All-plastic elbow three-way pipe fitting following type grabbing and removing device
The follow-up grabbing and rejection device for all-plastic elbow and tee pipe fittings solves the problem of automatic identification and rejection of uncoded pipe fittings in the automatic production of PPR pipe fittings, achieving stable and low-cost pipe rejection and recycling, which is suitable for the production and packaging of PPR pipe fittings.
Patent Information
- Application Number
- CN202422413136.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-08
- Publication Date
- 2025-09-09
- Estimated Expiration
- 2034-10-08
AI Technical Summary
During the automatic production and packaging process of PPR pipe fittings, unrecognizable anti-counterfeiting QR codes lead to inaccurate data binding. A device is needed that can automatically remove these pipe fittings while ensuring that the pipe fittings are not damaged for easy recycling and reuse.
A follow-up grabbing and rejection device for all-plastic elbow tee pipe fittings was designed, which includes a grabbing and rejection mechanism, an adjustable conveying guide, a chain conveyor, a rejection product buffer basket and a speed acquisition device. Through the cooperation of a synchronous encoder and a robot, it can realize the automatic identification and rejection of uncoded pipe fittings.
It achieves stable grasping and rejection of uncoded pipes, ensures uniform posture of pipes, is compatible with different specifications, has high grasping stability, does not damage pipes, is simple to operate, has low cost, and has low environmental dependence.
Smart Images
Figure CN223312506U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of production and packaging of PPR pipe fittings, in particular to a follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings. Background Art
[0002] During the automated production and packaging of all-plastic elbow and tee pipe fittings in PPR, a gripping robot is required to grab the pipe fittings in a fixed position and place them on the column positioning carrier on the chain conveyor. The chain conveyor then conveys the pipe fittings while a laser marking machine processes the anti-counterfeiting QR code. After the anti-counterfeiting QR code is marked, it is scanned and uploaded to the system for subsequent information binding. If the anti-counterfeiting QR code on the pipe fitting is deformed or missing, and cannot be recognized and uploaded by the scanner, these unrecognizable pipe fittings must be promptly removed to prevent them from flowing into the back-end and affecting the accuracy of data binding. Therefore, a device is required to automatically remove unrecognizable pipe fittings while ensuring that they are not damaged to facilitate product recycling and reuse. Utility Model Content
[0003] The utility model aims to provide a follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings to solve the above-mentioned technical problems.
[0004] To achieve the above-mentioned purpose, the specific technical solution of the utility model of a follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings is as follows:
[0005] A follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings, comprising a grabbing and rejecting mechanism overall fixed frame, a conveying guide with adjustable side, a chain conveyor, a rejecting product buffer basket, a grabbing and rejecting mechanism and a speed acquisition device, wherein the chain conveyor is used to transmit all-plastic elbow tee pipe fittings, the conveying guide with adjustable side is fixedly mounted on one side of the chain conveyor, and is used to limit and fix the transmitted all-plastic elbow tee pipe fittings, the grabbing and rejecting mechanism overall fixed frame is fixedly mounted above the chain conveyor, and is used to fix the grabbing and rejecting mechanism, the grabbing and rejecting mechanism is fixedly mounted on the grabbing and rejecting mechanism overall fixed frame, and is used to reject uncoded pipe fittings, the rejecting product buffer basket is fixedly mounted on one side of the chain conveyor, and is used to store rejected pipe fittings, and the speed acquisition device is fixedly mounted on the rotating shaft of the chain conveyor, and is used to obtain the transmission speed of the chain conveyor.
[0006] Furthermore, the conveying chain plates of the chain conveyor are provided with column head positioning carriers, which are fixedly connected to the conveying chain plates of the chain conveyor, and are driven by the conveying chain plates to convey the pipes.
[0007] Furthermore, the adjustable edge of the conveying guide includes a stop limit rod, an adjusting rod, a chuck, and a fixed clamp seat. The fixed clamp seat is fixedly installed on one side of the chain conveyor, the adjusting rod is fixed above the fixed clamp seat, the chuck is fixedly installed on one end of the adjusting rod, and the stop limit rod is clamped and fixed on the chuck. The distance and height between the stop limit rod and the pipe fitting can be adjusted by adjusting the length and height of the adjusting rod.
[0008] Furthermore, the speed acquisition device includes an encoder fixing bracket, a speed synchronization encoder and an elastic coupling. The encoder fixing bracket is fixedly installed on one side of the end of the chain conveyor. The speed synchronization encoder is fixedly installed on the encoder fixing bracket. The rotating shaft of the speed synchronization encoder is connected to the rotating shaft of the chain conveyor through an elastic coupling. The speed synchronization encoder is used to collect the conveying speed of the chain conveyor.
[0009] Furthermore, the grabbing and rejecting mechanism includes a front-and-back moving mechanism, a left-and-right moving mechanism, an up-and-down moving mechanism and a grabbing mechanism. The front-and-back moving mechanism is fixedly installed below the overall fixed frame of the grabbing and rejecting mechanism. The left-and-right moving mechanism is fixedly installed on the front-and-back moving mechanism and moves forward and backward with the front-and-back moving mechanism. The up-and-down moving mechanism is fixedly installed on the left-and-right moving mechanism and moves left-and-right with the left-and-right moving mechanism. The grabbing mechanism is fixedly installed on the up-and-down moving mechanism and moves up and down with the up-and-down moving mechanism. The grabbing mechanism grabs uncoded pipe fittings driven by the front-and-back moving mechanism, the left-and-right moving mechanism and the up-and-down moving mechanism.
[0010] Furthermore, the forward and backward moving mechanism is a forward and backward moving rodless cylinder, which is fixedly installed under the overall fixed frame of the grasping and rejecting mechanism and can move forward and backward; the left and right moving mechanism includes a single-axis robot fixing plate and a single-axis robot, and the single-axis robot fixing plate is fixedly installed on the forward and backward moving mechanism, and the single-axis robot is fixedly installed on the single-axis robot fixing plate. The single-axis robot moves forward and backward driven by the moving rodless cylinder.
[0011] Furthermore, the up and down moving mechanism includes a slide cylinder fixing frame and a lifting slide cylinder. The slide cylinder fixing frame is fixedly installed on the single-axis robot, and the lifting slide cylinder is fixedly installed on the slide cylinder fixing frame. The lifting slide cylinder moves left and right under the drive of the single-axis robot.
[0012] Furthermore, the gripping mechanism includes a finger cylinder fixing frame, an opening and closing finger cylinder, a rear side clamp, and a front side clamp. The finger cylinder fixing frame is fixedly installed on the lifting slide cylinder, the opening and closing finger cylinder is fixedly installed on the finger cylinder fixing frame, the rear side clamp and the front side clamp are fixedly installed on the output end of the opening and closing finger cylinder, the opening and closing finger cylinder moves up and down driven by the lifting slide cylinder, and the rear side clamp and the front side clamp are clamped and released driven by the opening and closing finger cylinder.
[0013] Furthermore, a rear polyurethane clamping block is fixedly installed on the inner side of the rear clamping jaw, and a front polyurethane clamping block is fixedly installed on the inner side of the front clamping jaw.
[0014] The utility model of a follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings has the following advantages:
[0015] The adjustable side of the conveying guide in this utility model can provide support and guidance for the conveying of all-plastic elbow and tee pipe fittings, ensuring their uniform posture, and the adjustable design can be compatible with all-plastic elbow and tee pipe fittings of different sizes and specifications, with strong versatility. The speed synchronization encoder is used to collect the speed of the servo motor of the chain conveyor and feed it back to the servo motor of the single-axis robot to ensure that the moving speed of the single-axis robot and the chain conveyor in the left and right directions is consistent, thereby improving the stability of grasping and rejecting. The column positioning carrier adopts a round head design with a small top and a thick bottom. Even if the robot deviates slightly when placing it, it can still fall stably on the column positioning carrier, improving the stability of placement. The front and rear polyurethane clamps are made of polyurethane, which is a softer material. When grasping the pipe fittings, it can ensure that the grip is firm and the pipe fittings will not be damaged.
[0016] Its main working method is to combine the set slide cylinder fixing frame, lifting slide cylinder, finger cylinder fixing frame, opening and closing finger cylinder, etc. The opening and closing finger cylinder is fixed on the slide of the lifting slide cylinder by the finger cylinder fixing frame and is driven by the lifting slide cylinder to move up and down to form a highly practical all-plastic elbow tee pipe fitting follow-up grabbing and rejection device.
[0017] In summary, the utility model has a novel design and a reasonable conception. It mainly has the function of conveying all-plastic elbow tee pipe fittings and synchronously grabbing and removing them. At the same time, it has a simple structure, saves costs, has minimal dependence on the environment, is easy to operate, and will not damage the pipe fittings. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 A schematic diagram of the overall structure of the device of the utility model;
[0019] Figure 2 Detailed diagram of the grabbing and rejecting mechanism of the utility model device;
[0020] Figure 3 Right side view of the grabbing and rejecting mechanism of the utility model device;
[0021] Figure 4 Detailed diagram of the speed synchronization mechanism of the device of the utility model;
[0022] Figure 5 Detailed diagram of the carrier mechanism of the device of the present invention.
[0023] Markings in the figure: 1. Overall fixed frame of the grabbing and rejecting mechanism; 2. Adjustable conveying guide to the side; 21. Abutment limit rod; 22. Adjustment rod; 23. Clamp; 24. Fixed clamp seat; 3. Chain conveyor; 31. Column head positioning carrier; 4. Reject product buffer basket; 5. Grabbing and rejecting mechanism; 51. Forward and backward moving mechanism; 52. Left and right moving mechanism; 521. Single-axis robot fixing plate; 522. Single-axis robot; 53. Up and down moving mechanism; 531. Slide cylinder fixing bracket; 532. Lifting slide cylinder; 54. Grabbing mechanism; 541. Finger cylinder fixing bracket; 542. Open and close finger cylinder; 543. Rear side clamp; 5431. Rear side polyurethane clamp block; 544. Front side clamp; 5441. Front side polyurethane clamp block; 6. Speed acquisition device; 61. Encoder fixing bracket; 62. Speed synchronization encoder; 63. Elastic coupling; 7. All-plastic tee pipe fittings; 8. All-plastic elbow pipe fittings. DETAILED DESCRIPTION
[0024] In order to better understand the purpose, structure and function of the present invention, the following is a further detailed description of the all-plastic elbow tee pipe following grabbing and rejecting device of the present invention in conjunction with the accompanying drawings.
[0025] like Figure 1-5 As shown, the utility model is a follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings, including a grabbing and rejecting mechanism overall fixed frame 1, a conveying guide adjustable side 2, a chain conveyor 3, a rejecting product cache basket 4 and a grabbing and rejecting mechanism 5 and a speed acquisition device 6. The chain conveyor 3 is used to transmit all-plastic elbow tee pipe fittings, the conveying guide adjustable side 2 is fixedly installed on one side of the chain conveyor 3, and is used to limit and fix the transmitted all-plastic elbow tee pipe fittings, the grabbing and rejecting mechanism overall fixed frame 1 is fixedly installed above the chain conveyor 3, and is used to fix the grabbing and rejecting mechanism 5, and the grabbing and rejecting mechanism 5 is fixedly installed on the grabbing and rejecting mechanism overall fixed frame 1, and is used to reject uncoded pipe fittings, the rejecting product cache basket 4 is fixedly installed on one side of the chain conveyor 3, and is used to store and reject pipe fittings, and the speed acquisition device 6 is fixedly installed on the rotating shaft of the chain conveyor 3, and is used to obtain the transmission speed of the chain conveyor 3.
[0026] The chain conveyor 3 is an existing chain conveying mechanism, which will not be described in detail here. The chain conveyor 3 has a column head positioning carrier 31 on the conveying chain plate, and the column head positioning carrier 31 is fixedly connected to the conveying chain plate of the chain conveyor 3, and the pipes are conveyed by the conveying chain plate.
[0027] The conveying guide adjustable edge 2 includes a stop rod 21, an adjusting rod 22, a chuck 23, and a fixed clamp seat 24. The fixed clamp seat 24 is fixedly installed on one side of the chain conveyor 3, the adjusting rod 22 is fixed above the fixed clamp seat 24, the chuck 23 is fixedly installed on one end of the adjusting rod 22, and the stop rod 21 is clamped and fixed on the chuck 23. By adjusting the length and height of the adjusting rod 22, the distance and height between the stop rod 21 and the pipe fitting can be adjusted, so that it can be compatible with the stop limit of all-plastic elbow tee pipe fittings of different specifications.
[0028] The speed acquisition device 6 includes an encoder mounting bracket 61, a speed synchronization encoder 62, and an elastic coupling 63. The encoder mounting bracket 61 is fixedly mounted on one end of the chain conveyor 3. The speed synchronization encoder 62 is fixedly mounted on the encoder mounting bracket 61. The rotating shaft of the speed synchronization encoder 62 is connected to the rotating shaft of the chain conveyor 3 via the elastic coupling 63. The speed synchronization encoder 62 is used to acquire the conveying speed of the chain conveyor 3.
[0029] The grabbing and rejecting mechanism 5 includes a front-to-back moving mechanism 51, a left-to-right moving mechanism 52, a vertical moving mechanism 53, and a grabbing mechanism 54. The front-to-back moving mechanism 51 is fixedly mounted below the overall fixing frame 1 of the grabbing and rejecting mechanism. The left-to-right moving mechanism 52 is fixedly mounted on the front-to-back moving mechanism 51 and moves forward and backward with the front-to-back moving mechanism 51. The vertical moving mechanism 53 is fixedly mounted on the left-to-right moving mechanism 52 and moves left and right with the left-to-right moving mechanism 52. The grabbing mechanism 54 is fixedly mounted on the vertical moving mechanism 53 and moves up and down with the vertical moving mechanism 53. Driven by the front-to-back moving mechanism 51, the left-to-right moving mechanism 52, and the vertical moving mechanism 53, the grabbing mechanism 54 flexibly grabs uncoded pipe fittings.
[0030] The forward and backward moving mechanism 51 is a rodless cylinder that moves forward and backward. The rodless cylinder that moves forward and backward is fixedly installed under the overall fixed frame 1 of the grabbing and rejecting mechanism and can move forward and backward; the left and right moving mechanism 52 includes a single-axis robot fixing plate 521 and a single-axis robot 522. The single-axis robot fixing plate 521 is fixedly installed on the forward and backward moving mechanism 51. The single-axis robot 522 is fixedly installed on the single-axis robot fixing plate 521. The single-axis robot 522 moves forward and backward under the drive of the moving rodless cylinder; the up and down moving mechanism 53 includes a slide cylinder fixing frame 531 and a lifting slide cylinder 532. The slide cylinder fixing frame 531 is fixedly installed on the single-axis robot 522. The lifting slide cylinder 532 is fixedly installed on the slide cylinder On the cylinder fixing frame 531, the lifting slide cylinder 532 moves left and right under the drive of the single-axis robot 522; the grasping mechanism 54 includes a finger cylinder fixing frame 541, an opening and closing finger cylinder 542, a rear clamp 543, and a front clamp 544. The finger cylinder fixing frame 541 is fixedly installed on the lifting slide cylinder 532, and the opening and closing finger cylinder 542 is fixedly installed on the finger cylinder fixing frame 541. The rear clamp 543 and the front clamp 544 are fixedly installed on the output end of the opening and closing finger cylinder 542. The opening and closing finger cylinder 542 moves up and down under the drive of the lifting slide cylinder 532, and the rear clamp 543 and the front clamp 544 are clamped and released under the drive of the opening and closing finger cylinder 542. A rear polyurethane clamping block 5431 is fixedly installed on the inner side of the rear clamping jaw 543 , and a front polyurethane clamping block 5441 is fixedly installed on the inner side of the front clamping jaw 544 . The rear polyurethane clamping block 5431 and the front polyurethane clamping block 5441 are used to improve the gripping friction.
[0031] The specific implementation process of the utility model device during production is as follows: First, the vertical and front-to-back positions of the conveyor guide adjustable edge 2 are adjusted according to the type and size of the product to be packaged. During production, only one of the full-plastic tee pipe fittings 7 and the full-plastic elbow pipe fittings 8 can be selected for production. The device is then started, and the chain conveyor 3 drives the column head positioning carrier 31 to the right. The grabbing robot then grabs the pipe fittings and places them on the column head positioning carrier 31 of the chain conveyor 3. During placement, the conveyor guide adjustable edge 2 provides abutment for the pipe fittings to ensure accurate placement, and during transportation, it provides guidance for the pipe fittings to ensure stable transportation. Then, each pipe fitting conveyed in a fixed position on the chain conveyor 3 is laser-marked with an anti-counterfeiting QR code. The code is then scanned and identified by a scanner. Pipe fittings that can be scanned and identified continue to the right and enter the next packaging stage, and the corresponding scanned code information is simultaneously uploaded for subsequent information bundling. However, when a pipe fitting cannot be scanned and moves between the front clamp 544 and the rear clamp 543, the pipe fitting is automatically removed. At this point, the opening and closing finger cylinder 542 closes, and the front and rear grippers 544 and 543 drive the front and rear polyurethane clamps 5441 and 5431 to clamp the pipe. As the gripping action begins, the single-axis robot 522 obtains the speed of the chain conveyor 3 from the speed synchronization encoder 62, driving the opening and closing finger cylinder 542 to the right to ensure synchronous grasping. The lifting slide cylinder 532 then drives the opening and closing finger cylinder 542 upward, and the front and rear grippers 544 and 543 then move upward, gripping the pipe and separating it from the column head positioning carrier 31. During this process, the single-axis robot 522 continues to move rightward at a synchronized speed with the chain conveyor 3 to prevent collisions when grasping the pipe. The forward-backward movement mechanism 51 then moves forward to above the rejected product buffer basket 4. The opening and closing finger cylinder 542 opens, and the front and rear clamps 544 and 543 drive the front and rear polyurethane clamps 5441 and 5431 to release the tube into the rejected product buffer basket 4. The forward-backward movement mechanism 51 then returns to its original position, followed by the single-axis robot 522. Simultaneously, the lifting slide cylinder 532 drives the opening and closing finger cylinder 542 downward to its original position, and the device awaits the arrival of the next unrecognized tube that needs to be rejected. The device completes its operation.
[0032] It is understood that the present invention is described by way of certain embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. Furthermore, under the guidance of the present invention, these features and embodiments may be modified to suit specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.
Claims
1. A follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings, comprising a grabbing and rejecting mechanism overall fixing frame (1), a conveying guide with adjustable side (2), a chain plate conveyor (3), a rejected product buffer basket (4), a grabbing and rejecting mechanism (5) and a speed acquisition device (6), wherein the chain plate conveyor (3) is used to transport all-plastic elbow tee pipe fittings, and is characterized in that: The adjustable conveying guide edge (2) is fixedly mounted on one side of the chain conveyor (3) and is used for limiting the fixed transmission of the all-plastic elbow tee pipe fittings. The overall fixing frame (1) of the grabbing and rejecting mechanism is fixedly mounted above the chain conveyor (3) and is used for fixing the grabbing and rejecting mechanism (5). The grabbing and rejecting mechanism (5) is fixedly mounted on the overall fixing frame (1) of the grabbing and rejecting mechanism and is used for rejecting uncoded pipe fittings. The rejected product buffer basket (4) is fixedly mounted on one side of the chain conveyor (3) and is used for storing the rejected pipe fittings. The speed acquisition device (6) is fixedly mounted on the rotating shaft of the chain conveyor (3) and is used for acquiring the transmission speed of the chain conveyor (3).
2. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 1 is characterized in that: The conveying chain plate of the chain plate conveyor (3) is provided with a column head positioning carrier (31), and the column head positioning carrier (31) is fixedly connected to the conveying chain plate of the chain plate conveyor (3), and is driven by the conveying chain plate to convey the pipe fittings.
3. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 1 is characterized in that: The conveying guide adjustable edge (2) includes a stopper rod (21), an adjusting rod (22), a chuck (23), and a fixed clamp seat (24). The fixed clamp seat (24) is fixedly installed on one side of the chain conveyor (3). The adjusting rod (22) is fixed above the fixed clamp seat (24). The chuck (23) is fixedly installed on one end of the adjusting rod (22). The stopper rod (21) is clamped and fixed on the chuck (23). The distance and height between the stopper rod (21) and the pipe fitting can be adjusted by adjusting the length and height of the adjusting rod (22).
4. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 1 is characterized in that: The speed acquisition device (6) includes an encoder fixing frame (61), a speed synchronization encoder (62) and an elastic coupling (63), wherein the encoder fixing frame (61) is fixedly mounted on one side of the end of the chain conveyor (3), and the speed synchronization encoder (62) is fixedly mounted on the encoder fixing frame (61). The rotating shaft of the speed synchronization encoder (62) is connected to the rotating shaft of the chain conveyor (3) through the elastic coupling (63), and the speed synchronization encoder (62) is used to acquire the conveying speed of the chain conveyor (3).
5. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 1 is characterized in that: The grabbing and rejecting mechanism (5) comprises a front-to-back moving mechanism (51), a left-to-right moving mechanism (52), an up-to-down moving mechanism (53) and a grabbing mechanism (54). The front-to-back moving mechanism (51) is fixedly mounted below the overall fixing frame (1) of the grabbing and rejecting mechanism. The left-to-right moving mechanism (52) is fixedly mounted on the front-to-back moving mechanism (51) and moves forward and backward along with the front-to-back moving mechanism (51). The up-to-down moving mechanism (53) is fixedly mounted on the left-to-right moving mechanism (52) and moves left and right along with the left-to-right moving mechanism (52). The grabbing mechanism (54) is fixedly mounted on the up-to-down moving mechanism (53) and moves up and down along with the up-to-down moving mechanism (53). The grabbing mechanism (54) grabs the uncoded pipe fittings driven by the front-to-back moving mechanism (51), the left-to-right moving mechanism (52) and the up-to-down moving mechanism (53).
6. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 5 is characterized in that: The forward and backward moving mechanism (51) is a rodless cylinder that moves forward and backward. The rodless cylinder is fixedly mounted below the overall fixing frame (1) of the grabbing and rejecting mechanism and can move forward and backward. The left and right moving mechanism (52) includes a single-axis robot fixing plate (521) and a single-axis robot (522). The single-axis robot fixing plate (521) is fixedly mounted on the forward and backward moving mechanism (51). The single-axis robot (522) is fixedly mounted on the single-axis robot fixing plate (521). The single-axis robot (522) moves forward and backward under the drive of the moving rodless cylinder.
7. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 6 is characterized in that: The up-and-down moving mechanism (53) comprises a slide cylinder fixing frame (531) and a lifting slide cylinder (532), wherein the slide cylinder fixing frame (531) is fixedly mounted on the single-axis robot (522), and the lifting slide cylinder (532) is fixedly mounted on the slide cylinder fixing frame (531). The lifting slide cylinder (532) moves left and right under the drive of the single-axis robot (522).
8. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 7 is characterized in that: The gripping mechanism (54) includes a finger cylinder fixing frame (541), an opening and closing finger cylinder (542), a rear side clamping claw (543), and a front side clamping claw (544). The finger cylinder fixing frame (541) is fixedly mounted on the lifting slide cylinder (532). The opening and closing finger cylinder (542) is fixedly mounted on the finger cylinder fixing frame (541). The rear side clamping claw (543) and the front side clamping claw (544) are fixedly mounted on the output end of the opening and closing finger cylinder (542). The opening and closing finger cylinder (542) moves up and down under the drive of the lifting slide cylinder (532). The rear side clamping claw (543) and the front side clamping claw (544) are clamped and released under the drive of the opening and closing finger cylinder (542).
9. The follow-up grabbing and rejecting device for all-plastic elbow tee pipe fittings according to claim 8 is characterized in that: A rear polyurethane clamping block (5431) is fixedly mounted on the inner side of the rear clamping jaw (543), and a front polyurethane clamping block (5441) is fixedly mounted on the inner side of the front clamping jaw (544).