Automatic mechanical arm of three-way pipe forming machine

Abstract

The utility model belongs to the field of three-way pipe manufacturing equipment, and particularly relates to an automatic mechanical arm of a three-way pipe forming machine, which comprises a support plate, a linear reciprocating mechanism, a connecting plate, an arm body, a grabbing mechanism, a grabbing driving mechanism, a swing mechanism, a rotary driving mechanism and a connecting plate, the supporting plate is fixed to a forming machine, the linear reciprocating motion mechanism is fixed to the upper surface of the supporting plate, and the connecting plate is connected to the supporting plate in a sliding mode. The swing mechanism is fixed on the upper surface of the connecting plate, and the bottom end of the arm body is fixed on an execution part of the swing mechanism; the connecting plate is connected with the arm body in a sliding mode, the connecting plate can slide in the height direction of the arm body, and the grabbing mechanism and the grabbing driving mechanism are both fixed to the connecting plate. In the three-way pipe forming machine, only one device is needed for feeding, taking and die replacement, so that the occupied space of the whole three-way pipe forming equipment is reduced, and the maintenance cost is also reduced.

Description

Technical Field

[0001] The utility model belongs to the field of three-way pipe manufacturing equipment, and particularly relates to an automatic robotic arm of a three-way pipe forming machine. Background Art

[0002] When manufacturing a three-way pipe, a pipe blank is placed into a mold, and two horizontal side cylinders of a hydraulic press are used to synchronously move towards the center to extrude the pipe blank. After being extruded, the volume of the pipe blank becomes smaller, and the liquid inside the pipe blank increases in pressure as the volume of the pipe blank decreases. When the pressure required for the expansion of the stainless steel three-way branch pipe is reached, the metal material flows along the inner cavity of the mold under the dual action of the side cylinder and the liquid pressure inside the pipe blank to expand the branch pipe. During this process, feeding and taking materials are required. If the specifications of the three-way pipes to be produced change, the mold needs to be replaced accordingly. Traditionally, feeding and taking materials mainly rely on loading and unloading robots, and the replacement of the mold requires an additional device. The loading and unloading robots and the mold replacement device increase the overall occupied space of the equipment and also result in higher maintenance costs. Summary of the Utility Model

[0003] Therefore, the technical problem to be solved by the utility model is to overcome the need for a dedicated robot for loading and unloading in three-way pipe manufacturing equipment, and also a dedicated device for replacing the mold, which increases the overall occupied space of the equipment and also results in higher maintenance costs.

[0004] To solve the above technical problem, the utility model provides an automatic robotic arm of a three-way pipe forming machine, which includes a support plate, a linear reciprocating movement mechanism, a connecting plate, an arm body, a grasping mechanism, a grasping driving mechanism, a slewing mechanism, a slewing driving mechanism, and a connecting plate;

[0005] The support plate is fixed on the forming machine, the linear reciprocating movement mechanism is fixed on the upper surface of the support plate, the connecting plate is slidably connected to the support plate, and the linear reciprocating movement mechanism can control the connecting plate to reciprocate back and forth on the support plate;

[0006] The slewing mechanism is fixed on the upper surface of the connecting plate, the bottom end of the arm body is fixed on the actuator of the slewing mechanism, and the slewing driving mechanism drives the actuator of the slewing mechanism to rotate;

[0007] The connecting plate is slidably connected to the arm body, the connecting plate can slide along the height direction of the arm body, the grasping mechanism and the grasping driving mechanism are both fixed on the connecting plate, and the grasping driving mechanism can control the grasping mechanism to grasp or release an object.

[0008] Preferably, the linear reciprocating movement mechanism is an electric push rod, the body of the electric push rod is horizontally fixed on the support plate, and the push rod of the electric push rod is fixed to the connecting plate.

[0009] Preferably, the grasping mechanism includes a first finger, a second finger, four connecting rods, and a main rod. The rear ends of the first finger and the second finger are both hinged to the connecting plate. The main rod and the four connecting rods are all located at the front ends between the first finger and the second finger. One end of two of the connecting rods is hinged to the first finger, and the other end is hinged to the main rod. One end of the other two connecting rods is hinged to the second finger, and the other end is hinged to the main rod. The grasping driving mechanism is a hydraulic cylinder, and the telescopic rod of the hydraulic cylinder is fixedly connected concentrically with the main rod.

[0010] Preferably, the grasping mechanism further includes two closely arranged grasping columns arranged oppositely. One such grasping column is provided on the inner side surface of the front end of each of the first finger and the second finger. Each grasping column includes a fixed rod and a rubber column. One end of the fixed rod is fixed to the finger, and the other end fixes a rubber column.

[0011] Preferably, the slewing mechanism is a slewing support bearing, and the rotation driving mechanism is a servo motor.

[0012] The technical solution of the present utility model has the following beneficial effects:

[0013] The present utility model has three functions. First, it can replace the forming die of the tee pipe. Second, it can grasp the pipe blank and place it into the die. Third, it can grasp the formed tee pipe and take it out of the die. In the tee pipe forming machine, only one device is needed to perform feeding, material taking, and die replacement by using the present utility model, which reduces the volume of the entire tee pipe forming equipment, reduces the occupied space, and also reduces the maintenance cost. Description of the Drawings

[0014] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Description of the reference numerals: 1, support plate; 2, linear reciprocating movement mechanism; 3, arm body; 4, grasping mechanism; 41, first finger; 42, second finger; 43, connecting rod; 44, main rod; 5, grasping driving mechanism; 6, closely grasping column; 61, fixed rod; 62, rubber column; 7, forming machine; 8, slewing mechanism; 9, rotation driving mechanism; 10, connecting plate; 20, connecting plate.

[0016] Figure 1 It is a schematic diagram of the present utility model installed on the forming machine;

[0017] Figure 2This is the overall schematic diagram of the present utility model. Specific embodiments

[0018] Next, the technical solutions of the present utility model will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0019] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0020] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0021] In addition, the technical features involved in different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0022] The utility model provides an automatic robotic arm for a three-way pipe forming machine, which includes a support plate 1, a linear reciprocating movement mechanism 2, a connecting plate 10, an arm body 3, a grasping mechanism 4, a grasping driving mechanism 5, a slewing mechanism 8, a rotation driving mechanism 9 and a connecting plate 20; the support plate 1 is fixed on the forming machine 7, the linear reciprocating movement mechanism 2 is fixed on the upper surface of the support plate 1, the connecting plate 10 is slidably connected to the support plate 1, and the linear reciprocating movement mechanism 2 can control the connecting plate 10 to reciprocate back and forth on the support plate 1; the slewing mechanism 8 is fixed on the upper surface of the connecting plate 10, the bottom end of the arm body 3 is fixed on the actuator of the slewing mechanism 8, and the rotation driving mechanism 9 drives the actuator of the slewing mechanism 8 to rotate; the connecting plate 20 is slidably connected to the arm body 3, the connecting plate 20 can slide along the height direction of the arm body 3, both the grasping mechanism 4 and the grasping driving mechanism 5 are fixed on the connecting plate 20, and the grasping driving mechanism 5 can control the grasping mechanism 4 to grasp or release an object.

[0023] In the initial state, the connecting plate 10 is located at the outer end of the support plate 1, that is, at a certain distance from the forming machine 7.

[0024] The utility model has the following three functions:

[0025] First, the mold can be replaced: If you want to replace the three-way pipe mold, the linear reciprocating movement mechanism 2 can be used to push the connecting plate 10 (i.e., the arm body 3) to one end close to the forming machine 7. Then, the grasping mechanism 4 can grasp the old mold tightly. Then, the linear reciprocating movement mechanism 2 is used to retract the arm body 3 to its original position. Then, the slewing mechanism 8 is used to rotate the arm body 3 by 180°. The grasping mechanism 4 is turned away from the workbench of the forming machine 7, and the grasping mechanism 4 puts down the old mold. Then, after grasping a new mold, the arm body 3 rotates 180° again, the grasping mechanism 4 faces the workbench of the forming machine 7 again, and then the arm body 3 is pushed to one end close to the forming machine 7. The grasping mechanism 4 releases the mold, so that the lower mold is installed on the workbench of the forming machine 7, and the upper mold is installed on the slider of the forming machine 7;

[0026] Second, feeding can be performed: After the mold is replaced, the arm body 3 retracts to its original position. The slewing mechanism 8 drives the arm body 3 to rotate clockwise by 90 degrees, so that the grasping mechanism 4 faces the left side. The grasping mechanism 4 grasps the pipe blank placed on the left side. The arm body 3 rotates counterclockwise by 90°, faces the workbench of the forming machine 7 again, and the arm body 3 advances to the workbench of the forming machine 7. The grasping mechanism 4 releases the pipe blank and places it into the lower mold;

[0027] Third, discharging can be performed: After the three-way pipe is formed, the grasping mechanism 4 grasps the three-way pipe. Then, the arm body 3 retracts to its original position. The arm body 3 rotates counterclockwise by 90°, the grasping mechanism 4 faces the right side, and the grasping mechanism 4 releases the three-way pipe and places it into the product collection box on the right side.

[0028] The purpose of the gripper mechanism 4 being vertically movable on the arm body 3 is to make the height position of the gripper mechanism 4 match the height position of the object to be gripped or the height position where the object needs to be placed.

[0029] The linear reciprocating motion mechanism 2 in this utility model is an electric push rod. The body of the electric push rod is horizontally fixed on the support plate 1, and the push rod of the electric push rod is fixed to the connecting plate 10. When the push rod of the electric push rod expands and contracts, the connecting plate 10 can be pushed back and forth, enabling the arm body 3 to achieve a reciprocating motion working state.

[0030] The gripper mechanism 4 includes a first finger 41, a second finger 42, four connecting rods 43, and a main rod 44. The rear ends of both the first finger 41 and the second finger 42 are hinged to the connecting plate 20. The main rod 44 and the four connecting rods 43 are all located at the front ends between the first finger 41 and the second finger 42. One end of two of the connecting rods 43 is hinged to the first finger 41, and the other end is hinged to the main rod 44. One end of the other two connecting rods 43 is hinged to the second finger 42, and the other end is hinged to the main rod 44. The gripping drive mechanism is specifically a hydraulic cylinder, and the telescopic rod of the hydraulic cylinder is concentrically fixed to the main rod 44. When the telescopic rod of the hydraulic cylinder is pushed forward, the main rod 44 also moves forward, the angle of the connecting rod 43 increases, the first finger 41 and the second finger 42 rotate outwards and open, and the distance between the front ends of the first finger 41 and the second finger 42 increases. At this time, the object can be released. When the telescopic rod of the hydraulic cylinder retracts, the main rod 44 also moves backward, the angle of the connecting rod 43 decreases, the first finger 41 and the second finger 42 rotate inwards, and the distance between the front ends of the first finger 41 and the second finger 42 decreases. At this time, the object can be clamped.

[0031] On the inner side surface of the front ends of both the first finger 41 and the second finger 42, there is provided a tight gripping column 6. The tight gripping column 6 includes a fixing rod 61 and a rubber column 62. One end of the fixing rod 61 is fixed to the finger, and the other end fixes a rubber column 62. On the one hand, the fixing rod 61 serves to carry the rubber column 62. The rubber column 62 is sleeved on the front half of the fixing rod 61 and bonded above. On the other hand, it serves to fix it to the finger. Since the rubber column 62 has elasticity, it can adapt to different shaped objects to be clamped, improving the firmness of clamping. Moreover, it can reduce the wear between the fingers and the object.

[0032] The slewing mechanism 8 is a slewing bearing, and the rotary drive mechanism 9 is a servo motor. The slewing bearing is a prior art product, including an inner ring, an outer ring, a driving gear, and a protective housing. The inner ring is fixed in the protective housing, the outer ring is sleeved outside the inner ring, the inner wall of the outer ring is slidably connected to the outer wall of the inner ring, the outer ring can rotate around its own center of rotation, a ring of teeth is provided on the circumferential surface of the outer ring, the driving gear is located in the protective housing, the body of the servo motor is fixed on the protective housing, its rotating rod penetrates into the protective housing, and the free end of the rotating rod is concentrically fixed with the driving gear, and the driving gear meshes with the teeth of the outer ring. When the rotating rod of the servo motor rotates, the driving gear rotates, driving the outer ring to rotate. The arm body is fixed together with the outer ring.

[0033] Obviously, the above embodiments are only examples given for clear illustration and not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or variations can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. The obvious changes or variations derived therefrom still fall within the protection scope of the present invention.

Claims

1. The automatic robot arm of the three-way pipe forming machine is characterized by: It comprises a support plate (1), a linear reciprocating mechanism (2), a connecting plate (10), an arm body (3), a grasping mechanism (4), a grasping drive mechanism (5), a rotating mechanism (8), a rotating drive mechanism (9) and a connecting plate (20); The support plate (1) is fixed on the forming machine (7), the linear reciprocating mechanism (2) is fixed on the upper surface of the support plate (1), the connecting plate (10) is slidably connected to the support plate (1), and the linear reciprocating mechanism (2) can control the connecting plate (10) to move back and forth on the support plate (1); The rotary mechanism (8) is fixed on the upper surface of the connecting plate (10), the bottom end of the arm body (3) is fixed on the actuator of the rotary mechanism (8), and the rotary drive mechanism (9) drives the actuator of the rotary mechanism (8) to rotate; The connecting plate (20) is slidably connected to the arm body (3), and the connecting plate (20) can slide along the height direction of the arm body (3). The grasping mechanism (4) and the grasping drive mechanism (5) are both fixed on the connecting plate (20), and the grasping drive mechanism (5) can control the grasping mechanism (4) to grasp or release an object.

2. The automatic robot arm of the three-way pipe forming machine according to claim 1, characterized in that: The linear reciprocating mechanism (2) is an electric push rod, the body of the electric push rod is horizontally fixed on the support plate (1), and the push rod of the electric push rod is fixed to the connecting plate (10).

3. The automatic robot arm of the three-way pipe forming machine according to claim 1, characterized in that: The gripping mechanism (4) comprises a first gripping finger (41), a second gripping finger (42), four connecting rods (43) and a main rod (44); the rear ends of the first gripping finger (41) and the second gripping finger (42) are both hinged to the connecting plate (20); the main rod (44) and the four connecting rods (43) are both located at the front end between the first gripping finger (41) and the second gripping finger (42); one end of two connecting rods (43) is hinged to the first gripping finger (41) and the other end is hinged to the main rod (44); one end of the other two connecting rods (43) is hinged to the second gripping finger (42) and the other end is hinged to the main rod (44); the gripping drive mechanism (5) is a hydraulic cylinder; the telescopic rod of the hydraulic cylinder is fixed concentrically to the main rod (44).

4. The automatic robot arm of the three-way pipe forming machine according to claim 3, characterized in that: The gripping mechanism (4) further comprises two tight gripping columns (6) arranged opposite to each other, wherein the inner side surfaces of the front ends of the first clamping finger (41) and the second clamping finger (42) are each provided with a tight gripping column (6), and the tight gripping column (6) comprises a fixing rod (61) and a rubber column (62), wherein one end of the fixing rod (61) is fixed to the clamping finger, and the other end is fixed to a rubber column (62).

5. The automatic robot arm of the three-way pipe forming machine according to claim 1, characterized in that: The slewing mechanism (8) is a slewing support bearing, and the rotary drive mechanism (9) is a servo motor.

Images