Thin-wall pipe fitting grabbing manipulator

Abstract

The utility model relates to a thin-wall pipe fitting grabbing manipulator which comprises a supporting arm, and a connecting base is installed at the top of the supporting arm. The supporting arm comprises a top plate located at the top and two vertical plates extending downwards from the top plate, and a middle area is formed between the two vertical plates. A pair of cylinders of which the bottoms are hinged is mounted in the middle area; the middles of the pair of clamping arms are rotationally connected to the supporting ends on the two sides of the lower portion of the vertical plate correspondingly. Push rods of the pair of air cylinders are correspondingly connected to the top ends of the clamping arms respectively. Rubber chucks are respectively mounted at the lower ends of the clamping arms; the auxiliary supporting plates are connected to the outer vertical face, away from the center, of the vertical plate through connecting screws; the vertical plate is provided with a first avoiding area; according to the scheme, positioning and clamping of the thin-wall part can be achieved without too large clamping force, and the grabbing effect is greatly improved; and the device has the advantages of simplicity in manufacturing, convenience in use, no scratch on part surfaces, large adaptive pipe fitting diameter range and the like.

Description

Technical Field

[0001] This utility model relates to a robotic arm for gripping thin-walled pipe fittings. Background Technology

[0002] In the processing of thin-walled tubular components, such as the rims of automobile wheels, some companies first roll the sheet metal into a circle, then weld the joints, then spin-form the cross-sectional shape of the rim, and finally perform friction stir welding with the spokes to form the final product shape. In order to improve the level of automation, a robotic arm is used to grip the rim. However, due to the thinness of the tube wall, the pressure it can withstand is limited, and because the surface of the tube wall is curved, traditional robotic grippers are not good at clamping it. In order to stabilize the clamping, the clamping force needs to be increased. However, excessive clamping force will leave marks that are difficult to remove on the outer surface of the rim, affecting the final quality of the wheel hub. Utility Model Content

[0003] This utility model provides a thin-walled pipe gripper for holding thin-walled pipes. The specific solution is as follows:

[0004] A thin-walled pipe gripper includes a support arm, the top of which is fitted with a connector for connecting to the robot's actuator.

[0005] The support arm includes a top plate at the top and two vertical plates extending downward from the top plate, with the two vertical plates forming an intermediate area.

[0006] A pair of cylinders hinged at the bottom are installed in the intermediate area;

[0007] The middle portions of a pair of clamping arms symmetrically arranged around the center of the support arm are rotatably connected to the support ends on both sides below the vertical plate.

[0008] The push rods of the pair of cylinders are respectively connected to the top of the clamping arm;

[0009] The lower end of each clamping arm is equipped with a rubber clamp for fitting against the outer circumferential surface of the thin-walled pipe.

[0010] It also includes two auxiliary support plates made of plastic material, which are connected to the outer facade of the upright plate away from the center by connecting screws;

[0011] The upright plate includes a first body, and a first clearance area is provided at the lower center of the first body;

[0012] The auxiliary support plate includes a second body, and a second clearance zone is provided at the lower center of the second body.

[0013] Furthermore, the first body is also provided with a plurality of weight-reducing holes arranged symmetrically at the center.

[0014] Furthermore, the top of both sides of the second body are respectively provided with upwardly extending connecting plates, and the connecting screws are provided on the connecting plates.

[0015] Furthermore, the connecting plate is provided with an adjustment elongated hole for easy adjustment. The adjustment elongated hole is vertically arranged, and the connecting screw is disposed in the adjustment elongated hole.

[0016] The beneficial effects of this utility model are as follows:

[0017] This solution can achieve the positioning and clamping of thin-walled parts without requiring excessive clamping force, greatly improving the gripping effect.

[0018] This thin-walled pipe gripper is simple to manufacture, easy to use, does not scratch the surface of parts, and is suitable for a wide range of pipe diameters. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a side view of the present invention;

[0021] Figure 3 This is an exploded view of the present invention;

[0022] Figure 4 This is a schematic diagram of the combination of the support arm and auxiliary support plate of this utility model;

[0023] Figure 5 This is a side view of the support arm of this utility model;

[0024] Figure 6 This is a schematic diagram of the support arm of this utility model;

[0025] Figure 7 This is a schematic diagram of the combination of the support arm, clamping arm and auxiliary support plate of this utility model;

[0026] Figure 8 This is a schematic diagram of the clamping arm of this utility model;

[0027] Figure 9 This is a diagram showing the clamping state of this utility model;

[0028] in:

[0029] 1-Connector;

[0030] 2-Support arm;

[0031] 3-Cylinder;

[0032] 4-Clamping arm;

[0033] 5-Auxiliary support plate;

[0034] 6-Rubber clamp;

[0035] 7-Connecting screws;

[0036] 21-Top slab, 22-Vertical slab, 2a-Intermediate zone;

[0037] 22a - First entity;

[0038] 22aa - First clearance zone, 22ab - Support end, 22ac - Weight reduction hole;

[0039] 5a - Second body, 5b - Connecting plate;

[0040] 5aa - Second Avoidance Zone;

[0041] 5ba - Adjustable long hole. Detailed Implementation

[0042] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0043] Please see Figures 1 to 4 A thin-walled pipe gripper includes a support arm 2, the top of which is equipped with a connecting seat 1 for connecting to the robot's execution end. The robot is a 6-axis robot.

[0044] A pair of cylinders 3 hinged at the bottom are mounted on the support arm 2;

[0045] The middle portions of a pair of clamping arms 4, which are symmetrically arranged around the center of the support arm 2, are respectively rotatably connected to the lower sides of the support arm 2;

[0046] The push rods of the pair of cylinders 3 are respectively connected to the top of the clamping arm 4;

[0047] The lower end of each clamping arm 4 is equipped with a rubber clamp 6 for fitting against the outer circumferential surface of the thin-walled pipe.

[0048] It also includes two auxiliary support plates 5 made of plastic material, which are connected to the two outer surfaces of the support arm 2 away from the center by connecting screws 7;

[0049] Clamping status reference Figure 9 When clamping thin-walled pipe fittings, the pipe fittings are held in place by rubber chucks 6 on the clamping arms 4 on both sides. This design allows for the positioning and clamping of thin-walled pipe fittings without requiring excessive clamping force, greatly improving the gripping effect. This thin-walled pipe fitting gripping robot is simple to manufacture, easy to use, and does not scratch the surface of the parts.

[0050] Please see Figures 5 to 7 and Figure 1 This is one structure of the support arm 2, which includes a top plate 21 located at the top and two vertical plates 22 extending downward from the top plate 21, with the two vertical plates 22 forming an intermediate area 2a.

[0051] A pair of cylinders 3 hinged at the bottom are installed in the intermediate area 2a;

[0052] The middle portions of a pair of clamping arms 4 are rotatably connected to the support ends 22ab on both sides below the vertical plate 22;

[0053] The auxiliary support plate 5 is connected to the outer surface of the upright plate 22 away from the center by connecting screws 7;

[0054] The vertical plate 22 includes a first body 22a, and a first clearance area 22aa is provided at the lower center of the first body 22a to clearance the outer peripheral surface of the thin-walled pipe.

[0055] To reduce weight, the first body 22a is also provided with a plurality of weight-reducing holes 22ac arranged symmetrically at the center.

[0056] Please refer to Figure 4 The gripping arm 4 is also equipped with weight reduction holes, which greatly reduces the weight of the robotic arm.

[0057] Please see Figure 5 The auxiliary support plate 5 includes a second body 5a. In order to avoid the outer peripheral surface of the thin-walled pipe, a second avoidance area 5aa is provided at the lower center of the second body 5a.

[0058] The second body 5a has connecting plates 5b extending upward on both sides of its top. The connecting screws 7 are set on the connecting plates 5b. This arrangement allows for a better machining position.

[0059] In a further embodiment, the connecting plate 5b is provided with an adjustment elongated hole 5ba for easy adjustment. The adjustment elongated hole 5ba is vertically arranged, and the connecting screw 7 is set in the adjustment elongated hole 5ba. By adjusting the different heights of the auxiliary support plate 5, it can adapt to the diameter range of the pipe fitting.

[0060] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A thin-walled pipe gripper, characterized in that, Includes a support arm, the top of which is fitted with a connector for connecting to the robot's actuator; The support arm includes a top plate at the top and two vertical plates extending downward from the top plate, with the two vertical plates forming an intermediate area. A pair of cylinders hinged at the bottom are installed in the intermediate area; The middle portions of a pair of clamping arms symmetrically arranged around the center of the support arm are rotatably connected to the support ends on both sides below the vertical plate. The push rods of the pair of cylinders are respectively connected to the top of the clamping arm; The lower end of each clamping arm is equipped with a rubber clamp for fitting against the outer circumferential surface of the thin-walled pipe. It also includes two auxiliary support plates made of plastic material, which are connected to the outer facade of the upright plate away from the center by connecting screws; The upright plate includes a first body, and a first clearance area is provided at the lower center of the first body; The auxiliary support plate includes a second body, and a second clearance zone is provided at the lower center of the second body.

2. The thin-walled pipe gripping robot according to claim 1, characterized in that, The first body is also provided with a plurality of weight-reducing holes arranged symmetrically at the center.

3. The thin-walled pipe gripping robot according to claim 1, characterized in that, The second body has connecting plates extending upward on both sides of its top, and the connecting screws are mounted on the connecting plates.

4. The thin-walled pipe gripping robot according to claim 3, characterized in that, The connecting plate is provided with an adjustment elongated hole for easy adjustment. The adjustment elongated hole is vertically arranged, and the connecting screw is disposed in the adjustment elongated hole.

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