Steel pipe production gripping device

Abstract

This utility model provides a steel pipe production gripping device, belonging to the field of steel pipe production technology. The device includes a robotic arm with a fixed plate connected to its end. A rubber sleeve is provided at the bottom of the fixed plate, and the bottom of the rubber sleeve has an arc-shaped surface adapted to the outer diameter of the steel pipe. Several through holes are formed on this arc-shaped surface. An air extraction pipe communicating with the inside of the rubber sleeve is provided on the fixed plate. A mounting frame is provided on the fixed plate, with a first movable frame and a second movable frame respectively on both sides. Clamping plates are provided at the bottom of both the first and second movable frames. Through the coordinated operation of the gripping component and the negative pressure adsorption component, when gripping stacked steel pipes, the negative pressure adsorption component first generates an adsorption force on the target steel pipe, slightly lifting it and stably separating it from surrounding steel pipes. Then, the gripping component performs a secondary clamping and limiting of the separated target steel pipe, ensuring that the steel pipe remains stable during subsequent transportation.

Description

Technical Field

[0001] This utility model belongs to the field of steel pipe production technology, and specifically relates to a steel pipe production gripping device. Background Technology

[0002] In the steel pipe production process, the gripping and transfer of steel pipes is a crucial step, directly affecting production efficiency, product quality, and operational safety. Currently, the industry commonly uses gripper-type gripping devices for steel pipe gripping operations. These devices, due to their relatively simple structure and convenient operation, have found some application in gripping scenarios involving single steel pipes or neatly arranged steel pipes. However, in actual production conditions, steel pipes are mostly stacked in multiple layers to save storage space and facilitate batch management. When using existing gripper-type grasping devices to grasp a single target steel pipe in this stacked state, the force range and opening and closing trajectory of the grippers are difficult to precisely match the spatial position of the target steel pipe. As the grippers approach and grasp the target steel pipe, they are very likely to come into contact with and squeeze adjacent non-target steel pipes. This squeezing action not only disrupts the originally stable steel pipe stacking structure, causing surrounding steel pipes to shift or even scatter, but may also cause scratches, dents, and other damage to the steel pipe surface, affecting the product's appearance quality and subsequent processing accuracy.

[0003] In summary, the gripping devices commonly used in the current steel pipe production field are prone to causing steel pipes to scatter and be damaged when gripping stacked steel pipes, and cannot well meet the requirements of stable and low-damage steel pipe production gripping. Therefore, there is an urgent need for a gripping device for steel pipe production that can solve the above-mentioned technical problems. Utility Model Content

[0004] The purpose of this utility model is to provide a steel pipe production gripping device, which aims to solve the problem that existing steel pipe production gripping devices are prone to causing steel pipes to scatter and be damaged when gripping stacked steel pipes.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a steel pipe production gripping device, including a robotic arm, the end of which is connected to a fixed plate, a rubber sleeve at the bottom of the fixed plate, the bottom of the rubber sleeve being an arc-shaped surface adapted to the outer circle of the steel pipe, and several through holes being opened on the arc-shaped surface; an air extraction pipe communicating with the inside of the rubber sleeve is provided on the fixed plate; a mounting frame is provided on the fixed plate, a first movable frame and a second movable frame are respectively provided on both sides of the mounting frame, and clamping plates are provided at the bottom of both the first movable frame and the second movable frame; a lifting assembly is provided between the fixed plate and the mounting frame for driving the mounting frame to move up and down in the vertical direction; a driving assembly is provided between the first movable frame, the second movable frame and the mounting frame, the driving assembly for driving the first movable frame and the second movable frame to move simultaneously in opposite directions or in the opposite direction along the length of the mounting frame.

[0006] In a preferred embodiment of this utility model, an upper pull plate and a lower pull plate are hinged to the clamping plate, a flexible plate is provided between the upper pull plate and the lower pull plate, and elastic elements are provided between the upper pull plate and the clamping plate and between the lower pull plate and the clamping plate.

[0007] In a preferred embodiment of this utility model, two stop plates are fixedly connected to the clamp plate. The two stop plates respectively abut against the upper surface of the upper pull plate and the lower surface of the lower pull plate to limit the maximum rotation angle of the upper pull plate and the lower pull plate.

[0008] As a preferred embodiment of this utility model, the flexible plate has a plurality of grooves along its length on the side away from the clamping plate. The grooves are evenly distributed at intervals to increase the friction between the flexible plate and the surface of the steel pipe.

[0009] In a preferred embodiment of this invention, the lifting assembly includes at least two second hydraulic cylinders, the bottom of the cylinder body of each second hydraulic cylinder being fixedly connected to the upper surface of the fixed plate, and the output end of the piston rod of each second hydraulic cylinder being fixedly connected to the mounting bracket.

[0010] In a preferred embodiment of this invention, the drive assembly includes a first hydraulic cylinder mounted on a mounting frame, and insert plates are provided on the side of the first movable frame and the second movable frame near the mounting frame. The insert plates are movably inserted into the interior of the mounting frame to guide the movement direction of the first movable frame and the second movable frame.

[0011] As a preferred embodiment of this utility model, the mounting bracket has two insertion holes, and the fixing plate is provided with a vertical pole that is compatible with the insertion holes.

[0012] As a preferred embodiment of this invention, the flexible plate is made of rubber.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. Through the coordinated operation of the clamping component and the negative pressure adsorption component, when gripping stacked steel pipes, the negative pressure adsorption component first generates an adsorption force on the target steel pipe, gently lifting it and stably separating it from other surrounding steel pipes. Subsequently, the clamping component performs a secondary clamping and limiting of the separated target steel pipe, ensuring that the steel pipe remains stable during subsequent transportation. Compared to traditional gripping structures, this device effectively avoids the problem of other stacked steel pipes scattering or surface damage during gripping operations.

[0014] 2. Through the synergistic action of the upper pull plate, lower pull plate, elastic element and flexible plate, the flexible plate can adaptively conform to the outer arc of the steel pipe during the clamping process, thereby increasing the contact area with the surface of the steel pipe and improving the stability of the steel pipe clamping; in addition, when gripping thin-walled steel pipes, the buffering effect of the flexible plate and the adaptive pressure adjustment of the elastic element can effectively prevent the steel pipe from being excessively squeezed and deformed due to excessive clamping force, thus ensuring the production quality of the steel pipe. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a three-dimensional structural diagram of the steel pipe production gripping device of this utility model; Figure 2 This is a schematic diagram of the steel pipe clamping assembly in this utility model; Figure 3 This is a schematic diagram of the bottom structure of the fixing plate in this utility model; Figure 4 This utility model Figure 3 An enlarged schematic diagram of the structure at point A in the middle.

[0016] In the diagram: 1. Robotic arm; 2. Fixed plate; 3. Rubber sleeve; 31. Air pipe; 32. Through hole; 4. Mounting frame; 41. First movable frame; 42. Second movable frame; 43. Insert plate; 44. First hydraulic cylinder; 45. Upright pole; 46. Insertion hole; 47. Second hydraulic cylinder; 5. Clamping plate; 51. Upper pull plate; 52. Lower pull plate; 53. Flexible plate; 54. Elastic element; 55. Stop plate; 56. Groove. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Example 1 Please see Figures 1-3A steel pipe production gripping device includes a robotic arm 1, with a fixed plate 2 connected to the end of the robotic arm 1. The fixed plate 2 is a horizontally arranged rectangular plate structure used to support various functional components. A rubber sleeve 3 is provided at the bottom of the fixed plate 2. The bottom of the sleeve is an arc-shaped surface that fits the outer circle of the steel pipe. Several through holes 32 are provided on the arc-shaped surface, which penetrate the internal cavity of the rubber sleeve 3. One end of the suction pipe 31 is fixed to the upper surface of the fixed plate 2 by welding and is connected to the internal cavity of the rubber sleeve 3. The other end is connected to an external negative pressure device (such as a vacuum pump) through a pipe joint to extract air from the rubber sleeve 3 to form a negative pressure. A mounting frame 4 is provided on the fixed plate 2. A first movable frame 41 and a second movable frame 42 are respectively provided on both sides of the mounting frame 4. A clamping plate 5 is provided at the bottom of both the first movable frame 41 and the second movable frame 42. A lifting assembly is provided between the fixed plate 2 and the mounting frame 4 to drive the mounting frame 4 to move vertically and thus adjust the height of the clamping plate 5. A driving assembly is provided between the first movable frame 41, the second movable frame 42 and the mounting frame 4. The driving assembly is used to drive the first movable frame 41 and the second movable frame 42 to move simultaneously in opposite directions or in the opposite direction along the length of the mounting frame 4.

[0019] Specifically, the lifting assembly includes two symmetrically distributed second hydraulic cylinders 47. The bottom of the cylinder body of the second hydraulic cylinder 47 is fixedly connected to the upper surface of the fixed plate 2, and the output end of the piston rod of the second hydraulic cylinder 47 is fixedly connected to the mounting bracket 4.

[0020] Specifically, the drive assembly includes a first hydraulic cylinder 44 mounted on the mounting frame 4, and insert plates 43 are provided on the side of the first movable frame 41 and the second movable frame 42 near the mounting frame 4. Slots adapted to the insert plates 43 are opened on both sides of the mounting frame 4. The insert plates 43 are slidably inserted into the slots to guide the movement direction of the movable frames.

[0021] The upper surface of the mounting bracket 4 has two symmetrical holes 46 along the vertical direction. The upper surface of the fixing plate 2 is welded with two uprights 45. The uprights 45 slide through the holes 46 to limit the offset of the mounting bracket 4 when it is raised or lowered, and to ensure the stability of the movement.

[0022] When it is necessary to grasp the stacked steel pipes, the robotic arm 1 moves the negative pressure adsorption component and the clamping component to directly above the target steel pipe, so that the arc-shaped surface of the rubber sleeve 3 faces the upper surface of the steel pipe. The robotic arm 1 is controlled to descend, so that the arc-shaped surface of the rubber sleeve 3 fits against the surface of the steel pipe; the external negative pressure device is activated, and the air inside the rubber sleeve 3 is extracted through the air extraction pipe 31. The negative pressure formed by the through hole 32 adsorbs and fixes the target steel pipe. Then the robotic arm 1 rises slightly, pulling the target steel pipe up 5-10cm, separating it from the surrounding stacked steel pipes. The piston rod of the second hydraulic cylinder 47 is controlled to extend, driving the mounting frame 4 to lower the clamping plate 5 to a height flush with the side wall of the steel pipe. Subsequently, the piston rod of the first hydraulic cylinder 44 retracts, driving the first movable frame 41 and the second movable frame 42 to move towards each other along the mounting frame 4, so that the clamping plates 5 on both sides clamp the side wall of the steel pipe, thus fixing the steel pipe a second time. After the steel pipe is transferred to the target position by the robotic arm 1, the piston rod of the first hydraulic cylinder 44 is extended to loosen the clamp 5; then the negative pressure equipment is turned off to release the suction force of the rubber sleeve 3, and the steel pipe can be released.

[0023] Example 2 Please see Figure 3 and Figure 4 This embodiment includes the above-described embodiment, and further includes: an upper pull plate 51 and a lower pull plate 52 are hinged to the clamping plate 5 by a pin; a flexible plate 53 is provided between the upper pull plate 51 and the lower pull plate 52; and elastic elements 54 are provided between the upper pull plate 51 and the clamping plate 5, and between the lower pull plate 52 and the clamping plate 5. Two stop plates 55 are fixedly connected to the clamping plate 5, and the two stop plates 55 respectively abut against the upper surface of the upper pull plate 51 and the lower surface of the lower pull plate 52 to limit the maximum rotation angle of the upper pull plate 51 and the lower pull plate 52. The flexible plate 53 has several grooves 56 along its length on the side away from the clamping plate 5. The grooves 56 are evenly distributed to increase the friction between the flexible plate 53 and the surface of the steel pipe. The flexible plate 53 is made of rubber to prevent scratches on the surface of the steel pipe during clamping.

[0024] When clamping the sidewall of the steel pipe, the flexible plate 53 first contacts the surface of the steel pipe. Due to the elasticity of its rubber material, it adapts to the outer curvature of the steel pipe, initially increasing the contact area. As the clamping plates 5 continue to approach, the upper pull plate 51 and the lower pull plate 52 both compress the elastic element 54, causing them to flip towards the steel pipe and making the flexible plate 53 adhere to the surface of the steel pipe, further expanding the clamping contact range. For thin-walled steel pipes, the elastic deformation of the flexible plate 53 and the buffering effect of the elastic element 54 can avoid rigid compression and prevent deformation of the steel pipe; at the same time, the larger contact area reduces the pressure per unit area, further ensuring the surface quality of the steel pipe.

[0025] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A steel pipe production gripping device, comprising a robotic arm (1), characterized in that: The end of the robotic arm (1) is connected to a fixed plate (2), and a rubber sleeve (3) is provided at the bottom of the fixed plate (2). The bottom of the rubber sleeve (3) is an arc-shaped surface that is adapted to the outer circle of the steel pipe, and several through holes (32) are provided on the arc-shaped surface. An air extraction pipe (31) connected to the inside of the rubber sleeve (3) is provided on the fixed plate (2). The fixed plate (2) is provided with a mounting frame (4), and a first movable frame (41) and a second movable frame (42) are respectively provided on both sides of the mounting frame (4). The bottom of the first movable frame (41) and the second movable frame (42) are provided with clamps (5). A lifting component is provided between the fixed plate (2) and the mounting frame (4) for driving the mounting frame (4) to move up and down in the vertical direction. A driving component is provided between the first movable frame (41), the second movable frame (42) and the mounting frame (4), and the driving component is used to drive the first movable frame (41) and the second movable frame (42) to move in opposite directions or in the opposite direction along the length of the mounting frame (4).

2. The steel pipe production gripping device according to claim 1, characterized in that: The clamping plate (5) is hinged with an upper pull plate (51) and a lower pull plate (52). A flexible plate (53) is provided between the upper pull plate (51) and the lower pull plate (52). Elastic elements (54) are provided between the upper pull plate (51) and the clamping plate (5) and between the lower pull plate (52) and the clamping plate (5).

3. The steel pipe production gripping device according to claim 2, characterized in that: Two stop plates (55) are fixedly connected to the clamp (5). The two stop plates (55) respectively abut against the upper surface of the upper pull plate (51) and the lower surface of the lower pull plate (52) to limit the maximum flip angle of the upper pull plate (51) and the lower pull plate (52).

4. The steel pipe production gripping device according to claim 3, characterized in that: The flexible plate (53) has several grooves (56) along its length on the side away from the clamping plate (5). The grooves (56) are evenly distributed at intervals to increase the friction between the flexible plate (53) and the surface of the steel pipe.

5. The steel pipe production gripping device according to claim 1, characterized in that: The lifting assembly includes at least two second hydraulic cylinders (47). The bottom of the cylinder body of each second hydraulic cylinder (47) is fixedly connected to the upper surface of the fixed plate (2), and the piston rod output end of each second hydraulic cylinder (47) is fixedly connected to the mounting bracket (4).

6. The steel pipe production gripping device according to claim 1, characterized in that: The drive assembly includes a first hydraulic cylinder (44) mounted on the mounting frame (4). The first movable frame (41) and the second movable frame (42) are each provided with a plate (43) on the side near the mounting frame (4). The plate (43) is movably inserted into the interior of the mounting frame (4) to guide the movement direction of the first movable frame (41) and the second movable frame (42).

7. The steel pipe production gripping device according to claim 6, characterized in that: The mounting bracket (4) has two insertion holes (46), and the fixing plate (2) is provided with a vertical pole (45) that is compatible with the insertion holes (46).

8. The steel pipe production gripping device according to claim 2, characterized in that: The flexible plate (53) is made of rubber.

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