Automatic clamp and intelligent pipe expanding equipment

Abstract

The utility model provides an automatic clamp and intelligent pipe expanding equipment relates to automatic pipe expanding technical field. The automatic clamp be used for intelligent pipe expanding equipment, the intelligent pipe expanding equipment uses mechanical pipe expander pipe expansion, the actuating mechanism of intelligent pipe expanding equipment is with mechanical pipe expander separable connection, the automatic clamp includes: base, front pneumatic finger is arranged on the base, and two front clamping arms are connected with two open -and -close arms of front pneumatic finger respectively, two front clamping arms are arranged on the top of front pneumatic finger, and two front clamping arms are used for clamping the rear portion of the protruding front end of mechanical pipe expander. Through the automatic clamp of the utility model, realize the quick smooth dismounting of the mechanical pipe expander at the pipe expansion head of intelligent pipe expanding equipment, improve the dismounting efficiency of mechanical pipe expander.

Description

Technical Field

[0001] This utility model relates to the field of automated tube expansion technology, and more specifically, to an automatic clamp and intelligent tube expansion device. Background Technology

[0002] At present, expansion joint is one of the main connection methods between heat exchange tubes and tube sheets. In order to improve the efficiency and quality of expansion joint, articulated arm robots are being used more and more frequently in the field of expansion joint, gradually replacing manual expansion joint.

[0003] Meanwhile, with the continuous integration of intelligence and industrial robots, especially the organic combination of vision-based intelligent devices and articulated arm robots, the accuracy and efficiency of intelligent tube expanding equipment have been further improved compared with automatic tube expanding equipment.

[0004] However, both intelligent and automatic tube expanders require the use of mechanical tube expanders, such as three-groove straight tube expanders, during the tube expander operation. Since mechanical tube expanders are consumables, they need to be replaced in time after a period of use and when they are worn to a certain extent, in order to ensure the tube expander accuracy and efficiency of the intelligent tube expander.

[0005] However, the existing method for replacing mechanical tube expanders involves having an articulated robot stop the tube expander head at a designated position, then manually removing the mechanical expander from the expander head, replacing it with a new one, and after a fixation check, having the articulated robot drive the expander head to continue operating.

[0006] During this process, because the mechanical tube expander is fixed quite firmly, it is time-consuming and laborious for the operator to remove the mechanical tube expander from the machine head. Utility Model Content

[0007] To address the aforementioned problems, this utility model provides an automatic clamp for an intelligent tube expander. The intelligent tube expander uses a mechanical tube expander, and the actuator of the intelligent tube expander is detachably connected to the mechanical tube expander. The automatic clamp includes:

[0008] Base;

[0009] The front pneumatic finger is mounted on the base; and

[0010] Two front clamping arms are respectively connected to the two opening and closing arms of the front pneumatic finger. The two front clamping arms are located on the top of the front pneumatic finger and are used to clamp the rear part of the front protrusion of the mechanical tube expander.

[0011] Optionally, the automatic gripper further includes a rear pneumatic finger and two rear gripping arms.

[0012] The rear pneumatic finger is positioned behind the front pneumatic finger.

[0013] The two rear clamping arms are respectively connected to the two opening and closing arms of the rear pneumatic finger. The two rear clamping arms are located on the top of the rear pneumatic finger and are used to clamp the sleeve of the mechanical expander.

[0014] Optionally, there are multiple front pneumatic fingers and multiple rear pneumatic fingers. The multiple front pneumatic fingers are arranged side by side on the base, and the multiple rear pneumatic fingers are arranged side by side on the base. The multiple front pneumatic fingers and multiple rear pneumatic fingers are arranged in a one-to-one correspondence.

[0015] Optionally, the top of the front pneumatic finger is provided with a slide table that extends to the left and right sides. The top surface of the slide table is provided with a left-right extending groove, and the two front gripping arms are placed in the groove. The groove is used to guide the two front gripping arms to slide left and right.

[0016] Optionally, a cross ball linear guide is provided in the slide groove, and the two front clamping arms cooperate with the cross ball linear guide. The cross ball linear guide is used to make the two front clamping arms reciprocate along the slide groove.

[0017] Optionally, the two front gripping arms are erected on top of the front pneumatic finger, and the bottom of each front gripping arm is detachably connected to the opening and closing arm of one of the front pneumatic fingers via a threaded connector.

[0018] Optionally, each of the front clamping arms is provided with a front clamping protrusion at its top, the two front clamping protrusions are arranged opposite to each other, each front clamping protrusion is provided with a front clamping groove, the front clamping groove passes through the front clamping protrusion along the axial direction of the mechanical tube expander, the two front clamping grooves are arranged opposite to each other, and the two front clamping grooves are used to clamp the rear part of the front end protrusion of the mechanical tube expander.

[0019] Optionally, the automatic clamp further includes a column, which is disposed on the base and next to the front pneumatic finger. A push arm is provided on the top of the column, and the push arm is in contact with the outer side of one of the front clamping arms. An elastic element is provided between the push arm and the column, and the elastic element is used to push the push arm toward the outer side of one of the front clamping arms.

[0020] Optionally, the base has a guide groove that extends in the front-to-back direction, and the front pneumatic finger is connected to the base by a threaded fastener. The threaded fastener is used to fix the front pneumatic finger at any set position in the guide groove.

[0021] In addition, this utility model also provides an intelligent tube expansion device, including the aforementioned automatic clamp.

[0022] The technical effects of this utility model include at least the following:

[0023] In use, the actuator drives the tube expander head, bringing the mechanical tube expander close to the automatic clamp of this invention. The front pneumatic finger then drives the two front clamping arms to open. Next, the actuator positions the mechanical tube expander between the two front clamping arms. Simultaneously, the actuator moves the front protrusion of the mechanical tube expander to the front side of the two front clamping arms. At this point, the front pneumatic finger drives the two front clamping arms to clamp the rear part of the front protrusion of the mechanical tube expander. Then, the mechanical tube expander at the expander head is released, and the actuator moves backward, causing the two front clamping arms to block the rearward movement of the front protrusion of the mechanical tube expander, thus smoothly separating the mechanical tube expander from the expander head.

[0024] In this way, the automatic clamp of this utility model enables the rapid and smooth disassembly of the mechanical tube expander at the tube expander head of the intelligent tube expander, thereby improving the disassembly efficiency of the mechanical tube expander. Attached Figure Description

[0025] Figure 1 This is a schematic structural diagram of the automatic clamp according to a specific embodiment of the present utility model;

[0026] Figure 2 for Figure 1 Enlarged diagram of point Q in the diagram;

[0027] Figure 3 This is another schematic structural diagram of the automatic clamp according to a specific embodiment of the present utility model;

[0028] Figure 4 This is a schematic structural diagram illustrating the use of multiple automatic clamps in conjunction with tube expander heads in specific embodiments of this utility model. Detailed Implementation

[0029] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the embodiments of this utility model. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it. Embodiments of this utility model can be implemented in many ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0030] It is understood that the terms "first," "second," etc., used in this utility model may be used to describe various technical terms herein, but should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. However, unless specifically stated otherwise, these technical terms are not limited by these terms. These terms are only used to distinguish one technical term from another. For example, without departing from the scope of this utility model, the first receiving device and the second receiving device are different receiving devices, the first surface and the second surface are different surfaces, and the first plane, the second plane, the third plane, and the fourth plane are different planes. In the description of the embodiments of this utility model, "a plurality of" or "several" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0031] In the description of the embodiments of this utility model, unless otherwise expressly specified and limited, the terms "installation," "connection," "setting," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model according to the specific circumstances.

[0032] In the description of the embodiments of this utility model, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the horizontal height of the first feature is higher than the horizontal height of the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the horizontal height of the first feature is lower than the horizontal height of the second feature.

[0033] It should be noted that when a component is referred to as "fixed to" or "set on" another component, or similar terms such as "fixed to" or "set on," it can be directly on the other component or may have an intervening component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or may have an intervening component.

[0034] Unless otherwise defined, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0035] In addition, in the attached figures, the Z-axis represents the vertical direction, that is, the up-down direction, and the positive direction of the Z-axis (that is, the direction the arrow points to) represents up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down; the Y-axis represents the horizontal direction, that is, the left-right direction; the X-axis represents the vertical direction, that is, the front-back direction, and the positive direction of the X-axis (that is, the direction the arrow points to) represents forward, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents backward; it should also be noted that the aforementioned representations of the Z, Y, and X axes are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0036] See Figures 1 to 4 This embodiment provides an automatic clamp for an intelligent tube expander. The intelligent tube expander uses a mechanical tube expander 7 to expand the tube. The actuator of the intelligent tube expander is detachably connected to the mechanical tube expander 7. The automatic clamp includes:

[0037] Base 1;

[0038] The front pneumatic finger 2 is mounted on the base 1; and

[0039] Two front clamping arms 3 are respectively connected to the two opening and closing arms of the front pneumatic finger 2. The two front clamping arms 3 are located on the top of the front pneumatic finger 2 and are used to clamp the rear part of the front end protrusion 72 of the mechanical tube expander 7.

[0040] It should be noted that the actuator of the intelligent tube expander here can be a robotic arm or a linear motion device with three axes of linkage (longitudinal, transverse, and vertical), as long as it can move the mechanical tube expander 7 to the designated position.

[0041] In addition, the mechanical tube expander 7 here can be a three-groove straight tube expander. That is, the mechanical tube expander 7 includes a core rod 71 and a sleeve 73. The sleeve 73 is fitted over the core rod 71 and can slide back and forth along the core rod 71. The front end of the core rod 71 is provided with a front end protrusion 72. Three expansion rollers are evenly distributed on the outer side wall of the sleeve 73.

[0042] In addition, a tube expander head 9 is provided at the end of the actuator, and a mechanical tube expander 7 is fixed in the tube expander head 9.

[0043] In use, the actuator drives the tube expander head 9, bringing the mechanical tube expander 7 close to the automatic clamp of this embodiment. The front pneumatic finger 2 then drives the two front clamping arms 3 to open. Next, the actuator positions the mechanical tube expander 7 between the two front clamping arms 3. Simultaneously, the actuator moves the front protrusion 72 of the mechanical tube expander 7 to the front side of the two front clamping arms 3. At this point, the front pneumatic finger 2 drives the two front clamping arms 3 to clamp the rear of the front protrusion 72 of the mechanical tube expander 7. Then, the fixing mechanism of the mechanical tube expander 7 at the tube expander head is manually released. The actuator moves backward, causing the two front clamping arms 3 to block the rearward movement of the front protrusion 72 of the mechanical tube expander 7, thus smoothly separating the mechanical tube expander 7 from the tube expander head 9.

[0044] Furthermore, even when using an automatic replacement device to replace the mechanical tube expander 7, the mechanical tube expander 7 can still be fixed using the method described above. The mechanical tube expander 7 can then be detached from the tube expander head 9 using a pneumatic clamping and loosening device. The actuator then drives the tube expander head 9 to separate from the mechanical tube expander 7, thus achieving automatic disassembly of the mechanical tube expander 7.

[0045] Thus, the automatic clamp of this invention enables the rapid and smooth disassembly of the mechanical tube expander 7 at the tube expander head 9 of the intelligent tube expander. This satisfies the needs of both manual disassembly and automatic equipment replacement for the effective disassembly of the mechanical tube expander 7, thereby improving the disassembly efficiency of the mechanical tube expander.

[0046] See Figures 1 to 4 Furthermore, the automatic gripper in this embodiment also includes a rear pneumatic finger 4 and two rear gripping arms 5.

[0047] The rear pneumatic finger 4 is positioned behind the front pneumatic finger 2.

[0048] The two rear clamping arms 5 are respectively connected to the two opening and closing arms of the rear pneumatic fingers 4. The two rear clamping arms 5 are located on the top of the rear pneumatic fingers 4 and are used to clamp the sleeve 73 of the mechanical tube expander 7.

[0049] The core rod 71 is clamped by two front clamping arms 3, and the sleeve 73 is clamped by the rear clamping arm 5 and the rear pneumatic finger 4, so that the mechanical tube expander 7 is clamped and fixed more firmly.

[0050] The front pneumatic finger 2 and the rear pneumatic finger 4 can move simultaneously to fix the mechanical expander 7.

[0051] See Figures 1 to 4 Furthermore, there are multiple front pneumatic fingers 2 and multiple rear pneumatic fingers 4. Multiple front pneumatic fingers 2 are arranged side by side on the base 1, and multiple rear pneumatic fingers 4 are arranged side by side on the base 1. The multiple front pneumatic fingers 2 and multiple rear pneumatic fingers 4 are arranged in a one-to-one correspondence.

[0052] It should be noted that the front gripping arm 3 and the rear gripping arm 5 in the same forward and backward direction can be set as a group of automatic clamps. Multiple groups of automatic clamps can be set up adjacent to each other in sequence.

[0053] This setup allows a brand-new mechanical tube expander 7 to be clamped onto the first set of automatic clamps. Then, the actuator places the worn mechanical tube expander 7 (to be replaced) at the tube expander head 9 onto the second set of automatic clamps. The front pneumatic finger 2 and rear pneumatic finger 4 of the second set of automatic clamps simultaneously clamp the worn mechanical tube expander 7. Next, the tube expander head 9 is released from the worn mechanical tube expander 7, and the actuator separates the tube expander head 9 from the worn mechanical tube expander 7. Then, the actuator aligns the tube expander head 9 with the brand-new mechanical tube expander 7 and inserts it, securing the tube expander head 9 to the brand-new mechanical tube expander 7. Finally, the front pneumatic finger 2 and rear pneumatic finger 4 of the first set of automatic clamps are released, thus completing the rapid replacement of the mechanical tube expander 7.

[0054] Additionally, it should be noted that the tube expander head 9 in this embodiment can be equipped with a pneumatic fixing and loosening device, for example, driven by a cylinder to automatically clamp or loosen the mechanical tube expander 7. In this way, in conjunction with the automatic clamp of this invention, automatic assembly and disassembly of the mechanical tube expander 7 can be achieved.

[0055] See Figures 1 to 4 Furthermore, a slide 6 is provided on the top of the front pneumatic finger 2. The slide 6 extends to the left and right sides. The top surface of the slide 6 is provided with a left and right extending groove 61. The two front clamping arms 3 are placed in the groove 61. The groove 61 is used to guide the two front clamping arms 3 to slide left and right.

[0056] See Figures 1 to 4 Furthermore, a cross ball linear guide is provided in the slide groove 61, and the two front clamping arms 3 cooperate with the cross ball linear guide. The cross ball linear guide is used to make the two front clamping arms 3 reciprocate along the slide groove 61.

[0057] The slide table 6 and the cross ball linear guide improve the sensitivity of the two front clamping arms 3 in clamping and releasing, making the front pneumatic finger 2 more accurate in controlling the opening and closing of the two front clamping arms 3.

[0058] It should be noted that the rear pneumatic finger 4 and the two rear clamping arms 5 are in the same way. That is to say, the top of the rear pneumatic finger 4 is also provided with a slide table 6. The slide table 6 extends to the left and right sides. The top surface of the slide table 6 is provided with a left and right extending groove 61. The two rear clamping arms 5 are placed in the groove 61. The groove 61 is used to guide the two rear clamping arms 5 to slide left and right.

[0059] See Figures 1 to 4Furthermore, a cross ball linear guide is provided in the slide groove 61, and the two rear clamping arms 5 cooperate with the cross ball linear guide. The cross ball linear guide is used to make the two rear clamping arms 5 reciprocate along the slide groove 61.

[0060] The slide table 6 and the cross ball linear guide improve the sensitivity of the two rear clamping arms 5 in clamping and releasing, making the rear pneumatic finger 4 more accurate in controlling the opening and closing of the two rear clamping arms 5.

[0061] Furthermore, two front gripping arms 3 are erected on top of the front pneumatic finger 2, and the bottom of each front gripping arm 3 is detachably connected to the opening and closing arm of a front pneumatic finger 2 via a threaded connector.

[0062] After the front clamping arm 3 is damaged, it can be removed using a threaded connector, and then the new front clamping arm 3 can be detachably connected to the opening and closing arm of the corresponding front pneumatic finger 2 using a threaded connector. This allows for quick replacement of the front clamping arm 3.

[0063] Similarly, two rear gripping arms 5 are vertically mounted on top of the rear pneumatic fingers 4, and the bottom of each rear gripping arm 5 is detachably connected to the opening and closing arm of a rear pneumatic finger 4 via a threaded connector. This allows for quick replacement of the rear gripping arms 5.

[0064] Furthermore, each front clamping arm 3 is provided with a front clamping protrusion 31 at its top, the two front clamping protrusions 31 are arranged opposite to each other, and each front clamping protrusion 31 is provided with a front clamping groove 32. The front clamping groove 32 passes through the front clamping protrusion 31 along the axial direction of the mechanical tube expander 7, the two front clamping grooves 32 are arranged opposite to each other, and the two front clamping grooves 32 are used to clamp the rear part of the front end protrusion 72 of the mechanical tube expander 7.

[0065] Two front clamping protrusions 31 are arranged opposite each other, and each front clamping protrusion 31 is provided with a front clamping groove 32. The front clamping groove 32 is used to clamp the rear part of the front end protrusion 72 of the mechanical tube expander 7, thereby achieving effective clamping of the core rod 71.

[0066] It should be noted that each rear clamping arm 5 is provided with a rear clamping protrusion 51 at its top, the two rear clamping protrusions 51 are arranged opposite to each other, and each rear clamping protrusion 51 is provided with a rear clamping groove 52. The rear clamping groove 52 passes through the rear clamping protrusion 51 along the axial direction of the mechanical tube expander 7. The two rear clamping grooves 52 are arranged opposite to each other and are used to clamp the sleeve 73 of the mechanical tube expander 7.

[0067] Furthermore, the automatic clamp in this embodiment also includes a column 8, which is mounted on the base 1 and next to the front pneumatic finger 2. A push arm 81 is mounted on the top of the column 8, and the push arm 81 is in contact with the outer side of a front clamping arm 3. An elastic member 82 is provided between the push arm 81 and the column 8, and the elastic member 82 is used to push the push arm 81 toward the outer side of a front clamping arm 3.

[0068] Preferably, the push arm 81 can be a double-ended bolt, with one end of the push arm 81 threadedly connected to the column 8, and the other end of the push arm 81 provided with a circular protrusion 83. The elastic element 82 can be a second spring, which is sleeved on the push arm 81 and positioned between the column 8 and the circular protrusion 83. The circular protrusion 83 can be a nut and threadedly connected to the other end of the push arm 81.

[0069] Preferably, a column 8 and a push arm 81 can also be provided next to the rear pneumatic finger 4, and the push arm 81 can be kept in contact with the outer side of a rear clamping arm 5 by means of an elastic member 82.

[0070] Furthermore, the base 1 has a guide groove 11 that extends in the front-to-back direction. The front pneumatic finger 2 is connected to the base 1 by a threaded fastener. The threaded fastener is used to fix the front pneumatic finger 2 at any set position in the guide groove 11.

[0071] Preferably, the guide groove 11 is an elongated through hole, and a threaded hole is opened at the bottom of the front pneumatic finger 2. The bolt passes through the guide groove 11 and engages with the threaded hole. By tightening the bolt, the position of the front pneumatic finger 2 is fixed.

[0072] Similarly, the rear pneumatic finger 4 is connected to the base 1 by a threaded fastener, and the rear pneumatic finger 4 is also fixed at any set position in the guide groove 11 by the threaded fastener.

[0073] In addition, there can be multiple guide grooves 11, and the column 8 can be fixed at any set position in the corresponding guide groove 11 by corresponding threaded fasteners, so that the column 8 can be matched with the corresponding front pneumatic actuator.

[0074] In addition, this embodiment also provides an intelligent tube expander, including the automatic clamp of this embodiment. Since the technical effects achieved by this intelligent tube expander are the same as those of the automatic clamp of this embodiment, the intelligent tube expander will not be explained further.

[0075] Although the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An automatic clamp, characterized in that, For intelligent tube expanding equipment, the intelligent tube expanding equipment uses a mechanical tube expander to expand tubes, the actuator of the intelligent tube expanding equipment is detachably connected to the mechanical tube expander, and the automatic clamp includes: Base; The front pneumatic finger is mounted on the base; and Two front clamping arms are respectively connected to the two opening and closing arms of the front pneumatic finger. The two front clamping arms are located on the top of the front pneumatic finger and are used to clamp the rear part of the front protrusion of the mechanical tube expander.

2. The automatic clamp according to claim 1, characterized in that, The automatic gripper also includes a rear pneumatic finger and two rear gripping arms. The rear pneumatic finger is positioned behind the front pneumatic finger. The two rear clamping arms are respectively connected to the two opening and closing arms of the rear pneumatic finger. The two rear clamping arms are located on the top of the rear pneumatic finger and are used to clamp the sleeve of the mechanical expander.

3. The automatic clamp according to claim 2, characterized in that, There are multiple front pneumatic fingers and multiple rear pneumatic fingers. The multiple front pneumatic fingers are arranged side by side on the base, and the multiple rear pneumatic fingers are arranged side by side on the base. The multiple front pneumatic fingers and multiple rear pneumatic fingers are arranged in a one-to-one correspondence.

4. The automatic clamp according to claim 1, characterized in that, The top of the front pneumatic finger is provided with a slide table that extends to the left and right sides. The top surface of the slide table has left and right extending grooves. The two front gripping arms are placed in the grooves, which are used to guide the two front gripping arms to slide left and right.

5. The automatic clamp according to claim 4, characterized in that, The slide groove is provided with a cross ball linear guide, and the two front clamping arms cooperate with the cross ball linear guide. The cross ball linear guide is used to make the two front clamping arms reciprocate along the slide groove.

6. The automatic clamp according to claim 4, characterized in that, Two front gripping arms are erected on top of the front pneumatic finger, and the bottom of each front gripping arm is detachably connected to the opening and closing arm of one of the front pneumatic fingers via a threaded connector.

7. The automatic clamp according to claim 6, characterized in that, Each of the front clamping arms has a front clamping protrusion at its top, and the two front clamping protrusions are arranged opposite to each other. Each front clamping protrusion has a front clamping groove, which passes through the front clamping protrusion along the axial direction of the mechanical tube expander. The two front clamping grooves are arranged opposite to each other and are used to clamp the rear part of the front end protrusion of the mechanical tube expander.

8. The automatic gripper according to any one of claims 1 to 7, characterized in that, The automatic clamp also includes a column, which is disposed on the base and next to the front pneumatic finger. A push arm is provided on the top of the column, and the push arm is in contact with the outer side of one of the front clamping arms. An elastic element is provided between the push arm and the column, and the elastic element is used to push the push arm toward the outer side of one of the front clamping arms.

9. The automatic gripper according to any one of claims 1 to 7, characterized in that, The base has a guide groove that extends in the front-to-back direction. The front pneumatic finger is connected to the base by a threaded fastener, which is used to fix the front pneumatic finger at any set position in the guide groove.

10. An intelligent tube expander, characterized in that, Includes the automatic gripper as described in any one of claims 1 to 9.

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