Online pipe threading industrial robot and its application in crosslinked polyethylene pipe production

Abstract

The application provides an online pipe threading industrial robot and application thereof in cross-linked polyethylene pipe production, and belongs to the technical field of industrial robots. The online pipe threading industrial robot comprises a placing frame, a mounting frame, a traction assembly and a sliding assembly. The sliding assembly acts on a metal bellows through a first limiting assembly, so that the metal bellows is axially compressed and reset. A second limiting assembly cooperates with the first limiting assembly, so that the reciprocating sliding of the first limiting assembly drives the traction rod to move in one direction step by step. The step-by-step circulating movement mechanism is used for driving the traction rod to enter from one end of the metal bellows and gradually move out of the metal bellows. The length of the metal bellows is not limited, the use cost of the factory area is reduced, and the intensive use of the production space is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of industrial robot technology, specifically relating to an online pipe-threading industrial robot and its application in the production of cross-linked polyethylene pipes. Background Technology

[0002] With the continuous improvement of industrial production automation, industrial robots are increasingly widely used in pipeline installation. For pipeline installation, the use of robot-guided methods offers significant advantages in improving work efficiency, ensuring work quality, and enhancing operational safety. In the production of cross-linked polyethylene (XLPE) pipes, after the pipe material is shaped, an industrial robot is used for online installation, allowing the XLPE pipe to be inserted into the corrugated sleeve, forming a composite pipe structure for the transportation of hot and cold water within buildings.

[0003] Cross-linked polyethylene (XLPE) pipes possess excellent temperature resistance, corrosion resistance, and long-term creep resistance, making them primarily used in building hot and cold water supply systems, district heating, and underfloor heating systems. By inserting XLPE pipes into corrugated sleeves, in the event of a pipe failure, the XLPE pipe inside the corrugated sleeve can be easily removed and replaced with a new one, facilitating future maintenance. Currently, utilizing industrial robots to automate pipe insertion has become an important development direction in this field.

[0004] In existing technologies, pipe-threading industrial robots typically use the following method to thread inner liner tubes: a clamp is set at the end of a long rod. When threading the tube, the long rod is first inserted into one end of the metal corrugated pipe and extends out from the other end. Then, the inner liner tube is clamped and fixed by the clamp at the end of the long rod, so that the inner liner tube is fixed at the end of the long rod. After that, the long rod is reset. During the reset process, the long rod drives the inner liner tube to move together and thread it into the inside of the metal corrugated pipe, thus achieving the purpose of threading the tube.

[0005] However, when using the aforementioned tube-threading method to thread longer cross-linked polyethylene tubes, the corresponding corrugated metal tube also needs to be relatively long, thus requiring the long rod to be sufficiently long. During the threading process, after clamping the inner liner tube, the long rod needs to perform a reset and translational movement to slide out of the corrugated metal tube. This results in the entire tube-threading industrial robot occupying an excessively large area in the lateral direction, thereby increasing the cost of factory space and limiting the overall layout flexibility of the industrial robot in tube-threading operations.

[0006] To address the aforementioned problems, this invention proposes an online pipe-threading industrial robot and its application in the production of cross-linked polyethylene pipes. Summary of the Invention

[0007] To address the problems existing in the background art, the present invention provides an online pipe-threading industrial robot and its application in the production of cross-linked polyethylene pipes.

[0008] To achieve the above objectives, the present invention provides the following technical solution: Online tube-threading industrial robot, used to thread inner liner tubes into metal corrugated pipes, including: A placement rack, wherein the placement rack is provided with a placement slot; The mounting bracket is located above the placement rack; The traction assembly includes a traction rod and a second limiting assembly. The end of the traction rod is connected to the inner liner tube. The traction rod passes through the interior of the metal bellows. The second limiting assembly forms a one-way limiting fit with the inner trough of the metal bellows. A sliding assembly, disposed on the placement frame and mounting frame, includes a first limiting assembly and a driving assembly. The first limiting assembly forms a limiting engagement with the outer trough of the metal bellows, and the driving assembly is used to drive the first limiting assembly to slide axially back and forth. The sliding component acts on the metal bellows through the first limiting component, causing the metal bellows to undergo axial compression and reset. The second limiting component cooperates with the first limiting component, so that the reciprocating sliding of the first limiting component drives the traction rod to move in one direction.

[0009] Furthermore, the first limiting component includes a limiting block and an electric telescopic rod. The telescopic end of the electric telescopic rod is fixedly connected to the limiting block. The limiting block is used to insert into or disengage from the outer trough of the metal bellows under the drive of the electric telescopic rod.

[0010] Furthermore, the driving assembly includes a first electrically controlled slide rail and a second electrically controlled slide rail. The first electrically controlled slide rail is fixedly connected to both the placement frame and the mounting frame. A sliding plate is slidably connected inside the first electrically controlled slide rail. The second electrically controlled slide rail is mounted on the sliding plate, and a sliding block is slidably connected inside the second electrically controlled slide rail. The electric telescopic rod is mounted on the sliding block of the second electrically controlled slide rail and the end of the sliding plate. The first electrically controlled slide rail is used to drive the sliding plate to slide axially along the metal bellows, and the second electrically controlled slide rail is used to drive the electric telescopic rod and the limiting block to slide axially along the metal bellows.

[0011] Furthermore, the second limiting component includes an inclined block and a first spring. The inclined block is slidably connected to the traction rod in a radial direction, and the inclined surface of the inclined block is arranged facing the insertion direction of the traction rod. The two ends of the first spring are fixedly connected to the inclined block and the traction rod, respectively.

[0012] Furthermore, the end of the traction rod is provided with a slot for fixing the inner lining tube, and the traction rod is provided with a clamping assembly, which includes a clamping plate, a second spring and an electrically controlled push rod. The clamping plate is slidably connected to the traction rod and located at the slot. The two ends of the second spring are fixedly connected to the clamping plate and the traction rod respectively. The electrically controlled push rod is fixedly connected inside the traction rod. The telescopic end of the electrically controlled push rod is provided with an inclined surface for pushing the clamping plate to move outward to clamp the inner lining tube.

[0013] Furthermore, a cylinder is fixedly connected to the mounting bracket, and the cylinder is used to fix the mounting bracket to an external fixed bracket to drive the mounting bracket to move closer to or away from the placement bracket.

[0014] Furthermore, the diameter of the placement groove is adapted to the outer diameter of the metal bellows, and the diameter of the traction rod is adapted to the inner diameter of the metal bellows.

[0015] The present invention also provides a method for producing cross-linked polyethylene pipes, which uses an online pipe-threading industrial robot as described above to thread the cross-linked polyethylene pipe as an inner lining pipe into a metal corrugated pipe.

[0016] The present invention has the following beneficial effects: 1. In this application, the traction component and the sliding component together form a stepping cyclic movement mechanism. The stepping cyclic movement mechanism is used to drive the traction rod to enter from one end of the metal bellows and gradually move it out of the metal bellows. This method is not limited by the total length of the metal bellows and can complete the tube insertion only through multiple stepping displacements. Therefore, in the production line layout, the lateral length occupied by the tube insertion industrial robot can be significantly reduced, reducing the cost of factory floor space utilization, which is conducive to the intensive use of production space, and also facilitates the flexible layout and integration of industrial robots in the production line.

[0017] 2. This application utilizes the inherent circumferential corrugated structure of the metal bellows, and through the limiting cooperation between the first limiting component and the outer corrugated valley of the metal bellows, and the unidirectional limiting cooperation between the second limiting component and the inner corrugated valley, it realizes the compression, elongation and reset of the metal bellows and the step-by-step drive of the traction rod. Attached Figure Description

[0018] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent upon reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of the invention are illustrated by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the front cross-sectional structure of the present invention; Figure 3 This is a partial front view cross-sectional structural schematic diagram of the present invention; Figure 4 This is a schematic diagram showing the state of the limiting block of the present invention acting on the outer trough of the metal bellows; Figure 5 This is a schematic diagram showing the state of the inclined block of the present invention acting on the inner trough of the metal bellows; Figure 6 This is a schematic diagram showing the state of the limiting block and the inclined block acting together on the metal bellows according to the present invention; Figure 7 This is a partial structural diagram of the traction component of the present invention; Figure 8 This is a schematic diagram of the first limiting component structure of the present invention; Figure 9 This is a distribution diagram of the inclined blocks on the surface of the traction rod of the present invention; Figure 10 This is a distribution diagram of the clamping blocks at one end of the traction rod of the present invention; Figure 11 This is a cross-sectional view of the traction rod of the present invention; Figure 12 This is a cross-sectional view of the first limiting component of the present invention limiting the metal bellows; Figure 13 This is a schematic diagram of the placement rack structure of the present invention; Figure 14 This is a state diagram of the first limiting component of the present invention limiting the metal bellows; Figure 15 This is a diagram showing the state of the traction rod being inserted into the metal bellows of the present invention; Figure 16 This is a simplified diagram of the initial state of the traction rod after it is inserted into the metal bellows of the present invention. Figure 17 This is a simplified diagram of the state of the traction rod after one displacement according to the present invention.

[0019] Explanation of reference numerals in the attached figures: 1. Placement rack; 2. Placement slot; 3. End face; 4. Cylinder; 5. Mounting bracket; 6. First electrically controlled slide rail; 7. Sliding plate; 8. Second electrically controlled slide rail; 9. Electric telescopic rod; 10. Limiting block; 11. Fixing rod; 12. Traction rod; 13. Inclined block; 14. First spring; 15. Slot; 16. Clamping plate; 17. Second spring; 18. Electrically controlled push rod; 19. Inclined surface; 20. Metal corrugated pipe; 21. Outer trough; 22. Inner trough; 23. Inner liner tube. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art should understand that the embodiments described below are only some, not all, of the embodiments disclosed. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1-17 As shown, the technical solution adopted by the present invention is as follows: The present invention relates to the application of an online tube-threading industrial robot in the production of cross-linked polyethylene pipes. The online tube-threading industrial robot is used to thread the inner liner 23 into the metal corrugated pipe 20, and includes a placement frame 1, a mounting frame 5, a traction assembly, and a sliding assembly.

[0022] Among them, such as Figure 1 , Figure 13 and Figure 14 As shown, the top of the placement rack 1 is provided with a placement groove 2, the diameter of which is adapted to the outer diameter of the metal corrugated pipe 20, for accommodating and positioning the metal corrugated pipe 20. One end of the placement groove 2 is provided with an end face 3. When the metal corrugated pipe 20 is placed in the placement groove 2, its end is in contact with the end face 3 to achieve axial positioning.

[0023] Mounting bracket 5 is positioned above placement bracket 1. Multiple cylinders 4 are fixedly connected to the top of mounting bracket 5, and these cylinders 4 are used for fixed connection with an external mounting bracket (not shown in the figure). By controlling the extension and retraction of the cylinders 4, the mounting bracket 5 can be driven to move closer to or further away from placement bracket 1, thereby facilitating the placement and removal of the metal corrugated pipe 20.

[0024] The traction assembly includes a traction rod 12 and a second limiting assembly disposed on the traction rod 12. The second limiting assembly is used to form a one-way limiting engagement with the inner trough 22 of the metal bellows 20.

[0025] Furthermore, the diameter of the traction rod 12 is adapted to the inner diameter of the metal bellows 20 for insertion into the metal bellows 20.

[0026] Furthermore, a slot 15 is provided at one end of the traction rod 12 for the insertion of the end of the inner liner tube 23.

[0027] Furthermore, the tow bar 12 can be made of lightweight materials, and weight-reducing holes can be drilled in the location where there is no mounting structure inside the tow bar 12 to reduce the overall weight of the tow bar 12.

[0028] Specifically, such as Figure 5 , Figure 9 and Figure 11As shown, the second limiting component includes inclined blocks 13 and a first spring 14. Multiple inclined blocks 13 are slidably connected to both sides of the traction rod 12 in a radial direction. The two ends of the first spring 14 are fixedly connected to the inclined blocks 13 and the traction rod 12, respectively.

[0029] The inclined block 13 extends beyond the surface of the traction rod 12 under the elastic action of the first spring 14, and is used to insert into the inner trough 22 of the metal bellows 20. The inclined surface of the inclined block 13 is oriented towards the insertion direction of the traction rod 12, so that when the traction rod 12 is inserted into the metal bellows 20, the inclined block 13 can smoothly pass through the inner trough 22 under compression. The inclined block 13 is made of lightweight material, and the elastic value of the first spring 14 is small, only sufficient to support the inclined block 13 in the extended state.

[0030] In addition, the traction rod 12 is equipped with a clamping assembly for fixing the inner liner tube 23 into the slot 15.

[0031] Specifically, such as Figure 11 As shown, the clamping assembly includes a clamping plate 16, a second spring 17, and an electrically controlled push rod 18. Multiple clamping plates 16 are radially slidably connected to the traction rod 12. The clamping plates 16 are located at the slot 15. The two ends of the second spring 17 are fixedly connected to the clamping plates 16 and the traction rod 12, respectively. The electrically controlled push rod 18 is fixedly connected inside the traction rod 12. The telescopic end of the electrically controlled push rod 18 is provided with an inclined surface 19.

[0032] A battery (not shown) is installed inside the traction rod 12, which can be driven by the electrically controlled push rod 18. When the electrically controlled push rod 18 extends, its telescopic end pushes the clamping plate 16 outward through the inclined surface 19, and the second spring 17 is stretched, thereby clamping the inner liner tube 23 in the fixing slot 15. When the electrically controlled push rod 18 retracts, the clamping plate 16 moves inward to reset under the elastic action of the second spring 17, releasing the clamping of the inner liner tube 23.

[0033] The sliding assembly is disposed on the placement frame 1 and the mounting frame 5. The sliding assembly includes a first limiting assembly and a driving assembly. The first limiting assembly is used to form a limiting engagement with the outer trough 21 of the metal bellows 20, and the driving assembly is used to drive the first limiting assembly to slide back and forth along the axial direction of the metal bellows 20.

[0034] Specifically, such as Figure 3 , Figure 7 and Figure 12 As shown, the drive assembly includes a first electrically controlled slide rail 6 and a second electrically controlled slide rail 8. The first electrically controlled slide rail 6 is fixedly connected to the inside of the placement frame 1 and the bottom of the mounting frame 5. A sliding plate 7 is slidably connected inside the first electrically controlled slide rail 6. The second electrically controlled slide rail 8 is mounted on the sliding plate 7. A sliding block is slidably connected inside the second electrically controlled slide rail 8. A first limiting component is provided on the end of the sliding plate 7 and the sliding block of the second electrically controlled slide rail 8.

[0035] Specifically, such as Figure 3 , Figure 4 , Figure 7 and Figure 8 As shown, the first limiting component includes a limiting block 10 and an electric telescopic rod 9. The electric telescopic rod 9 is fixedly installed on the end of the sliding plate 7 and on the sliding block of the second electrically controlled slide rail 8. The telescopic end of the electric telescopic rod 9 is fixedly provided with the limiting block 10; the end of the limiting block 10 is provided with several arc-shaped protrusions, shaped like... Figure 8 As shown, its end can be inserted into the outer trough 21 of the metal bellows 20. Two fixed rods 11 are fixedly connected to the end of the sliding plate 7 and the sliding block of the second electric slide rail 8. The limiting block 10 is slidably connected to the two fixed rods 11 to ensure the stability of the extension and retraction movement of the limiting block 10.

[0036] In this embodiment, the placement frame 1 is provided with two electric telescopic rods 9 (located on both sides below the metal corrugated pipe 20 respectively), and the mounting frame 5 is provided with two electric telescopic rods 9 (located on both sides above the metal corrugated pipe 20 respectively). A total of four limiting blocks 10 clamp and limit the metal corrugated pipe 20.

[0037] Working principle: In use, first place the metal corrugated pipe 20 in the placement groove 2, and make the end of the metal corrugated pipe 20 contact the end face 3. The placement state is as follows. Figure 14 As shown. Before placing the metal bellows 20, the cylinder 4 is in a retracted state, which moves the mounting bracket 5 away from the placement bracket 1, thus making space for placing the metal bellows 20.

[0038] After placement, cylinder 4 extends, bringing the mounting bracket 5 close to the placement bracket 1. Cylinder 4 closes when the bracket reaches the preset position. Then, both electric telescopic rods 9 on the placement bracket 1 and the mounting bracket 5 extend simultaneously, bringing the four limiting blocks 10 close to the metal bellows 20. When all four limiting blocks 10 are inserted into the outer trough 21, the four electric telescopic rods 9 close, thus clamping and limiting the metal bellows 20 through the four limiting blocks 10.

[0039] Subsequently, the cross-linked polyethylene inner liner tube 23 is fed through an external feeding device (existing technology, which will not be described in detail here), and the end of the cross-linked polyethylene inner liner tube 23 is inserted into the slot 15. The electric control push rod 18 is extended, and the telescopic end of the electric control push rod 18 pushes multiple clamping plates 16 to move outward through the inclined surface 19. The second spring 17 is stretched, and the clamping plates 16 clamp and fix the end of the inner liner tube 23 in the slot 15, so that the inner liner tube 23 is fixedly connected to the traction rod 12.

[0040] Next, the end of the traction rod 12 is inserted into the interior of the metal bellows 20 from the right end. During insertion, the traction rod 12 can be stably inserted axially because the right end of the metal bellows 20 is limited and fixed by the two limiting blocks 10 on the right side. During insertion, multiple inclined blocks 13 pass through multiple inner troughs 22 in sequence. Because the inclined surfaces of the inclined blocks 13 are oriented in the same direction, the inclined blocks 13 can smoothly pass through multiple inner troughs 22.

[0041] When the inclined block 13 moves out of the inner trough 22, it is squeezed and moves towards the inside of the traction rod 12, compressing the first spring 14. When the inclined block 13 moves to the next inner trough 22, it will extend into the inner trough 22 under the elastic action of the first spring 14. When the inclined block 13 located on the rightmost side of the traction rod 12 moves below the rightmost limiting block 10, the insertion of the traction rod 12 stops, and the state at this time is as follows. Figure 15 and Figure 16 As shown, this is the initial state of the device.

[0042] Then, the second electrically controlled slide rails 8 on the upper and lower sliding plates 7 are controlled to move the two electric telescopic rods 9 and the limiting blocks 10 on the left side to the right synchronously. During this process, the two limiting blocks 10 on the left side form a limiting engagement with the metal bellows 20 through the outer trough 21, and the two limiting blocks 10 on the right side also form a limiting engagement with the metal bellows 20 through the outer trough 21. When the two limiting blocks 10 on the left side move to the right, the section of the metal bellows 20 located between the left and right limiting blocks 10 is axially compressed.

[0043] During the compression of the metal bellows 20, multiple inclined blocks 13 located on the left side of the traction rod 12, under the action of their own inclined surfaces, cause multiple inner troughs 22 to pass through multiple inclined blocks 13 in sequence, allowing the metal bellows 20 to be compressed smoothly; the vertical surfaces of multiple inclined blocks 13 located on the right side of the traction rod 12 form a limiting engagement with the right-side limiting block 10, keeping the traction rod 12 stationary. When the two limiting blocks 10 on the left move to the right to the corresponding position of the inclined block 13 located on the left side of the traction rod 12 (this corresponding position can be referenced...), Figure 16 (Understanding the positions of the right limit block 10 and the right inclined block 13), close the second electronically controlled slide rail 8 to stop the movement of the two limit blocks 10. At this time, the compressed metal bellows 20 segment is located between the left and right inclined blocks 13.

[0044] Subsequently, the two second electrically controlled slide rails 8 are controlled to move the two limit blocks 10 on the left side to the left and reset. During this process, since the two limit blocks 10 on the left side form a limiting engagement with the metal bellows 20 through the outer trough 21, and the two limit blocks 10 on the right side also form a limiting engagement with the metal bellows 20 through the outer trough 21, when the two limit blocks 10 on the left side move to the left, the section of the metal bellows 20 located between the left and right limit blocks 10 is extended and reset.

[0045] During the elongation and repositioning process of the metal bellows 20, the vertical surfaces of the multiple inclined blocks 13 located on the left side of the traction rod 12 form a limiting engagement with the left-side limiting block 10. When the left-side limiting block 10 moves to the left, it synchronously drives the entire traction rod 12 to move to the left. Under the action of their own inclined surfaces, the multiple inclined blocks 13 located on the right side of the traction rod 12 pass sequentially through the right-side limiting block 10 and multiple inner troughs 22, allowing the metal bellows 20 to smoothly elongate and reposition. When the two left-side limiting blocks 10 move to the initial position to the left, the second electrically controlled slide rail 8 is closed. The state at this time is as follows: Figure 17 As shown, the traction rod 12 as a whole moved a predetermined distance to the left relative to its initial position. This distance is equal to the one-way movement distance of the two limit blocks 10 on the left.

[0046] Next, the four electric telescopic rods 9 are controlled to shorten synchronously, causing the four limiting blocks 10 to disengage from the outer trough 21. Then, the first electrically controlled slide rail 6 on the placement frame 1 and mounting frame 5 is controlled to move the two sliding plates 7 synchronously to the left a predetermined distance, which is equal to the one-way movement distance of the two limiting blocks 10 on the left. Immediately afterwards, the first electrically controlled slide rail 6 is closed, at which point the two limiting blocks 10 on the right are in a corresponding state with the inclined block 13 on the right side of the traction rod 12. Subsequently, the four electric telescopic rods 9 are controlled to extend, causing the four limiting blocks 10 to re-insert into the outer trough 21, and the device returns to a similar engagement relationship to the initial state.

[0047] Repeat the above steps of compressing the metal bellows 20, extending and resetting, driving the traction rod 12 to move step by step, and changing the position of the limiting block 10, so that the traction rod 12 as a whole drives the inner liner 23 to move step by step to the left relative to the metal bellows 20, so as to achieve the purpose of pipe insertion.

[0048] Finally, when the left side of the traction rod 12 is near the left side of the metal bellows 20 (when the traction rod 12 is about to come out of the metal bellows 20), the sliding plate 7 is moved to the left by the first electrically controlled slide rail 6. When the right limit block 10 is located to the right of the inclined block 13 on the left side of the traction rod 12, the first electrically controlled slide rail 6 is closed, at which point there is a predetermined distance between the right limit block 10 and the inclined block 13 on the left side of the traction rod 12.

[0049] Subsequently, the two electric telescopic rods 9 on the right are extended, causing the two limiting blocks 10 on the right to insert into the outer trough 21; simultaneously, the two electric telescopic rods 9 on the left are extended, with the extension length exceeding the previous extension length. When the end of the limiting block 10 on the left moves to contact the outer wall of the traction rod 12, the electric telescopic rod 9 on the left is closed.

[0050] Then, the second electrically controlled slide rail 8 is controlled to move the left limiting block 10 to the right. Since the end of the left limiting block 10 is in contact with the outer wall of the traction rod 12, the left limiting block 10 will push the left end of the metal bellows 20 to the right, causing the metal bellows 20 to move to the right relative to the traction rod 12, so that the left end of the traction rod 12 protrudes from the metal bellows 20. When the left limiting block 10 moves to the position corresponding to the inclined block 13 on the left side of the traction rod 12, the second electrically controlled slide rail 8 is closed.

[0051] Then, the second electrically controlled slide rail 8 is controlled to move the left limiting block 10 to the left and reset it. The left limiting block 10 drives the traction rod 12 to move synchronously to the left through the inclined block 13 on the left side of the traction rod 12. During this process, the right limiting block 10 forms a limiting engagement with the metal bellows 20 through the outer trough 21. The metal bellows 20 remains stationary, and the traction rod 12 is pulled out of the metal bellows 20, completing the insertion operation of the inner liner 23.

[0052] Finally, the inner liner 23 located at the right end of the corrugated metal tube 20 is cut off, leaving this portion of the inner liner 23 inside the corrugated metal tube 20. Then, the electrically controlled push rod 18 is shortened, and the multiple clamping plates 16 move inward and reset under the elastic action of the second spring 17, releasing the fixation on the inner liner 23 so that the inner liner 23 can be removed after the tube insertion is completed, allowing the finished material to enter the subsequent packaging and forming process. The above steps are then repeated to insert the tube into the next corrugated metal tube 20.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An online tube-threading industrial robot for threading an inner liner tube (23) into a metal corrugated pipe (20), characterized in that, include: Placement rack (1), the placement rack (1) is provided with placement slot (2); Mounting bracket (5) is located above the placement bracket (1); The traction assembly includes a traction rod (12) and a second limiting assembly. The end of the traction rod (12) is connected to the inner liner tube (23). The traction rod (12) is inserted into the interior of the metal bellows (20). The second limiting assembly forms a one-way limiting fit with the inner trough (22) of the metal bellows (20). The sliding assembly is disposed on the placement frame (1) and the mounting frame (5), and includes a first limiting assembly and a driving assembly. The first limiting assembly forms a limiting fit with the outer trough (21) of the metal bellows (20), and the driving assembly is used to drive the first limiting assembly to slide axially back and forth. The sliding component acts on the metal bellows (20) through the first limiting component, causing the metal bellows (20) to undergo axial compression and reset. The second limiting component cooperates with the first limiting component, so that the reciprocating sliding of the first limiting component drives the traction rod (12) to move in one direction.

2. The online pipe-threading industrial robot according to claim 1, characterized in that, The first limiting component includes a limiting block (10) and an electric telescopic rod (9). The telescopic end of the electric telescopic rod (9) is fixedly connected to the limiting block (10). The limiting block (10) is used to insert into or disengage from the outer trough (21) of the metal bellows (20) under the drive of the electric telescopic rod (9).

3. The online pipe-threading industrial robot according to claim 2, characterized in that, The driving assembly includes a first electrically controlled slide rail (6) and a second electrically controlled slide rail (8). The first electrically controlled slide rail (6) is fixedly connected to both the placement frame (1) and the mounting frame (5). A sliding plate (7) is slidably connected inside the first electrically controlled slide rail (6). The second electrically controlled slide rail (8) is mounted on the sliding plate (7). A sliding block is slidably connected inside the second electrically controlled slide rail (8). The electric telescopic rod (9) is mounted on the sliding block of the second electrically controlled slide rail (8) and the end of the sliding plate (7). The first electrically controlled slide rail (6) is used to drive the sliding plate (7) to slide along the axial direction of the metal corrugated pipe (20). The second electrically controlled slide rail (8) is used to drive the electric telescopic rod (9) and the limiting block (10) to slide along the axial direction of the metal corrugated pipe (20).

4. The online pipe-threading industrial robot according to claim 1, characterized in that, The second limiting component includes a ramp block (13) and a first spring (14). The ramp block (13) is slidably connected to the traction rod (12) in the radial direction, and the ramp of the ramp block (13) is set towards the insertion direction of the traction rod (12). The two ends of the first spring (14) are fixedly connected to the ramp block (13) and the traction rod (12) respectively.

5. The online pipe-threading industrial robot according to claim 1, characterized in that, The end of the traction rod (12) is provided with a slot (15) for fixing the inner liner tube (23). The traction rod (12) is provided with a clamping assembly, which includes a clamping plate (16), a second spring (17) and an electrically controlled push rod (18). The clamping plate (16) is slidably connected to the traction rod (12) and located at the slot (15). The two ends of the second spring (17) are fixedly connected to the clamping plate (16) and the traction rod (12) respectively. The electrically controlled push rod (18) is fixedly connected inside the traction rod (12). The telescopic end of the electrically controlled push rod (18) is provided with an inclined surface (19) for pushing the clamping plate (16) to move outward to clamp the inner liner tube (23).

6. The online pipe-threading industrial robot according to claim 1, characterized in that, A cylinder (4) is fixedly connected to the mounting bracket (5). The cylinder (4) is used to be fixedly connected to the external mounting bracket to drive the mounting bracket (5) to move closer to or away from the placement bracket (1).

7. The online pipe-threading industrial robot according to claim 1, characterized in that, The diameter of the placement groove (2) is adapted to the outer diameter of the metal bellows (20), and the diameter of the traction rod (12) is adapted to the inner diameter of the metal bellows (20).

8. A method for producing cross-linked polyethylene pipe, characterized in that, Using an online tube-threading industrial robot as described in any one of claims 1 to 7, a cross-linked polyethylene pipe is inserted into a metal corrugated pipe (20) as an inner lining pipe (23).

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