Intelligent machining manipulator for automation production

Abstract

This invention discloses an intelligent processing robot for automated production, relating to the field of pipe processing equipment technology. It includes a rotary table assembly, with an XZ-axis moving structure equipped with a laser cutter mounted on the fixed end of the rotary table assembly, and a drive structure configured on the moving end. The drive structure includes an air intake rotating part, the rotating end of which is equipped with a central shaft, an air bladder tube, a circular seat, and an air bladder ring. The air bladder tube is sleeved outside the central shaft and communicates with the air passage end of the air intake rotating part to form a variable-diameter inner support. The air bladder ring is sleeved inside the circular seat and communicates with the air passage end of the air intake rotating part, forming a clamping cavity with the inner support. The drive structure can rotate 90° with the rotary table assembly to achieve workstation switching. This invention uses pneumatically driven flexible clamping, adapting to various pipe specifications while protecting the pipe surface; the rotary workstation switching simplifies the structure and improves efficiency; it achieves precise coordination between laser cutting and pipe rotation, enabling complex circumferential pattern cutting, and is suitable for automated processing of precision pipes.

Description

Technical Field

[0001] This invention relates to the field of pipe processing equipment technology, and more specifically, to an intelligent processing robot for automated production. Background Technology

[0002] In the pipe processing process, especially in the surface pattern cutting of precision pipes (such as medical pipes with drug coatings and thin-walled industrial pipes), automated, high-precision, and highly adaptable processing equipment is the key to improving production efficiency and product quality.

[0003] Existing pipe processing robots generally suffer from the following technical defects: First, the clamping mechanism has poor adaptability. Rigid clamps are mostly used to fix the pipes, requiring frequent clamp changes for different pipe specifications. This not only increases equipment debugging time and reduces production efficiency but also makes it difficult to meet the needs of multi-variety, small-batch production. Second, rigid clamping can easily damage the pipe surface. For precision pipes with drug coatings or thin-walled pipes, the clamping force of rigid clamps is difficult to control precisely, which can easily damage the pipe surface coating or cause deformation of the thin-walled structure, affecting product performance. Third, the coordination between processing and loading / unloading is poor. The processing station and loading / unloading station of most machines are independent of each other, requiring additional complex transfer mechanisms to achieve pipe station switching. This results in a cumbersome overall equipment structure, a large footprint, and pipe positioning deviations during station switching, affecting cutting accuracy. Summary of the Invention

[0004] The purpose of this invention is to solve the problems mentioned in the background art above, and to propose an intelligent processing robot for automated production.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] An intelligent processing robot for automated production includes a rotary table assembly with a fixed end and a movable end. The fixed end of the rotary table assembly is equipped with an XZ-axis moving structure, and the Z-axis moving end of the XZ-axis moving structure is equipped with a laser cutter. The movable end of the rotary table assembly is equipped with a drive assembly for fixing and rotating the tube. After the drive assembly completes loading and processing operations at one workstation, it can rotate 90° to another workstation to perform unloading operations. The drive assembly includes components mounted on the movable end of the rotary table assembly. The air intake rotating part has a rotating end and an air passage end. The rotating end of the air intake rotating part is equipped with a central shaft and an air bladder tube. The air bladder tube is fixedly sleeved outside the central shaft and communicates with the air passage end of the air intake rotating part, so that an inner support with an adjustable diameter for inserting a tube is formed outside the central shaft. The inner support is located directly below the laser cutter. The rotating end of the air intake rotating part is also equipped with a circular seat and an air bladder ring coaxial with the inner support. The air bladder ring is fixedly sleeved inside the circular seat and communicates with the air passage end of the air intake rotating part, and forms a clamping cavity between the air bladder ring and the inner support for clamping one end of the tube.

[0007] Furthermore, the above solution includes a base; a housing is fixedly mounted on the base, and a fixed platform for supporting the XZ axial moving structure is installed on the top of the housing. A central opening is provided on the fixed platform, and an annular groove is coaxially formed on the inner wall of the central opening. A vertical roller is also rotatably mounted on the base. The vertical roller is connected to a rotary motor through a linkage. The top of the vertical roller extends into the central opening and is connected to a movable platform. An annular track that matches the annular groove is coaxially provided on the outer wall of the movable platform. A mounting seat for installing the air intake rotating part is provided on the top of the movable platform.

[0008] Furthermore, the above-mentioned scheme includes a rotating roller horizontally and rotatably mounted on the mounting base. The rotating roller is hollow and is connected to a drive motor through a transmission part. One end of the roller is connected to an air intake pipe for accessing an external air source through a rotary joint. The other end of the roller is provided with a disc box for mounting the central shaft, airbag tube, annular seat, and airbag ring. The disc box is provided with a first connecting pipe and a second connecting pipe for connecting the airbag tube and the rotating roller, and the airbag ring and the rotating roller, respectively. A first solenoid valve is installed on the first connecting pipe, and a second solenoid valve is installed on the second connecting pipe.

[0009] Furthermore, the above solution includes a central cavity formed in the middle of the airbag tube for connecting to the central axis, and several air holes are opened on the airbag tube. When the inner support is adapted to the tube material, the exhaust volume of the air holes is consistent with the air intake volume of the first solenoid valve, so that the air holes can stably discharge airflow.

[0010] Furthermore, the above solution includes a Teflon coating on the surface of the airbag tube to meet the operational requirements of the airbag tube and provide excellent protection for the tube material.

[0011] Furthermore, the above solution includes a plurality of pressure sensors electrically connected to the second solenoid valve embedded in the inner surface of the airbag ring. When the pressure value reaches a preset threshold, the second solenoid valve stops air intake; when the pressure value is lower than the preset threshold, the second solenoid valve continues to intake air until the preset threshold is reached, thus ensuring that the clamping force is always maintained within a safe and reliable range.

[0012] Furthermore, the above solution includes a support assembly on the moving platform; the support assembly includes a movable part disposed on the moving platform and connected to the X-axis moving end of the XZ-axis moving structure, the movable part being provided with a support part, the support part being located directly below the laser cutter and supporting the tubing from the outside.

[0013] Furthermore, the above-mentioned solution includes a slide rail arranged along the X-axis direction of the moving platform; a slider is provided on the slide rail, and the slider is connected to the X-axis moving end of the XZ-axis moving structure through a support rod, and a support is provided on the slider.

[0014] Furthermore, the above solution includes an outer tube vertically mounted on a slider, an inner tube slidably mounted inside the outer tube, a fixing block connected to the top of the inner tube, a spring between the fixing block and the slider, the spring being sleeved inside the outer tube and outside the inner tube, and a support seat on the fixing block, with several rubber balls on the support seat, the several balls forming a rolling contact surface for supporting the tube and having an arc or V-shaped structure.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. It adopts a pneumatic flexible clamping structure. Air is supplied to the airbag tube and airbag ring through the air intake rotating part, so that the airbag tube expands to form an inner support with a variable diameter. The expansion of the airbag ring and the inner support form a flexible clamping cavity. The support diameter and clamping force can be adjusted by inflating and deflating the air. It can adapt to the processing needs of various specifications of pipes. There is no need to change the clamps, which greatly shortens the equipment debugging time and improves the production efficiency. It is especially suitable for multi-variety small-batch production scenarios.

[0017] 2. The flexible clamping structure achieves bidirectional fixation of the tubing through flexible contact between the airbag tube and the airbag ring, avoiding the scratching of the tubing surface caused by rigid clamping and effectively protecting the integrity of the coating on the surface of precision tubing with drug coating; at the same time, the flexible clamping force can be precisely controlled, which will not cause deformation of the thin-walled tubing structure, significantly improving the product processing qualification rate.

[0018] 3. With the rotary table assembly as the core load-bearing unit, the drive assembly can rotate 90° with the moving end of the rotary table assembly, realizing rapid switching between the processing station and the unloading station. There is no need to set up a complicated transfer mechanism, which simplifies the overall structure of the equipment and reduces the footprint. At the same time, it can be used with a six-degree-of-freedom robot to realize automated loading and unloading, forming a complete automated cycle operation process, which greatly improves processing efficiency.

[0019] 4. The air intake rotating part drives the pipe to rotate at a uniform speed. In conjunction with the XZ axial moving structure, the spatial position of the laser cutter is adjusted, realizing precise coordinated control of the rotation of the laser cutter and the pipe. It can complete the circumferential continuous mesh or hole structure cutting of the pipe surface with high cutting accuracy and good pattern consistency. Moreover, the inner support and the clamping cavity are set coaxially to ensure accurate positioning during the rotation of the pipe, further improving the cutting accuracy.

[0020] 5. Through the design of "rotary station switching + pneumatic controllable clamping / support + precise motion and cutting coordination", and with the help of a six-degree-of-freedom robot, the automated loading and unloading of materials is completed, realizing the fully automated operation of pipe processing without human intervention, reducing labor costs, avoiding errors caused by manual operation, and improving processing stability. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the rotary table assembly.

[0023] Figure 3 for Figure 1 A magnified view of part A in the diagram;

[0024] Figure 4 This is a schematic diagram of the drive component.

[0025] Figure 5 for Figure 4 A magnified view of part B in the diagram;

[0026] Figure 6 A schematic diagram showing the installation location of the supporting components;

[0027] Figure 7 for Figure 6 A magnified view of part of C;

[0028] The components include: 1. Rotary table assembly; 11. Base; 12. Housing; 13. Fixed platform; 131. Center opening; 132. Annular slide groove; 14. Vertical roller; 15. Linkage unit; 16. Rotary motor; 17. Moving platform; 18. Annular track; 19. Mounting base; 2. XZ axial moving structure; 3. Laser cutter; 4. Drive assembly; 41. Air intake rotating part; 411. Rotating roller; 412. Transmission part; 413. Drive motor; 414. Rotary joint; 415. Disc box; 416. First connecting pipe; 417. Second connecting pipe; 418. First solenoid valve; 419. Second solenoid valve; 42. Central shaft; 43. Airbag tube; 431. Central cavity; 432. Air hole; 433. Teflon coating; 44. Circular seat; 45. Airbag ring; 451. Pressure sensor; 5. Support assembly; 51. Movable part; 511. Slide rail; 512. Slider; 513. Support rod; 52. Support part; 521. Outer tube; 522. Inner tube; 523. Fixing block; 524. Spring; 525. Support seat; 523. Ball bearing. Detailed Implementation

[0029] 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 a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. The present invention will be further described with reference to the accompanying drawings and embodiments:

[0030] A smart machining robot for automated production, see attached document. Figure 1 -Appendix Figure 5As shown, the device includes a rotary table assembly 1, which has a fixed end and a movable end. The fixed end of the rotary table assembly 1 is equipped with an XZ-axis moving structure 2, and the Z-axis moving end of the XZ-axis moving structure 2 is equipped with a laser cutter 3. The movable end of the rotary table assembly 1 is equipped with a drive assembly 4, which is used to fix and rotate the pipe. After the drive assembly 4 completes the loading and processing operations at one workstation, it can rotate 90° to the other workstation to perform the unloading operation. During the pipe loading and unloading process, it can be used in conjunction with a six-degree-of-freedom robot in the prior art to complete the automated loading and unloading process of pipe processing. Furthermore, the drive assembly 4 includes an air intake rotating part 41 mounted on the moving end of the rotary table assembly 1. The air intake rotating part 41 has a rotating end and an air passage end. The rotating end of the air intake rotating part 41 is equipped with a central shaft 42 and an air bladder tube 43. The air bladder tube 43 is fixedly sleeved outside the central shaft 42 and communicates with the air passage end of the air intake rotating part 41, so that an inner support with an adjustable diameter for inserting a tube is formed outside the central shaft 42. The inner support is located directly below the laser cutter 3, ensuring that the laser cutter 3 can accurately complete the pattern cutting action on the surface of the tube in cooperation with the air intake rotating part 41 when it is working. In addition, the rotating end of the air intake rotating part 41 is also equipped with a circular seat 44 and an air bladder ring 45 coaxial with the inner support. The air bladder ring 45 is fixedly sleeved inside the circular seat 44 and communicates with the air passage end of the air intake rotating part 41, and forms a clamping cavity between it and the inner support for clamping one end of the tube.

[0031] In this solution, the intelligent processing robot achieves automated pipe processing through "rotational station switching + pneumatically driven controllable clamping / support + precise motion and cutting coordination". Its structure adopts a modular design, with the rotary table assembly 1 as the core load-bearing unit. The XZ-axis moving structure 2 at the fixed end drives the laser cutter 3 to achieve spatial position adjustment. Simultaneously, the integrated drive assembly 4 has both gas transmission and rotational drive functions. Air supply at the pneumatic end causes the outer air bladder tube 43 of the central shaft 42 to expand, forming a flexible inner support with a variable diameter. The inner air bladder ring 45 of the circular seat 44 expands and forms a flexible clamping cavity with the inner support. The two work coaxially to achieve bidirectional fixation of the pipe. The rotating end drives the pipe to rotate at a uniform speed, allowing the laser cutter 3 to complete continuous circumferential cutting (mesh or perforated structure) along a preset path. This solution features strong flexible clamping adaptability, adjusting the support diameter and clamping force through inflation and deflation, adapting to multiple pipe specifications without requiring clamp changes, and the flexible contact further protects the drug coating and thin-walled structure of the precision pipe surface. In use, a six-degree-of-freedom robot transports the pipe to one side of the workstation and inserts one end of the pipe into the clamping cavity formed by the inner support and the airbag ring 45. The air intake rotating part 41 vents air to inflate the airbag tube 43 to form the inner support, and the airbag ring 45 inflates to clamp the pipe. The XZ axis moving structure 2 adjusts the laser cutter 3 to the designated position. The air intake rotating part 41 drives the pipe to rotate, and the laser cutter 3 completes the surface pattern cutting. After processing, the air intake rotating part 41 exhausts air and releases the pipe. The rotating table assembly 1 drives the drive assembly 4 to rotate 90° to the other side of the workstation, where the six-degree-of-freedom robot completes the unloading, realizing automated cyclic operation.

[0032] Specifically, for rotary table assembly 1, refer to Appendix Figure 1 and attached Figure 2 As shown, the rotary table assembly 1 includes a base 11; a housing 12 is fixedly mounted on the base 11, and a fixed platform 13 for supporting the XZ axial moving structure 2 is mounted on the top of the housing 12. The fixed platform 13 has a central opening 131, and an annular groove 132 is coaxially formed on the inner wall of the central opening 131; a vertical roller 14 is also rotatably mounted on the base 11, and the vertical roller 14 is connected to a rotary motor 16 through a linkage 15, wherein the linkage 15 can be any one of the existing technology of gear transmission, belt transmission or chain transmission; the top of the vertical roller 14 extends into the central opening 131 and is connected to a movable platform 17, and an annular track 18 that matches the annular groove 132 is coaxially formed on the outer wall of the movable platform 17, and a mounting seat 19 for mounting the air intake rotating part 41 is provided on the top of the movable platform 17.

[0033] This solution uses a linkage unit 15 to drive the vertical roller 14 to rotate, which in turn drives the moving table 17 to rotate. Simultaneously, precise guidance is achieved through the cooperation of the annular groove 132 on the inner wall of the center opening 131 of the fixed table 13 and the annular track 18 on the outer wall of the moving table 17. In use, the fixed end of the rotary table assembly 1 carries the XZ-axis moving structure 2 and the laser cutter 3 via the fixed table 13, while the moving end is equipped with the drive assembly 4 via the mounting base 19. During loading and processing, the drive assembly 4 is positioned on one side of the workstation. After processing, the rotary motor 16 drives the vertical roller 14 to rotate the moving table 17 and the drive assembly 4 90° to the other side of the workstation to complete unloading. The entire process coordinates with a six-degree-of-freedom robot to achieve coordinated loading and unloading, ensuring automated workflow. The 90° compact rotation stroke allows for close switching between processing and loading / unloading stations, significantly shortening the workstation flow path, reducing the movement and waiting time of the six-degree-of-freedom robot, improving the overall production line efficiency, and avoiding the problem of excessive space occupation caused by long-distance multi-workstation layouts, thus adapting to compact workshop layouts.

[0034] For the above scheme, please refer to the appendix for details. Figure 3 -Appendix Figure 5 As shown, the air intake rotating part 41 includes a rotating roller 411 that is horizontally and rotatably mounted on the mounting base 19. The rotating roller 411 is hollow and is connected to a drive motor 413 through a transmission part 412. One end of the roller is connected to an air intake pipe for accessing an external air source through a rotary joint 414. The other end of the roller is provided with a disc box 415 for mounting the central shaft 42, airbag tube 43, annular seat 44 and airbag ring 45. The disc box 415 is provided with a first connecting pipe 416 and a second connecting pipe 417 for connecting the airbag tube 43 and the rotating roller 411, and the airbag ring 45 and the rotating roller 411. A first solenoid valve 418 is installed on the first connecting pipe 416, and a second solenoid valve 419 is installed on the second connecting pipe 417.

[0035] This design uses a hollow rotating roller 411 as the core carrier, which is horizontally mounted on the mounting base 19. It obtains rotational power by connecting to the drive motor 413 through the transmission part 412, and forms a closed air passage with the rotating joint 414 and the air inlet pipe of the external air source through the hollow structure, so that the external air source can be stably input into the interior of the rotating roller 411. The disc box 415 at the other end of the rotating roller 411 serves as a component integration platform. The airflow inside the rotating roller 411 is guided to the airbag tube 43 and the airbag ring 45 through the first connecting pipe 416 and the second connecting pipe 417, respectively. At the same time, the first solenoid valve 418 of the first connecting pipe 416 adjusts the air intake of the airbag tube 43, and the second solenoid valve 419 of the second connecting pipe 417 controls the opening and closing of the air passage of the airbag ring 45, so as to achieve independent control of the flexible support and the flexible clamping cavity. In use, first connect the air inlet pipe to the hollow rotating roller 411 via the rotary joint 414 to ensure a sealed air passage. Before clamping the tubing, close the first solenoid valve 418 of the first connecting pipe 416 and the second solenoid valve 419 of the second connecting pipe 417, so that the airbag tube 43 and airbag ring 45 are in a contracted state. Then, insert the tubing into the central shaft 42 and extend it into the clamping cavity. Next, open the first solenoid valve 418 to inflate the airbag tube 43 until it expands to form a stable internal support. Finally, open the second solenoid valve 419 to inflate the airbag. Air is introduced into ring 45 until it clamps the tube with the inner support. During this process, the clamping force can be finely adjusted by the first solenoid valve 418. During processing, the drive motor 413 is started, which drives the rotating roller 411, the disc box 415 and the tube to rotate at a constant speed through the transmission part 412. The air circuit continuously supplies air to maintain the stability of the clamping. After processing is completed, the drive motor 413 is turned off first, then the first solenoid valve 418 and the second solenoid valve 419 are turned off. After the airbag tube 43 and the airbag ring 45 retract, the bracket is taken out, and finally the air source is disconnected.

[0036] For the above scheme, please refer to the appendix for details. Figure 3 -Appendix Figure 5 As shown, a central cavity 431 for connecting to the central shaft 42 is formed in the middle of the airbag tube 43. Several air holes 432 are opened on the airbag tube 43. When the inner support is adapted to the tube, the exhaust volume of the air holes 432 is consistent with the air intake volume of the first solenoid valve 418, so that the air holes 432 stably discharge airflow.

[0037] This design ensures that the central cavity 431 is tightly fitted with the central axis 42 during inflation, providing stable coaxial internal support for the tube and preventing support misalignment from affecting cutting accuracy. When the air bladder tube 43 is inflated to fully fit the inner wall of the tube (forming a suitable internal support), the air hole 432 will continuously discharge some airflow. This discharge volume is precisely matched with the air intake volume of the first solenoid valve 418 controlling the air bladder tube 43. This balanced design not only maintains a constant internal air pressure in the air bladder tube 43 and ensures stable support force, but also allows the discharged airflow to form double protection during the cutting process. First, a micro-air film is formed between the inner wall of the tube and the air bladder tube 43, reducing the friction of the inner wall during tube rotation and preventing damage to the drug coating on the tube surface. Second, the airflow can carry away the trace dust and local heat generated by laser cutting in real time, preventing dust adhesion from affecting the cleanliness of the tube, or high temperature from causing tube material deformation and drug coating failure. In use, close the first solenoid valve 418 of the first connecting pipe 416 to make the airbag tube 43 fully contracted. Slowly insert the tube to be processed into the outside of the airbag tube 43, ensuring that one end of the tube can extend into the clamping cavity. Then open the first solenoid valve 418 to inflate the airbag tube 43 and observe the fit between the tube and the airbag tube 43 until the airbag tube 43 expands to completely fit the inner wall of the tube. During this process, the internal air pressure can be confirmed by a pressure gauge to reach the preset support value. At this time, the air hole 432 begins to discharge air, and the device will automatically ensure that the discharge volume is consistent with the air intake volume of the first solenoid valve 418. After processing is completed, first close the first solenoid valve 418 to stop the air supply. After the airbag tube 43 is fully contracted and detached from the inner wall of the tube, the tube can be removed.

[0038] In addition, considering the effectiveness of the airbag tube 43, please refer to the attached document. Figure 4 As shown, the surface of the airbag tube 43 is coated with a Teflon coating 433, which has low friction, chemical stability, aging resistance and non-stick properties that can fully meet the working requirements of the airbag tube 43, and has good protection and compatibility for the tube material.

[0039] In addition, to further improve the effectiveness of the clamping cavity, please refer to the attached document. Figure 4 As shown, the inner surface of the airbag ring 45 is sealed with multiple pressure sensors 451 electrically connected to the second solenoid valve 419. By monitoring the clamping pressure of the clamping cavity in real time, when the airbag ring 45 is inflated to clamp the tube, the pressure sensors 451 convert the detected clamping force into an electrical signal and transmit it to the control system in real time. If the pressure value reaches the preset threshold, the control system immediately controls the second solenoid valve 419 to stop the air intake; if the pressure value is lower than the preset threshold, the control system controls the second solenoid valve 419 to continue to intake air until the preset threshold is reached, thereby increasing the expansion force of the clamping cavity to enhance the clamping stability and ultimately keeping the clamping force within a safe and reliable range.

[0040] In order to further improve the stability and protective effect of the support during the drug support processing, the above scheme is described in reference to the appendix. Figure 6 and attached Figure 7 As shown, a support assembly 5 is provided on the moving stage 17. The support assembly 5 includes an active part 51 that is provided on the moving stage 17 and connected to the X-axis moving end of the XZ-axis moving structure 2. A support part 52 is provided on the active part 51. The support part 52 is located directly below the laser cutter 3 and supports the tube from the outside.

[0041] This design utilizes a movable part 51 connected to the X-axis moving end of the XZ-axis moving structure 2 to achieve synchronous lateral movement of the support part 52 and the laser cutter 3. This ensures that the support part 52 always provides external support to the pipe directly below the laser cutter. In this design, the coordinated internal and external support significantly counteracts the rotational centrifugal force and cutting impact force, preventing deformation or vibration of the thin-walled pipe. The synchronous movement design adapts to different cutting positions and simplifies the structure. During use, after the pipe is clamped by the internal support, the support part 52 conforms to the outer wall of the bracket to form external support. During cutting, the movable part 51 moves synchronously with the X-axis moving end of the XZ-axis moving structure 2 to maintain precise support positioning. After processing, pressure is released to allow the support part 52 to retract and detach from the pipe.

[0042] Specifically, refer to the appendix Figure 7 As shown, the movable part 51 includes a slide rail 511 arranged along the X-axis of the movable stage 17. A slider 512 is provided on the slide rail 511. The slider 512 is connected to the X-axis moving end of the XZ-axis moving structure 2 via a support rod 513. A support part 52 is disposed on the slider 512. In this design, the slide rail 511 arranged along the X-axis of the movable stage provides a directional moving track for the slider 512. The slider 512 is rigidly connected to the X-axis moving end of the XZ-axis moving structure 2 via the support rod 513. When the X-axis moving end of the XZ-axis moving structure 2 moves the laser cutter 3, the slider 512 is simultaneously pulled along the slide rail 511 by the support rod 513. This causes the support part 52 on the slider 512 to move in the same position as the laser cutter 3 in the X-axis direction, ensuring that the support part 52 always accurately corresponds to the cutting area.

[0043] Specifically, refer to the appendix Figure 7As shown, the support part 52 includes an outer tube 521 vertically disposed on the slider 512, an inner tube 522 slidably disposed inside the outer tube 521, a fixing block 523 connected to the top of the inner tube 522, a spring 524 disposed between the fixing block 523 and the slider 512, the spring 524 being sleeved inside the outer tube 521 and outside the inner tube 522, and a support seat 525 disposed on the fixing block 523, and a plurality of rubber balls 526 disposed on the support seat 525, the plurality of balls 526 together forming a rolling contact surface for supporting the tube and having an arc or V-shaped structure. In this design, after the pipe is fixed by the inner support and clamping cavity, the arc-shaped or V-shaped rolling contact surface of the support part 52 naturally fits against the outer wall of the pipe to form external support. The spring 524 adaptively extends and retracts to adjust the support force according to the pipe diameter. During the processing, the slider 512 moves synchronously along the slide rail 511 with the X-axis moving end of the X-axis moving structure 2, so that the support part 52 always accurately corresponds to the laser cutting area and continuously provides stable support. After the processing is completed, the pipe rotates with the drive component 4 to the unloading station. The air intake rotating part 41 exhausts and releases the pipe. The support part 52 maintains its initial state under the reset action of the spring 524. After the six-degree-of-freedom robot takes away the pipe, it waits for the next round of clamping and support operations.

[0044] The foregoing has shown and described 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 embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent processing robot for automated production, characterized in that: It includes a rotary table assembly (1), which has a fixed end and a movable end; The fixed end of the rotary table assembly (1) is equipped with an XZ axis moving structure (2), and the Z axis moving end of the XZ axis moving structure (2) is equipped with a laser cutter (3). The rotating table assembly (1) is equipped with a drive assembly (4) at its moving end. The drive assembly (4) is used to fix and rotate the pipe. After the drive assembly (4) completes the loading and processing operations at one side station, it can drive the drive assembly (4) to rotate 90° to the other side station to perform the unloading operation. The drive assembly (4) includes an air intake rotating part (41) mounted on the moving end of the rotary table assembly (1), the air intake rotating part (41) having a rotating end and an air passage end; The rotating end of the air intake rotating part (41) is equipped with a central shaft (42) and an airbag tube (43). The airbag tube (43) is fixedly sleeved on the outside of the central shaft (42) and connected to the air passage end of the air intake rotating part (41), so that an inner support with an adjustable diameter and into which a tube can be inserted is formed on the outside of the central shaft (42). The inner support is located directly below the laser cutter (3). The rotating end of the air intake rotating part (41) is also equipped with a circular seat (44) and an airbag ring (45) coaxial with the inner support. The airbag ring (45) is fixedly sleeved inside the circular seat (44) and communicates with the air passage end of the air intake rotating part (41), and forms a clamping cavity with the inner support for clamping one end of the pipe. The rotary table assembly (1) includes a base (11); A housing (12) is fixed on the base (11). A fixed platform (13) for supporting the XZ axial moving structure (2) is installed on the top of the housing (12). A central opening (131) is opened on the fixed platform (13). A ring-shaped sliding groove (132) is coaxially opened on the inner wall of the central opening (131). A vertical roller (14) is rotatably mounted on the base (11). The vertical roller (14) is connected to the rotary motor (16) via a linkage (15). The top of the vertical roller (14) extends into the center opening (131) and is connected to a moving platform (17). The outer wall of the moving platform (17) is coaxially provided with a ring track (18) that matches the ring slide groove (132). The top of the moving platform (17) is provided with a mounting seat (19) for installing the air intake rotating part (41). The intake rotating part (41) includes a rotating roller (411) that is horizontally and rotatably mounted on the mounting base (19). The rotating roller (411) is hollow and is connected to a drive motor (413) via a transmission part (412). One end of the roller is connected to an air inlet pipe for accessing an external air source via a rotary joint (414). The other end of the roller is provided with a disc box (415) for installing the central shaft (42), airbag tube (43), ring seat (44) and airbag ring (45). The disc box (415) is provided with a first connecting pipe (416) and a second connecting pipe (417) for connecting the airbag tube (43) and the rotating roller (411), and the airbag ring (45) and the rotating roller (411). A first solenoid valve (418) is installed on the first connecting pipe (416), and a second solenoid valve (419) is installed on the second connecting pipe (417). A central cavity (431) for connecting to the central shaft (42) is formed in the middle of the airbag tube (43). Several air holes (432) are opened on the airbag tube (43). When the inner support is adapted to the tube material, the exhaust volume of the air hole (432) is consistent with the air intake volume of the first solenoid valve (418), so that the air hole (432) can stably discharge airflow. The inner surface of the airbag ring (45) is sealed with multiple pressure sensors (451) that are electrically connected to the second solenoid valve (419). When the pressure value reaches the preset threshold, the second solenoid valve (419) stops air intake; when the pressure value is lower than the preset threshold, the second solenoid valve (419) continues to intake air until the preset threshold is reached, so that the clamping force is always maintained in a safe and reliable range.

2. The intelligent processing robot for automated production according to claim 1, characterized in that: The mobile station (17) is provided with a support component (5); The support assembly (5) includes an active part (51) disposed on the moving stage (17) and connected to the X-axis moving end of the XZ-axis moving structure (2). The active part (51) is provided with a support part (52), which is located directly below the laser cutter (3) and supports the tubing from the outside.

3. The intelligent processing robot for automated production according to claim 2, characterized in that: The movable part (51) includes a slide rail (511) arranged along the X-axis direction of the moving platform (17). The slide rail (511) is provided with a slider (512), the slider (512) is connected to the X-axis moving end of the XZ axial moving structure (2) through the support rod (513), and the support part (52) is set on the slider (512).

4. The intelligent processing robot for automated production according to claim 3, characterized in that: The support (52) includes an outer tube (521) vertically disposed on the slider (512); An inner tube (522) is slidably disposed inside the outer tube (521). A fixed block (523) is connected to the top of the inner tube (522). A spring (524) is provided between the fixed block (523) and the slider (512). The spring (524) is sleeved inside the outer tube (521) and outside the inner tube (522). A support seat (525) is provided on the fixed block (523). Several rubber balls (526) are provided on the support seat (525). The balls (526) together form a rolling contact surface for supporting the tube and having an arc or V-shaped structure.

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