame 22 plays a role in supporting the auxiliary grasping claw 32. The auxiliary grasping claw 32 is located below the main grasping claw 33. The auxiliary claw frame 22 and the auxiliary grasping claw 32 are both inclined. The inclination of the auxiliary grasping claw 32 is adapted to the inclination of the inner wall of the hexagonal porous PVC pipe 34, so that the auxiliary grasping claw 32 can fully fit on the hexagonal porous PVC pipe 34 when tightened.

[0024] The two claw frames 28 are connected to the two auxiliary claw frames 22 at an angle, so that the auxiliary claw frame 22 can move upwards under the guidance of the guide posts 13 and 31. The two claw frames 28 are connected to the two auxiliary claw frames 22 respectively.

[0025] The front and rear ends of the No. 2 tooth plate 25 are both slidably installed with guide ears 26, and the ends of the guide ears 26 are fixed to the claw seats 9. The guide ears 26 serve to guide the No. 2 tooth plate 25. A connecting seat 27 is fixedly installed at the upper edge of the side of the No. 2 tooth plate 25. The upper end of the pulling claw frame 28 is rotatably connected to the end of the connecting seat 27. The connecting seat 27 serves to facilitate the connection between the pulling claw frame 28 and the No. 2 tooth plate 25. The upper end of the auxiliary claw frame 22 is fixedly installed with a connecting frame 29. The connecting frame 29 is located between the No. 2 guide column 31 and the No. 1 guide column 13. The lower end of the pulling claw frame 28 is rotatably connected to the inside of the connecting frame 29. The connecting frame 29 serves to facilitate the connection between the pulling claw frame 28 and the auxiliary claw frame 22.

[0026] During the grabbing process, the hexagonal porous PVC pipe 34 is conveyed by the conveyor belt. At this time, the positioning plate 3 intercepts the conveyed hexagonal porous PVC pipe 34. After the contact sensor 4 senses and identifies the hexagonal porous PVC pipe 34, the robotic arm 1 automatically drives the threaded rod 2 to move to the end center position of the hexagonal porous PVC pipe 34 under the control of the program. Then, the servo motor 6 drives the threaded rod 2 to rotate to drive the threaded sleeve 7 to move, thereby driving the main claw frame 21 on the claw seat 9 to move toward the direction of the hexagonal porous PVC pipe 34, so that the main gripper The claw 33 can move to the outside of the hexagonal porous PVC pipe 34. At this time, the lifting wheel 18 on the claw seat 9 just moves to the pushing block 11, and then the threaded sleeve 7 continues to move, causing the lifting wheel 18 to roll along the inclined surface of the pushing block 11, thereby driving the jacking wheel 16 on the rod seat 17 to rotate around the rod seat 17 and roll along the inclined surface of the jacking block 14, so that the main claw frame 21 gradually moves downward, allowing the main grabbing claw 33 to be clamped in the groove on the surface of the hexagonal porous PVC pipe 34 to firmly grasp the hexagonal porous PVC pipe 34. As the sleeve 7 moves and drives the main grabbing claw 33 to move to the outside of the hexagonal porous PVC pipe 34, the auxiliary grabbing claw 32 on the claw seat 9 will be synchronously inserted into the inside of the hexagonal porous PVC pipe 34. When the main claw frame 21 moves down to clamp the main grabbing claw 33 in the groove on the surface of the hexagonal porous PVC pipe 34, the main claw frame 21 that moves down will synchronously drive the No. 1 gear plate 23 to move down, and then drive the No. 2 gear plate 25 to move up through the gear 24, thereby driving the two pulling claw frames 28 to move synchronously to pull the auxiliary claw frame 22, so that the auxiliary claw frame 22 is on the No. 1 guide column 1. 3. Under the guidance of the second guide column 31, it moves obliquely upward, so that the auxiliary grasping claw 32 on the auxiliary claw frame 22 is pressed against the inner wall of the hexagonal porous PVC pipe 34. On the one hand, the hexagonal porous PVC pipe 34 can be clamped and grasped from the inside and outside simultaneously to improve the grasping firmness of the hexagonal porous PVC pipe 34. On the other hand, the clamping force of the main grasping claw 33 can be borne from the inside of the hexagonal porous PVC pipe 34 to reduce the stress on the hexagonal porous PVC pipe 34 and avoid the hexagonal porous PVC pipe 34 from breaking.

[0027] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions merely illustrate the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic recognition and grasping manipulator for a PVC pipe production process, comprising a manipulator arm (1), characterized in that: The end of the mechanical arm (1) is fixedly mounted with a hand frame (5), one end of the hand frame (5) is rotatably mounted with a threaded rod (2), the other end of the hand frame (5) is fixedly mounted with a door frame (12), the threaded rod (2) is rotatably connected to the inner side of the door frame (12), the outer surface of the threaded rod (2) is screwed with a threaded sleeve (7), the outer surface of the threaded sleeve (7) is fixedly mounted with three columns (8) in a circular array, the end of the column (8) is inlaid with a claw seat (9), the lower end of the claw seat (9) is elastically mounted with a main claw frame (21), the side end of the claw seat (9) is penetrated by a rod seat (17) rotatably mounted, and one end of the rod seat (17) is connected to a top movable member. The wheel (16) is provided with a lifting block (14) at the lower end of the driving wheel (16), and the lifting block (14) is fixed on the main claw frame (21). The other end of the rod seat (17) is connected to the lifting wheel (18). The driving wheel (16) and the lifting wheel (18) are staggered at ninety degrees. The lower end of the lifting wheel (18) is provided with a pushing block (11), and the pushing block (11) is fixed on the door frame (12). The lower end of the main claw frame (21) is fixed with a main grabbing claw (33). The shape of the main grabbing claw (33) is adapted to the shape of the groove on the outer surface of the porous PVC pipe. The lower end of the claw seat (9) is provided with a protective top piece.

2. The automatic identification and grasping manipulator for PVC pipe production process according to claim 1, characterized in that: A positioning plate (3) is fixedly mounted on the base of the mechanical arm (1), and a contact sensor (4) is provided through the positioning plate (3).

3. The automatic identification and grasping manipulator for PVC pipe production process according to claim 1 is characterized in that: A slide (10) is provided below the threaded rod (2), and the two ends of the slide (10) are respectively fixed to the hand frame (5) and the door frame (12), and the threaded sleeve (7) is slidably mounted on the outer surface of the slide (10). A servo motor (6) is fixedly mounted on the side of the hand frame (5), and the output end of the servo motor (6) is fixed to the threaded rod (2).

4. The automatic identification and grasping robot for PVC pipe production process according to claim 1, characterized in that: Two guide rods (30) are symmetrically fixedly mounted on the upper end of the main claw frame (21), the lifting block (14) is located between the two guide rods (30), the claw seat (9) is slidably mounted on the outer surface of the guide rod (30), and a return spring (20) is wound around the outer side of the guide rod (30), one end of the return spring (20) is fixed to the claw seat (9), and the other end of the return spring (20) is fixed to the end of the guide rod (30).

5. The automatic identification and grabbing robot for PVC pipe production process according to claim 1, characterized in that: A top wheel frame (15) is vertically extended from one end of the rod seat (17), and the driving wheel (16) is installed inside the top wheel frame (15). A wheel lifting frame (19) is horizontally extended from the other end of the rod seat (17), and the lifting wheel (18) is installed inside the wheel lifting frame (19).

6. The automatic identification and grabbing robot for PVC pipe production process according to claim 1, characterized in that: The protective top member comprises a No. 2 guide column (31) symmetrically and obliquely fixedly mounted on the lower end of the claw seat (9); the outer surfaces of the two No. 2 guide columns (31) are both slidably mounted with auxiliary claw frames (22); the upper ends of the auxiliary claw frames (22) are fixedly mounted with auxiliary grabbing claws (32); the auxiliary grabbing claws (32) are located below the main grabbing claws (33); the auxiliary claw frames (22) and the auxiliary grabbing claws (32) are both inclined; the inclination of the auxiliary grabbing claws (32) is adapted to the inclination of the inner wall of the porous PVC pipe.

7. The automatic identification and grabbing robot for PVC pipe production process according to claim 6, characterized in that: Two No. 1 guide columns (13) are symmetrically and obliquely extended from the middle of the column (8); the end of the auxiliary claw frame (22) is slidably mounted on the outer surface of the No. 1 guide column (13); the end of the main claw frame (21) is fixedly mounted with a No. 1 tooth plate (23); the side of the No. 1 tooth plate (23) is meshed with a gear (24); the gear (24) is rotatably connected to the claw seat (9); the side of the gear (24) is meshed with a No. 2 tooth plate (25); the side of the No. 2 tooth plate (25) is symmetrically and obliquely connected with two pulling claw frames (28); the two pulling claw frames (28) are respectively connected to the two auxiliary claw frames (22).

8. The automatic identification and grabbing robot for PVC pipe production process according to claim 7, characterized in that: The front and rear ends of the second tooth plate (25) are both slidably mounted with guide ears (26), the ends of the guide ears (26) are fixed to the claw seat (9), a connecting seat (27) is fixedly mounted on the upper edge of the side of the second tooth plate (25), the upper end of the pulling claw frame (28) is rotatably connected to the end of the connecting seat (27), the upper end of the auxiliary claw frame (22) is fixedly mounted with a connecting frame (29), the connecting frame (29) is located between the second guide column (31) and the first guide column (13), and the lower end of the pulling claw frame (28) is rotatably connected to the inside of the connecting frame (29).

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