Round pipe grabbing robot

Abstract

The invention discloses a round pipe grabbing robot, which belongs to the technical field of robots, and comprises a plurality of sections of hinged mechanical arms, a clamping mechanism and a driving body, and a rotatable limiting plate with anti-skid grains is arranged at the end part of the driving body. The clamping mechanism comprises an even number of pairwise opposite clamping jaws, each clamping jaw is connected with a driving body through a hyperbolic plate, and a driving gear meshed with the inner end of the hyperbolic plate is driven by a first driving motor; the cambered surface of a protruding plate at the front end of the clamping jaw is matched with the round pipe, a rotatable pressing roller is arranged in the clamping jaw, the two ends of the pressing roller are connected with sliding blocks through supporting shafts, the sliding blocks are matched with elastic bodies, and receding holes penetrating through the protruding plate are further formed in the clamping jaw. The robot has the core advantages that the round pipe can be driven to rotate in the clamping state without being released, and the steps of releasing, tool butt joint and re-clamping are omitted; during clamping rotation, the symmetrical clamping jaws and the elastic structure ensure that the round pipe is stressed uniformly without deviation, and the compression rollers reduce friction and prevent surface scratches.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a cylindrical tube gripping robot. Background Technology

[0002] In round tube processing scenarios, equipment must simultaneously meet two core requirements: "stable gripping" and "driving rotation"—only by directly driving the round tube to rotate while gripping can processing interruptions be avoided and efficiency improved. However, traditional round tube gripping equipment lacks key functions: Traditional equipment's clamping mechanism only has the single function of "fixing the round tube" and cannot drive the round tube to rotate around its own axis while clamped. When full circumferential machining of the round tube is required, the clamping mechanism must first be released, and the round tube must be fixed and driven to rotate using additional tooling (such as an independent rotary table or clamping turntable). After machining, the position of the clamping mechanism must be readjusted and the round tube must be clamped again. The entire process not only increases the repetitive operation of "releasing-connecting tooling-machining-re-clamping", but also significantly extends the machining interval time, seriously disrupting the production process. At the same time, multiple clamping and releasing can easily cause positioning deviations of the round tube, affecting machining accuracy and making it difficult to adapt to the needs of efficient and continuous round tube machining. Summary of the Invention

[0003] To address the aforementioned technical shortcomings, the purpose of this invention is to provide a cylindrical tube gripping robot that, through a multi-segment servo robotic arm, an even number of elastic adaptive grippers, and an adjustable limiting plate, enables the cylindrical tube to rotate smoothly during gripping, eliminating additional steps while ensuring uniform force distribution on the cylindrical tube.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a cylindrical tube gripping robot, comprising: A robotic arm, wherein the robotic arm has a multi-segment structure; A clamping mechanism, comprising multiple jaws axially distributed, wherein the inner side of each jaw is provided with a clamping wheel; The robotic arm has a drive body installed at its end, the gripper is connected to the drive body via a curved plate, the drive body has a drive assembly inside that drives the curved plate to rotate, the gripping mechanism is located on the outside of the drive body, and the end of the drive body has a rotatable limiting plate installed.

[0005] Preferably, the number of grippers is even, and the grippers are distributed in pairs opposite to each other. Each gripper is equipped with two curved plates. The end of the curved plate away from the corresponding gripper is rotatably mounted on the drive body. The end of the curved plate extending into the drive body is equipped with a drive gear. The oppositely arranged drive gears are meshed and connected. The drive body is equipped with a first drive motor for driving any one of the drive gears to rotate.

[0006] Preferably, the front end of the clamping plate is provided with a convex plate, the pressure roller is rotatably installed inside the convex plate, and the inner surface of the convex plate is an arc surface.

[0007] Preferably, the clamping plate has a clearance hole inside, and the clamping plate has an inner tube communicating with the clearance hole. An air pipe communicating with the inner tube is installed on the clamping plate, and the air pipe is communicating with an external cylinder.

[0008] Preferably, elastic components are installed at both ends of the pressure roller, and the elastic components apply pressure to the pressure roller.

[0009] Preferably, both ends of the pressure roller are fixed with support shafts, the support shafts are rotatably mounted on the slider, the slider is installed inside the clamping plate, and the clamping plate is provided with an elastic body that abuts against the slider.

[0010] Preferably, the interior of the relief hole is provided with an arc surface adapted to the pressure roller, and the relief hole penetrates the arc surface of the convex plate.

[0011] Preferably, the end of the limiting plate is provided with anti-slip texture.

[0012] Preferably, a second drive motor is installed inside the drive body, and the limiting plate is installed on the output shaft of the second drive motor.

[0013] Preferably, the robotic arm includes a large arm, a middle arm, and a small arm that are hinged together in sequence. The drive body is fixed on the small arm. A first servo motor is installed at the joint connecting the large arm and the middle arm, and a second servo motor is installed at the joint connecting the middle arm and the small arm.

[0014] The beneficial effects of this invention are as follows: The tube can be rotated while being gripped without needing to be released: the gripping mechanism, through an adaptable structure (such as synchronously driven grippers, rotatable clamping wheels / pressure rollers), can drive the tube to rotate smoothly around its own axis while stably gripping it, directly cooperating with the processing steps to complete the full circumference operation. This eliminates the steps of "releasing - docking with additional tooling - re-gripping". During the rotation of the round tube, the clamping mechanism ensures that the round tube is subjected to uniform force and without deviation through symmetrically distributed grippers and elastic adaptive clamping structures (such as elastic components and conforming arc surfaces). At the same time, the contact parts between the grippers and the round tube (such as rotating pressure rollers) can reduce friction damage and avoid scratches on the surface of the round tube, thus ensuring both processing accuracy and maintaining product surface quality. While achieving the rotation function, it retains stable clamping capability: during clamping, multi-point contact and air pressure-assisted adsorption structures are used to prevent the round tube from falling off during rotation or transfer; and the adaptive design can adapt to round tubes of different diameters without changing the clamps, thus meeting the processing requirements of "clamping and rotation". Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention.

[0016] Figure 2 This is the front view of the present invention.

[0017] Figure 3 This is an internal sectional view of the present invention.

[0018] Figure 4 This is an internal view of the gripper and the drive body.

[0019] Figure 5 For the interface of the clamp Figure 1 .

[0020] Figure 6 For the interface of the clamp Figure 2 .

[0021] Figure 7 For the interface of the clamp Figure 3 .

[0022] Figure 8 for Figure 3 Enlarged view of point A.

[0023] Figure 9 for Figure 5 Enlarged view of point B.

[0024] In the diagram: 1. Robotic arm, 101. Upper arm, 102. Middle arm, 103. Lower arm, 2. Drive body, 3. Gripper, 31. Clearance hole, 4. Air pipe, 5. Curved plate, 6. Drive gear, 7. Pressure roller, 8. Protruding plate, 9. Limiting plate, 10. Elastomer, 11. Slider, 12. Support shaft, 13. Inner tube. Detailed Implementation

[0025] The present invention is illustrated below with specific embodiments, but these are not intended to limit the invention.

[0026] Example 1 like Figures 1-9 As shown, this embodiment provides a basic cylindrical tube grasping robot, which consists of a robotic arm 1, a gripping mechanism, and a drive control component. The robotic arm 1 adopts a multi-segment hinged structure, specifically including a large arm 101, a middle arm 102, and a forearm 103 connected in sequence. A drive body 2 is fixed to the end of the forearm 103. A first servo motor is installed at the joint connecting the large arm 101 and the middle arm 102, and a second servo motor is installed at the joint connecting the middle arm 102 and the forearm 103. Through the coordinated operation of the two servo motors, the spatial position and attitude of the drive body 2 can be precisely adjusted to meet the grasping and positioning requirements in different scenarios. The gripping mechanism is located on the outside of the drive body 2 and includes multiple grippers 3 distributed along the axial direction. A clamping wheel is fitted inside each gripper 3. The grippers 3 are connected to the drive body 2 via a curved plate 5. The drive body 2 contains a drive assembly that rotates the curved plate 5. Upon startup, all grippers 3 open and close synchronously. When closed, the clamping wheel contacts and clamps against the outer surface of the tube, enhancing gripping stability through multi-point contact and preventing the tube from tilting or falling off. A clearance hole 31 is also provided inside each gripper 3, and an inner tube 13 communicating with the clearance hole 31 is built into it. An air pipe 4, which connects to the inner tube 13, is installed on the outside of each gripper 3. The other end of the air pipe 4 is connected to an external cylinder. When the external cylinder supplies air, positive pressure gas can blow away dust and impurities from the surface of the tube through the inner tube 13 and clearance hole 31, while negative pressure gas can create a vacuum within the clearance hole 31, adsorbing the outer surface of the tube to assist in fixing the grippers 3. This is particularly suitable for tubes with smooth surfaces or heavy weights. The end of the drive body 2 is equipped with a rotatable limiting plate 9. The end of the limiting plate 9 is machined with concave and convex anti-slip texture, which can increase the friction coefficient with the surface of the round tube and reduce axial sliding caused by vibration or tilting during the gripping and transfer process. The drive body 2 is also equipped with a second drive motor. The limiting plate 9 is directly fixed on the output shaft of the second drive motor. The angle of the limiting plate 9 can be flexibly adjusted by the forward and reverse rotation of the motor. Example 2 like Figures 1-9 As shown, this embodiment optimizes the driving stability and gripping fit of the clamping mechanism based on Embodiment 1. The specific improvements are as follows: The number of grippers 3 in the gripping mechanism is set to an even number, and all grippers 3 are distributed in pairs opposite each other. Each gripper 3 is connected to the drive body 2 through two curved plates 5. The end of the curved plate 5 away from the gripper 3 is rotatably mounted on the drive body 2, and the end extending into the drive body 2 is fixed with a drive gear 6. The oppositely distributed drive gears 6 mesh with each other. A first drive motor is added inside the drive body 2. This motor is connected to any one of the drive gears 6. After starting, it can drive the active drive gear 6 to rotate. Through the meshing relationship, it drives the driven drive gear 6 to rotate synchronously in the opposite direction. In turn, through the curved plates 5, it drives the opposite grippers 3 to close synchronously in opposite directions (grip) or open in opposite directions (release). The connection structure of the double curved plates 5 can enhance the rigidity of the gripper 3 movement and prevent the gripper 3 from deviating. At the same time, the centralized motor drive design simplifies the overall structure and ensures the synchronicity of the gripper 3 movement. In addition, a new convex plate 8 structure is added to the inner side of the front end of the gripper 3. The inner side of the convex plate 8 is machined into an arc surface that fits the outer surface of the round tube. When gripping, it can fit tightly with the round tube to increase the contact area. The convex plate 8 is equipped with a pressure roller 7 (i.e., the clamping wheel in Embodiment 1). When the round tube has slight axial or circumferential displacement, the pressure roller 7 can rotate synchronously with the round tube to reduce the frictional resistance between the gripper 3 and the round tube. This reduces frictional damage to the surface of the round tube and allows the round tube to make fine adjustments to its position during gripping, avoiding deformation of the round tube caused by hard contact. Example 3 like Figures 1-9 As shown, this embodiment further optimizes the self-adaptive capability of the pressure roller 7 and the structural integrity of the gripper 3 based on Embodiments 1 and 2. The specific improvements are as follows: Both ends of the pressure roller 7 are equipped with elastic components, which always apply inward pressure to the pressure roller 7. When gripping round tubes of different diameters, the pressure roller 7 is squeezed outward by the round tubes, and the elastic components are compressed or stretched accordingly. The reaction force generated by the deformation keeps the pressure roller 7 in close contact with the outer surface of the round tube, realizing the adaptive adaptation of the gripping mechanism to round tubes of different diameters. At the same time, the elastic force can buffer the impact force at the moment of gripping and protect the surface of the round tube from hard damage. The pressure roller 7 is also fixed with support shafts 12 at both ends. The support shafts 12 are rotatably mounted on the slider 11. The slider 11 can slide along the preset track inside the gripper 3. The gripper 3 has an elastic body 10 (such as a spring) built inside. One end of the elastic body 10 presses against the slider 11 and continuously applies an inward pushing force to the slider 11. When the diameter of the round tube changes, the pressure roller 7 pushes the support shaft 12 to drive the slider 11 to slide outward. The elastic body 10 is compressed, and its elastic force is transmitted to the pressure roller 7 through the slider 11 and the support shaft 12, ensuring that the pressure roller 7 continuously presses the round tube. The sliding connection structure ensures that the pressure roller 7 moves smoothly without jamming, while simplifying the overall structure of elastic adjustment and improving the reliability of long-term use. The clearance hole 31 of the gripper 3 has also been optimized: the clearance hole 31 has an arc surface machined inside to match the shape of the pressure roller 7, providing the pressure roller 7 with a suitable space for movement; and the clearance hole 31 penetrates the arc surface of the convex plate 8, allowing the pressure roller 7 to pass through the clearance hole 31 and directly contact the outer surface of the round tube. At the same time, the arc surface of the convex plate 8 fits against the round tube, forming a dual-fit structure of "arc surface positioning of the convex plate 8 + pressure roller 7 pressing". This design not only avoids the pressure roller 7 from shifting during movement and ensures contact stability, but also ensures effective contact between the pressure roller 7 and the round tube through the through structure, while enhancing the overall structural integrity of the gripper 3 and optimizing the force distribution during gripping.

[0027] Working principle: This robot, with its core features of "precise positioning, stable gripping, synchronous rotation, and auxiliary anti-deviation," overcomes the problem of "uncoordinated gripping and rotation" in traditional equipment. It enables continuous rotation while gripping a round tube, making it suitable for scenarios such as outer circle grinding and ring welding. The specific process is as follows: Robotic arm 1 is a three-joint hinge structure consisting of "large arm 101-middle arm 102-small arm 103", and each joint is equipped with a high-precision servo motor. The gripping mechanism is arranged in an even-numbered, relatively distributed manner. Each gripper 3 has a rotatable pressure roller 7 mounted on its inner side. The two ends of the pressure roller 7 are connected to the elastic components inside the gripper 3 via sliders 11. The gripper 3 is linked to the drive body 2 via a hyperboloid plate 5. Inside the drive body 2, the first drive motor drives the active drive gear 6 to rotate. Through gear meshing, the driven gear rotates synchronously in the opposite direction. Then, through the hyperboloid plate 5, the grippers 3 move towards each other: the arc surface of the front convex plate 8 of the gripper 3 first adheres to the circular tube. After it continues to close, the pressure roller 7 is squeezed and pushes the slider 11 to slide. The elastic components are compressed and generate a reaction force. One end of the pressure roller 7 extends to the outside of the gripper 3 and is fitted with a driven synchronous pulley; a rotation drive motor is fixed to the outside of the gripper 3, and a driving synchronous pulley is mounted on the motor shaft. The two pulleys are connected by a synchronous belt. When the round tube needs to rotate, the rotation drive motor starts and drives the pressure roller 7 to rotate via the synchronous belt; the friction between the pressure roller 7 and the round tube is sufficient to drive the round tube to rotate synchronously. The end limiting plate 9 of the drive body 2 is driven by the second drive motor and can rotate from 0° to 180°. The limiting position is adjusted according to the length of the round tube. The anti-slip texture at the end contacts the end face of the round tube to limit axial displacement. The gripper 3 has a relief hole 31 parallel to the pressure roller 7 inside, which is connected to the external cylinder through the inner tube 13. The relief hole 31 forms a vacuum adsorption of the round tube, which enhances the fit and prevents slippage.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate and not limit the technical solutions of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the present invention without departing from the spirit and scope of the present invention. Any modifications or partial substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A round pipe gripping robot, characterized in that, Include: Mechanical arm (1), the mechanical arm (1) is multi-section structure; Clamp mechanism, the clamp mechanism includes a plurality of clamping jaws (3), a plurality of clamping jaws (3) are axially distributed, the inner side of the clamping jaw (3) is provided with a abutting wheel; Wherein, the end of the mechanical arm (1) is provided with a driving body (2), the clamping jaw (3) is connected on the driving body (2) through the curved plate (5), the inside of the driving body (2) is provided with a driving assembly for driving the curved plate (5) to rotate, the clamp mechanism is arranged on the outside of the driving body (2), and the end of the driving body (2) is provided with a rotatable limiting plate (9).

2. A round tube gripping robot according to claim 1, characterized in that The number of the clamping jaw (3) is even, and a plurality of clamping jaws (3) are oppositely distributed, two curved plates (5) are mounted on each clamping jaw (3), one end of the curved plate (5) away from the corresponding clamping plate is rotatably mounted on the driving body (2), one end of the curved plate (5) extending to the inside of the driving body (2) is provided with a driving gear (6), and the oppositely arranged driving gears (6) are meshed and connected, and the inside of the driving body (2) is fixed with a first driving motor for driving any one driving gear (6) to rotate.

3. A round tube gripping robot according to claim 2, characterized in that The inner side of the front end of the clamping plate is provided with a convex plate (8), the compression roller (7) is rotatably mounted in the convex plate (8), and the inner side surface of the convex plate (8) is arc.

4. The round tube gripping robot according to claim 1, characterized in that, The inside of the clamping plate is provided with a let-out hole (31), and the inside of the clamping plate is provided with an inner tube (13) communicated with the let-out hole (31), the clamping plate is provided with an air pipe (4) communicated with the inner tube (13), and the air pipe (4) is communicated with an external air cylinder.

5. The round tube gripping robot according to claim 1, wherein Both ends of the compression roller (7) are provided with elastic components, and the elastic components apply pressure to the compression roller (7).

6. A round tube gripping robot according to claim 5, characterized in that Both ends of the compression roller (7) are fixed with a support shaft (12), the support shaft (12) is rotatably mounted on the sliding block (11), the sliding block (11) is mounted in the inside of the clamping plate, and the inside of the clamping plate is provided with an elastic body (10) abutting against the sliding block (11).

7. A round tube gripping robot according to claim 4, characterized in that The inside of the let-out hole (31) is provided with an arc surface matched with the compression roller (7), and the let-out hole (31) penetrates the arc surface of the convex plate (8).

8. The round tube gripping robot according to claim 1, characterized in that, The end of the limiting plate (9) is provided with anti-skid lines.

9. The round tube gripping robot according to claim 1, wherein The inside of the driving body (2) is provided with a second driving motor, and the limiting plate (9) is mounted on the output shaft of the second driving motor.

10. The round tube gripping robot according to claim 1, characterized in that, The mechanical arm (1) includes a large arm (101), a middle arm (102) and a small arm (103) which are sequentially hinged, the driving body (2) is fixed on the small arm (103), a first servo motor is mounted at the connecting joint of the large arm (101) and the middle arm (102), and a second servo motor is mounted at the connecting joint of the middle arm (102) and the small arm (103).

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