A robotic arm uses plastic pipe fittings to grip a tooling.

Abstract

This utility model discloses a robotic gripper for handling plastic pipe fittings, including a drive box, clamping rods, and clamping bars. The drive box has a base on its bottom surface, and the clamping rods are rotatably mounted on the base surface. A hydraulic cylinder is mounted on the base, and the output end of the hydraulic cylinder is connected to a connecting plate. The connecting plate is rotatably connected to the top of the clamping rods via a connecting rod to achieve synchronous deflection and opening / closing of multiple clamping rods. The bottom end of the clamping rod has a chuck seat, and the bottom and side surfaces of the chuck seat have two mutually perpendicular locking surfaces. The clamping bars are rotatably connected to the chuck seat via a ring lug and an elastic element on the top surface. Under the action of the elastic element, the clamping bars elastically abut against the locking surfaces. The clamping bars have a cavity and an adsorption hole and an air tube head for connecting an air source to form negative pressure adsorption. This tooling can automatically switch between clamping and adsorption modes by deflecting the clamping rods to different locking surfaces. It has a compact structure, strong adaptability, and is suitable for the flexible clamping and handling of various specifications and easily deformable plastic pipe fittings.

Description

Technical Field

[0005]

[0001] The utility model relates to the technical field of tooling structures, and particularly relates to a plastic pipe fitting grasping tooling for a manipulator. Background Art

[0002] In the fields of automated assembly, logistics handling, and industrial packaging, plastic pipe fittings, as common lightweight components, are widely used in various industrial scenarios. To improve operation efficiency, the grasping tooling equipped with a manipulator is commonly used to achieve the automated grasping, handling, and positioning of plastic pipe fittings. However, the existing plastic pipe fitting grasping devices have a single structure, mainly divided into two grasping methods: mechanical clamping type and pneumatic adsorption type, each with its own advantages and disadvantages.

[0003] The existing mechanical clamping type tooling usually relies on rigid jaws to be clamped by electric, pneumatic, or hydraulic drive. The structure is relatively simple and suitable for plastic pipe fittings with a higher outer wall hardness and good dimensional stability. However, when facing pipe fittings with thin walls, easy deformation, or large dimensional differences, problems such as clamping damage, slipping, or insecure clamping are likely to occur, and the reliability is poor.

[0004] The adsorption type grasping device relies on a vacuum system to form negative pressure with the workpiece surface through a suction cup or a cavity adsorption hole, and is suitable for handling plastic products with a flat surface, good airtightness, and light weight. Although this method has certain advantages in flexible grasping, there are limitations such as difficult adaptation and insecure adsorption for pipe fittings with different diameters, complex shapes, or uneven surfaces. In addition, the adsorption tooling generally has a fixed structure and cannot automatically adjust the adsorption position according to the change of pipe diameter, lacking adaptability.

[0005] Furthermore, the traditional clamping tooling and adsorption tooling are two independent structures. When it is necessary to switch the clamping method, it is often necessary to replace the jaw module or switch the entire set of grasping heads, which not only increases the complexity of the equipment structure but also reduces the system versatility and operation efficiency, and is not conducive to the rapid response of the flexible manufacturing system to multi-specification products.

[0006] In summary, the existing manipulator grasping tooling still has obvious deficiencies in function switching, clamping flexibility, and adaptability. There is an urgent need for a new type of grasping device with dual functions of clamping and adsorption, and with a compact structure, convenient conversion, and strong adaptability to meet the actual needs of efficient and diverse material handling in modern industrial scenarios. Content of the Utility Model

[0007] The utility model aims to solve one of the technical problems existing in the prior art or related technologies.

[0008] Therefore, the technical solution adopted by this utility model is as follows: a plastic pipe gripping fixture for a robotic arm, comprising: a drive box, a clamping rod, and a clamping bar. The bottom surface of the drive box is provided with a base, the clamping rod is rotatably mounted on the surface of the base, a hydraulic cylinder is fixedly mounted on the surface of the base, a connecting plate is fixedly connected to the output end of the hydraulic cylinder, and a connecting rod is provided at the end of the connecting plate and rotatably connected to the top of the clamping rod through the connecting rod; the connecting plate drives multiple clamping rods to open and close synchronously through the connecting rod, so as to realize the deflection action of the clamping rods; a chuck seat is provided at the bottom end of the clamping rod, and two locking surfaces arranged perpendicularly to each other are provided on the bottom surface and the side surface of the chuck seat; a ring lug and an elastic element are provided on the top surface of the clamping bar, and the two ends of the elastic element are fixedly connected to the ring lug and the surface of the clamping bar, respectively; the ring lug is rotatably mounted on the surface of the chuck seat, and the clamping bar is elastically abutted against the surface of the locking surface by the traction of the elastic element.

[0009] Specifically, by setting two locking surfaces in two directions, combined with the deflection movement of the clamping bar, it can automatically switch between the clamping position and the adsorption position, realizing rapid switching between the two working modes and improving the flexible operation capability of the tooling.

[0010] In a preferred embodiment, the drive box includes a base, a hydraulic cylinder, a connecting plate, and a connecting rod. The hydraulic cylinder is fixedly mounted on the base and is used to drive the connecting plate to reciprocate. The connecting plate is rotatably connected to multiple clamping rods through the connecting rod, so that the multiple clamping rods deflect synchronously under the drive.

[0011] Specifically, the structure utilizes hydraulic drive combined with a linkage mechanism to achieve synchronous opening and closing of multiple grippers, ensuring the coordination and stability of the clamping mechanism during operation.

[0012] In a preferred embodiment, the inner side of the clamping bar is provided with a cavity, the bottom surface is provided with a plurality of adsorption holes, and the surface is provided with an air tube head communicating with the cavity for connecting to an external air source; the bottom end of the clamping bar is provided with a rubber strip-shaped sealing edge.

[0013] Specifically, this structure, combined with the design of adsorption holes and sealing edges, can achieve flexible bonding and negative pressure adsorption in adsorption mode, effectively improving the adsorption stability of easily deformable and irregularly shaped plastic pipes.

[0014] In a preferred example, the plurality of clamping rods are arranged in an array along both sides of the drive box, with a symmetrical structure and uniform arrangement, which facilitates the adjustment of the clamping spacing according to plastic pipe fittings of different sizes.

[0015] Specifically, the array-type clamping structure combined with the adjustable deflection angle gives this invention excellent size adaptability, making it suitable for the automated handling needs of workpieces of various specifications.

[0016] In a preferred example, the chuck seat is an integrally formed structure, and its surface is provided with an arc-shaped groove that mates with the ring lug to limit the swing range of the clamping bar.

[0017] Specifically, the limiting design of the arc-shaped groove can prevent the clamping bar from over-rotating or becoming unstable during deflection, thereby improving the reliability and accuracy of the structure's operation.

[0018] In a preferred example, the elastic element is selected from spring sheet, rubber strip or corrugated sheet, and is used to maintain the elastic contact between the clamping bar and the two locking surfaces to realize automatic reset and limiting functions.

[0019] Specifically, the elastic element ensures that the clamping bar has good elastic return capability and vibration absorption performance during switching, thereby improving the durability and operational stability of the overall clamping structure.

[0020] In summary, this utility model, through the controllable deflection structure between the chuck and the clamping bar, combined with the dual-mode implementation of clamping and adsorption, forms a multifunctional gripping fixture with a compact structure, flexible switching, and wide adaptability. It significantly improves the robot's working ability and versatility under various working conditions and has good prospects for promotion and application.

[0021] The beneficial effects achieved by this utility model are as follows:

[0022] 1. In this utility model, by setting the clamping bar to cooperate with the two directional locking surfaces on the chuck seat, the clamping bar can automatically deflect between the clamping position and the adsorption position, thereby achieving seamless switching between the clamping mode and the adsorption mode, and improving the versatility and flexible operation capability of the tooling.

[0023] 2. In this utility model, by setting the internal cavity and adsorption hole of the clamping bar and combining it with the air tube head to achieve the negative pressure adsorption function, it can realize the flexible adsorption and handling of plastic pipes of different diameters and materials. It is especially suitable for clamping thin-walled and easily deformable pipes, effectively expanding the application range. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model;

[0025] Figure 2 This is a schematic diagram of the clamping rod and clamping bar structure according to one embodiment of the present utility model;

[0026] Figure 3 This is a schematic diagram of the internal structure of the drive box according to an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the installation structure of the clamping rod and clamping bar according to one embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the surface structure of the clamping bar according to an embodiment of the present invention.

[0029] Figure label:

[0030] 100. Drive box; 110. Hydraulic cylinder; 101. Base; 120. Connecting plate; 121. Connecting rod;

[0031] 200. Clamping bar; 210. Chuck seat; 211. Locking surface;

[0032] 300, clamping bar; 310, ring lug; 320, elastic element; 301, tracheal tube head. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features of the present utility model can be combined with each other.

[0034] It should be understood that these descriptions are merely exemplary and not intended to limit the scope of this invention.

[0035] The following describes, with reference to the accompanying drawings, some embodiments of the present invention, a plastic pipe gripping fixture for a robotic arm.

[0036] Combination Figures 1-5 As shown, the present invention provides a plastic pipe gripping tool for a robotic arm, comprising: a drive box 100, a clamping rod 200, and a clamping bar 300.

[0037] The bottom surface of the drive box 100 is provided with a base 101, and multiple clamping rods 200 are rotatably mounted on the base 101. A hydraulic cylinder 110 is fixedly mounted on the surface of the base 101, and a connecting plate 120 is fixedly connected to the output end of the hydraulic cylinder 110. A connecting rod 121 is provided at the end of the connecting plate 120, and the other end of the connecting rod 121 is rotatably connected to the top end of the corresponding clamping rod 200.

[0038] With the above-described structure, when the hydraulic cylinder 110 actuates, it pushes the connecting plate 120 to move horizontally within the drive box 100. The connecting plate 120, through multiple connecting rods 121, drives multiple clamping rods 200 to perform synchronous deflection movements, achieving synchronous opening and closing among the multiple clamping rods 200. This structure has good linkage and synchronization, which helps to achieve coordinated clamping of the gripper array.

[0039] like Figures 2 to 4 As shown, each clamping bar 200 has a clamping head seat 210 at its bottom end, and the clamping head seat 210 is an integrally formed structure. The bottom surface and the side surface of the clamping head seat 210 are respectively provided with two locking surfaces 211 arranged perpendicularly to each other. The clamping bar 300 is connected to the clamping head seat 210 through a ring lug 310 provided on its top surface, and elastically limited by an elastic element 320.

[0040] Specifically, one end of the elastic element 320 is fixedly connected to the ring lug 310, and the other end is fixedly connected to the surface of the clamping bar 300. The ring lug 310 is rotatably mounted on the surface of the clamp seat 210. The elastic element 320 is used to apply a rebound force to the clamping bar 300, so that it automatically conforms to the locking surface 211 when no external force is applied, thereby realizing the reset and limiting functions of the clamping bar 300.

[0041] like Figure 3 As shown, during the deflection of the clamping rod 200, the clamping bar 300 will deflect accordingly with the change in angle of the chuck seat 210. By controlling the deflection angle of the clamping rod 200, the clamping bar 300 can be made to fit against the side or bottom locking surface 211 of the chuck seat 210, thereby realizing automatic switching between the clamping working mode and the adsorption tooling mode.

[0042] like Figure 5 As shown, in adsorption mode, the inner side of the clamping rod 300 has a cavity, and the bottom surface of the clamping rod 300 has several adsorption holes to form a negative pressure adsorption interface with the plastic tube being gripped. An air tube head 301 is provided on the surface of the clamping rod 300, which communicates with the cavity and is used to connect to an external air pump system. The bottom end of the clamping rod 300 also has a rubber strip-shaped sealing edge to seal against the surface of the tube during adsorption, preventing air leakage and enhancing adsorption stability.

[0043] Furthermore, such as Figure 1 As shown, multiple clamping rods 200 are symmetrically arrayed along both sides of the drive box 100, with a uniform structure arrangement, enabling the clamping rods 300 to form an adjustable-spacing symmetrical gripper structure around the center. By adjusting the stroke of the hydraulic cylinder 110 through the hydraulic control device, the included angle of each clamping rod 200 can be changed synchronously to adapt to the gripping requirements of plastic pipe fittings with different outer diameters.

[0044] Preferably, the elastic element 320 can be a flexible element such as a spring sheet, rubber strip or corrugated sheet to provide appropriate elastic preload to ensure reliable contact between the clamping bar 300 and the locking surface 211 and to have good impact resistance and resilience.

[0045] The surface of the chuck seat 210 is also provided with an arc-shaped groove that cooperates with the ring lug 310, which is used to limit the swing of the clamping bar 300 in adsorption mode to prevent the clamping bar 300 from deflecting beyond the limit or becoming unstable, thereby improving the overall reliability of the system.

[0046] Through the above structural design, this utility model can achieve rapid switching between clamping and adsorption working modes without changing the tooling components, meeting the needs of automated clamping and handling of plastic pipe fittings of different materials and specifications. Its working principle and process are as described above, specifically including clamping working mode and adsorption tooling mode, which are efficiently switched through the deflection angle of the clamping bar 300 and the elastic limiting structure.

[0047] Working principle and usage process of this utility model:

[0048] The robotic arm for gripping plastic pipes of this invention has two switchable working modes: clamping working mode and adsorption working mode. The two modes are switched by the deflection angle of the clamping bar 300 and its cooperation with different locking surfaces 211 on the chuck seat 210.

[0049] 1. Clamping working mode:

[0050] In this mode, the tooling structure is used for mechanical clamping of plastic pipe fittings. The specific process is as follows: the clamping bar 300 is connected to the chuck seat 210 through the elastic element 320; under the elastic traction, the clamping bar 300 fits against the locking surface 211 on the side of the chuck seat 210; the clamping bars 300 on the multiple clamping bars 200 are arranged opposite to each other; the hydraulic cylinder 110 drives the connecting plate 120 to move, and the clamping bar 200 is deflected through the connecting rod 121; during the process of the clamping bar 200 moving towards the middle to clamp, the two opposite clamping bars 300 clamp the plastic pipe body to achieve a purely mechanical clamping function.

[0051] 2. Adsorption fixture mode:

[0052] In this mode, the tooling structure achieves flexible adsorption of plastic pipe fittings of different specifications. The specific process is as follows: the clamping bar 300 rotates and shifts during the deflection of the clamping bar 200, causing it to abut against the locking surface 211 on the bottom surface of the clamping head seat 210; the relative distance between the clamping bars 300 is controlled by the deflection movement of multiple clamping bars 200 to achieve adaptation to different pipe diameters; at the same time, the air tube head 301 is connected to an external air pump to transmit vacuum suction into the internal cavity of the clamping bar 300; the adsorption hole at the bottom of the cavity is aligned with the plastic pipe body and generates negative pressure adsorption, thereby realizing the flexible adsorption clamping function; this mode is suitable for handling lightweight, thin-walled or easily deformable plastic pipe fittings.

[0053] Mode switching instructions: Mode switching does not require changing tooling components; by controlling the deflection of the clamping bar 300, the clamping bar 300 can be controlled to fit against the side or bottom of the chuck seat 210, thereby achieving a quick switch from clamping mode to adsorption mode; the elastic element 320 provides rebound and compliant following in both modes, improving the adaptability of the tooling and clamping stability.

[0054] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0055] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A plastic pipe fitting gripping tool for a robot, characterized by comprising: include: The drive box (100), clamping rods (200), and clamping bars (300) are provided; the bottom surface of the drive box (100) is provided with a base (101), the clamping rods (200) are rotatably mounted on the surface of the base (101), a hydraulic cylinder (110) is fixedly mounted on the surface of the base (101), a connecting plate (120) is fixedly connected to the output end of the hydraulic cylinder (110), and a connecting rod (121) is provided at the end of the connecting plate (120) and is rotatably connected to the top end of the clamping rods (200) through the connecting rod (121); the connecting plate (120) drives multiple clamping rods (200) to open and close synchronously through the connecting rod (121). To drive the deflection action of the clamping rod (200), the bottom end of the clamping rod (200) is provided with a clamping head seat (210). The bottom surface and side surface of the clamping head seat (210) are provided with two locking surfaces (211) arranged perpendicular to each other. The top surface of the clamping bar (300) is provided with a ring ear (310) and an elastic element (320). The two ends of the elastic element (320) are fixedly connected to the ring ear (310) and the surface of the clamping bar (300) respectively. The ring ear (310) is rotatably installed on the surface of the clamping head seat (210). The clamping bar (300) is elastically abutted against the surface of the locking surface (211) by the traction of the elastic element (320).

2. The plastic pipe gripping fixture for a robotic arm according to claim 1, characterized in that, The drive box (100) includes a base (101), a hydraulic cylinder (110), a connecting plate (120), and a connecting rod (121); the hydraulic cylinder (110) is fixedly installed on the base (101) and is used to push the connecting plate (120) to move. The connecting plate (120) drives multiple clamping rods (200) to open and close synchronously through the connecting rod (121).

3. The plastic pipe gripping fixture for a robotic arm according to claim 1, characterized in that, The clamping rod (300) has a cavity on its inner side and several adsorption holes on its bottom surface. The surface of the clamping rod (300) is provided with an air tube head (301) for communicating with the internal cavity and for connecting to an external air source. The bottom end of the clamping rod (300) is provided with a rubber strip-shaped sealing edge.

4. The plastic pipe gripping fixture for a robotic arm according to claim 1, characterized in that, The multiple clamping rods (200) are arranged in an array along both sides of the drive box (100) to accommodate the gripping needs of plastic pipe fittings of different sizes.

5. The plastic pipe gripping fixture for a robotic arm according to claim 1, characterized in that, The chuck seat (210) is an integrally formed structure. The surface of the chuck seat (210) is provided with an arc-shaped groove that matches the ring lug (310) to limit the swing range of the clamping bar (300).

6. The plastic pipe gripping fixture for a robotic arm according to claim 1, characterized in that, The elastic element (320) is a spring sheet, rubber strip or corrugated sheet, used to maintain the elastic contact between the clamping bar (300) and the surfaces of the two locking surfaces (211) to achieve the positioning of the clamping bar (300).

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