Ball jointed pipe clamp

Abstract

The utility model discloses a ball hinge formula pipe fitting clamp jaw has solved the long rod piece both ends control error amplification in pipe fitting butt joint installation in the prior art, and the low installation efficiency problem. The utility model ball hinge formula pipe fitting clamp jaw, including the connecting seat, the symmetrical hinging of two can form circular clamping surface clamp jaw subassembly has on the connecting seat, and the opening and closing drive part is connected between the connecting seat and corresponding clamp jaw subassembly, the clamp jaw subassembly includes the outer ring support and inner ring half -spherical clamp jaw, and the inner ring half -spherical clamp jaw and outer ring support spherical surface cooperation form the ball hinge structure, the utility model provides a kind of can allow ball hinge formula openable clamp jaw, and can realize the adjustment of its swing angle automatically, and moreover its structural strength is higher, and motion stability is stronger, and control precision is higher, solve the long rod piece / tube both ends control error amplification in pipe fitting butt joint installation in the prior art, and the low installation efficiency problem.

Description

Technical Field

[0001] This utility model relates to the field of pipe laying technology in tunnel construction, and in particular to a robotic pipe clamp. Background Technology

[0002] The assembly of long-distance pipelines such as drill pipes, water pipes, and gas pipes still cannot be automated mechanically. Existing pipe clamping devices suffer from amplified positional changes at the pipe end during posture adjustment, making conventional industrial robot structures ineffective at controlling pipe posture.

[0003] To achieve higher precision in aligning the ends of two pipe sections to be connected, targeted designs can be made to the structure of the robotic arm. Several existing solutions exist: For example, Chinese Patent Application Publication No. CN119238596A discloses a mechanical gripper for installing large-diameter pipes in underground coal mine roadways. Its gripper structure has the ability to clamp and fix the position of large pipe components and possesses a passive rotational degree of freedom. However, it lacks the freedom to rotate in both inward and outward directions, making it difficult to guarantee control precision. Another example is the blast furnace gas pipeline installation device disclosed in Chinese Patent Application Publication No. CN118905546A. Its pipe-connecting installation device uses orthogonally arranged adjustable clamping points, but the adjustment is passive, and the clamping device lacks the ability to open.

[0004] To address the aforementioned issues, it is essential to design a novel gripper structure for pipe-changing robotic arms. This design aims to resolve the problem of amplified control errors at both ends of long rods / pipes in existing technologies, thereby maximizing control accuracy and reducing control complexity. Utility Model Content

[0005] To address the shortcomings in the aforementioned background technology, this utility model proposes a ball-joint pipe clamp, which solves the problem of amplified control errors and low installation efficiency at both ends of long rods / pipes during pipe fitting installation in the prior art.

[0006] The technical solution of this utility model is achieved as follows: a ball-joint pipe clamp includes a connecting seat, on which two clamping jaw assemblies symmetrically hinged to form circular clamping surfaces. An opening and closing drive component connects the connecting seat and the corresponding clamping jaw assemblies. Each clamping jaw assembly includes an outer ring support and an inner ring hemispherical jaw. The inner ring hemispherical jaw and the outer ring support spherically engage to form a ball-joint structure. This allows for fine-tuning of both ends of long rods or pipes, significantly improving the stability and accuracy of pipe posture adjustments. The ball-joint structure provides the clamp with multiple rotational degrees of freedom, allowing the clamp to compensate for errors through minute rotation at the moment of contact with the workpiece. This flexible compensation capability greatly improves the system's fault tolerance and operational smoothness.

[0007] Further optimized, a reset buffer mechanism for resetting the inner hemispherical gripper is provided between the inner hemispherical gripper and the outer support. The reset buffer mechanism can both adaptively adjust the posture of the inner hemispherical gripper within a certain angle range to automatically conform to the surface of the pipe fitting, and can also be used for timely resetting of the inner hemispherical gripper.

[0008] Further optimized, the reset and buffer mechanism includes several springs, which are arranged along the Z-axis between the upper end face of the inner hemispherical gripper and the upper end face of the outer support. The springs are evenly distributed between the upper end face of the inner hemispherical gripper and the upper end face of the outer support, providing a constant preload, eliminating gaps, and enhancing rigidity; thus realizing the return of the inner hemispherical gripper, preventing jamming, and providing impact buffering.

[0009] Further optimized, a steering adjustment mechanism is provided between the outer ring support and the inner ring hemispherical jaws for actively adjusting the direction of the inner ring hemispherical jaws. This steering adjustment mechanism allows for active adjustment of the rotation angle of the inner ring hemispherical jaws, thereby achieving the purpose of actively adjusting the clamping posture of the pipe fitting and realizing the function of active alignment.

[0010] Further optimized, the steering adjustment mechanism includes a steering groove mounted on the outer ring support, within which a universal hinge is installed. An adjusting cylinder is hinged to the universal hinge, and the piston rod of the adjusting cylinder corresponds to the inner ring hemispherical gripper. By extending and retracting the adjusting cylinder, the inner ring hemispherical gripper rotates relative to the outer ring support. This allows for proactive fine-tuning of the gripper's posture during clamping, ensuring clamping stability. Furthermore, during the clamping process, closed-loop feedback, such as laser displacement, vision, and force sensors, enables real-time fine-tuning of the gripper angle, ensuring the pipe remains on its theoretical centerline and guaranteeing installation accuracy.

[0011] Further preferably, the outer ring support is provided with at least two steering adjustment mechanisms, and the piston rod of the adjustment cylinder is connected to the outer wall ball joint of the inner ring hemispherical chuck; to ensure that the steering adjustment mechanism can flexibly adjust the steering of the inner ring hemispherical chuck.

[0012] Further optimized, the outer ring support is a semi-circular plate base, with a hemispherical groove on the inner side of the semi-circular plate base. The inner ring hemispherical gripper is located within the hemispherical groove, and a limiting ring is provided at the bottom of the semi-circular plate base to limit the movement of the inner ring hemispherical gripper. The above structural design ensures the flexibility and clamping stability of the spherical hinge structure formed by the inner ring hemispherical gripper and the outer ring support.

[0013] Further optimization reveals that the inner hemispherical gripper includes a hemispherical structural component. A roller is embedded in the inner ring surface of the hemispherical structural component, and an arc-shaped cover plate is located on top of the hemispherical structural component, positioned above the outer ring support. Support rollers are mounted on the arc-shaped cover plate. The roller design prevents scratches on the outer wall of the pipe and, during clamping, forms a V-shaped positioning mechanism, effectively stabilizing the pipe.

[0014] Further optimization involves providing a semi-circular groove on the inner side of the hemispherical structure, within which a roller and a reinforcing rib are provided. The outer circular surface of the roller and the outer surface of the reinforcing rib are located within the same clamping arc surface, thereby improving clamping stability.

[0015] Further preferably, the opening and closing drive component is an opening and closing drive cylinder, with one end of the opening and closing drive cylinder hinged to the connecting seat and the other end hinged to the outer ring bracket; under the action of the opening and closing drive cylinder, the gripper assembly performs opening and closing actions to quickly and securely grip the pipe fitting.

[0016] The beneficial effects of this utility model are as follows: In this utility model, the inner hemispherical gripper and the outer support spherical surface cooperate to form a ball-joint structure, which gives the gripper multiple degrees of rotational freedom; when clamping pipes of different diameters or with slight bends, the gripper can adaptively adjust its posture within a certain angle range and automatically fit the surface of the pipe; it solves the problem of amplified control error at both ends of long rods / pipes in the prior art, and maximizes the control accuracy while reducing the control difficulty.

[0017] The gripper of this utility model with a ball joint structure has a steering adjustment mechanism that can actively adjust the rotation angle of the inner hemispherical gripper, thereby achieving the purpose of actively adjusting the position and posture of the clamping pipe and realizing the function of active alignment; moreover, combined with vision or laser sensors, it is capable of fully automatic pipe posture control; real-time fine adjustment of the gripper angle ensures that the pipe is always kept on the theoretical center line, improving positioning accuracy.

[0018] This utility model incorporates a reset and buffer mechanism between the inner hemispherical gripper and the outer support. This mechanism adaptively adjusts the posture of the inner hemispherical gripper within a certain angular range, automatically conforming to the surface of the pipe fitting. It also ensures timely reset of the inner hemispherical gripper. Furthermore, the reset and buffer mechanism utilizes a spring; upon release of the gripper, the spring releases its stored elastic potential energy, rapidly pushing the inner hemispherical gripper back to its Z-axis zero position. Simultaneously, when the inner hemispherical gripper deflects due to foreign objects or abnormal force, the spring's restoring force pulls it back to its correct posture, preventing jamming or misalignment.

[0019] Compared with the prior art, this utility model provides a gripper that allows for opening and closing via a ball joint and can adjust its swing angle independently; moreover, it has higher structural strength, stronger motion stability, and higher control precision; it is highly compatible with robots, further improving the robot assembly accuracy. Attached Figure Description

[0020] To more clearly illustrate the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is an isometric schematic diagram of the entire utility model; Figure 2 This is a schematic diagram of the gripper assembly of this utility model in the open state; Figure 3 This is a schematic diagram of the internal structure of this utility model; Figure 4 This is a schematic diagram of the off-center load state of the reset buffer mechanism; Figure 5 This is a schematic diagram of the steering adjustment mechanism. Detailed Implementation

[0022] 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.

[0023] Example 1, as Figure 1 , 2As shown, a ball-hinged pipe clamp includes a connecting seat 6, which can be used for quick connection with a robotic arm in practical applications. Two clamping jaw assemblies 7, forming a circular clamping surface, are symmetrically hinged to the connecting seat 6. These jaw assemblies are adapted to circular or near-circular pipes for stable clamping. In this embodiment, an opening / closing drive 2 connects the connecting seat 6 and the corresponding jaw assembly 7; that is, under the action of the opening / closing drive 2, the two jaw assemblies open and close to actively grip and clamp the pipe, ensuring clamping stability. In this embodiment, the jaw assembly 7 includes an outer ring support 1 and an inner ring hemispherical jaw 3. The inner ring hemispherical jaw 3 and the outer ring support 1 form a ball-hinged structure through a spherical fit. Because the inner ring jaw is hemispherical and forms a spherical fit with the outer ring support, when clamping pipes of different diameters or with slight bends, the jaw can adaptively adjust its posture within a certain angle range, automatically conforming to the surface of the pipe. This adaptive capability not only improves the versatility of clamping and reduces the need for frequent clamp changes for different pipe diameters, but also enables self-centering, ensuring that the pipe fitting, regardless of its initial position, can be automatically guided to the clamping center, preparing it for subsequent high-precision machining or assembly. Traditional rigid jaws typically apply clamping force through several points or lines, which can lead to stress concentration, easily leaving indentations on the pipe surface, and even damaging thin-walled pipe fittings. The spherical fit structure provides a larger contact area. The inner hemispherical jaw forms surface contact with the pipe surface, effectively distributing the clamping force over a larger area, thus significantly reducing local pressure. This not only protects the workpiece surface but also makes clamping more stable and reliable, especially suitable for clamping easily deformable pipe fittings or those requiring high surface finish. Furthermore, this spherical hinge structure gives the jaws multiple degrees of rotational freedom. In complex docking installation conditions, the pipe fitting may have slight positional or angular deviations. This multi-degree-of-freedom design allows the jaws to compensate for these errors with a slight rotation at the moment of contact with the workpiece, rather than colliding or jamming as with rigid clamps. This flexible compensation capability greatly improves the system's fault tolerance and operational smoothness, reduces the requirement for ultra-high precision positioning, and thus lowers the overall cost.

[0024] Example 2, as Figure 4 As shown, a ball-joint pipe clamp is further optimized based on Embodiment 1. In this embodiment, a reset buffer mechanism for resetting the inner hemispherical clamp 3 is provided between the inner hemispherical clamp 3 and the outer support 1. The reset buffer mechanism can both adaptively adjust the posture of the inner hemispherical clamp within a certain angle range to automatically conform to the surface of the pipe fitting, and can also be used for timely resetting of the inner hemispherical clamp.

[0025] Specifically, in this embodiment, the reset buffer mechanism includes several springs 5, which are arranged along the Z-axis between the upper end face of the inner hemispherical gripper 3 and the upper end face of the outer support 1. These springs, evenly distributed between the upper end faces of the inner hemispherical gripper and the outer support, provide axial preload, eliminate gaps in the ball joint structure, and enhance gripper rigidity. Furthermore, the springs connect the outer support and the inner hemispherical gripper, allowing the inner hemispherical gripper to move synchronously with the opening outer support when it opens. At the moment the gripper releases, the springs release their stored elastic potential energy, quickly pushing the inner hemispherical gripper back to its Z-axis zero position. Simultaneously, when the inner hemispherical gripper deflects due to foreign objects or abnormal forces, the restoring force of the springs pulls it back to its correct posture, preventing jamming or misalignment. In addition, as a primary energy absorption element, the springs convert instantaneous impacts into elastic deformation, reducing peak forces and protecting the ball joint structure and the robot's end effector from overload damage.

[0026] Example 3, as Figure 5 As shown, a ball-joint pipe clamp is further optimized based on embodiment 1 or 2. In this embodiment, a steering adjustment mechanism 4 is provided between the outer ring support 1 and the inner ring hemispherical clamp 3 for actively adjusting the rotation angle of the inner ring hemispherical clamp 3. The steering adjustment mechanism can actively adjust the rotation angle of the inner ring hemispherical clamp, thereby achieving the purpose of actively adjusting the clamping posture of the pipe fitting and realizing the function of active alignment.

[0027] In this preferred embodiment, the steering adjustment mechanism 4 includes a steering groove 101 mounted on the outer ring support 1. A universal hinge 402 is located within the steering groove 101, and an adjusting cylinder 401 is hinged to the universal hinge 402. The piston rod of the adjusting cylinder 401 corresponds to the inner ring hemispherical gripper 3. That is, this embodiment utilizes a swingable adjusting cylinder to drive the inner ring hemispherical gripper for steering, achieving both active return to center and active adjustment of the pipe's position during clamping, thus improving installation accuracy. It should be noted that this steering adjustment mechanism can use closed-loop feedback, such as laser displacement, vision, or force sensors, to fine-tune the gripper angle in real time, ensuring the pipe remains on its theoretical centerline, facilitating precise positioning during pipe installation.

[0028] In practical use, the outer ring support 1 is equipped with at least two steering adjustment mechanisms 4 to improve the effectiveness of steering. The piston rod of the adjusting cylinder 401 is connected to the outer wall of the inner ring hemispherical gripper 3 by a ball joint. Specifically, the cylinder body of the adjusting cylinder is hinged to a universal joint. The outer wall of the inner ring hemispherical gripper 3 is provided with a ball joint component. The piston rod of the adjusting cylinder 401 cooperates with the ball joint component to form a ball joint structure, thereby realizing the adjustment of the steering of the inner ring hemispherical gripper 3. After clamping the pipe, the inner ring hemisphere is pressed against the pipe and fits against the outer ring support. The swing angle can be changed by the adjusting cylinder. The swing axis intersects with the axis of the pipe, simplifying the control difficulty. Moreover, combined with vision or laser sensors, it is possible to achieve fully automatic pipe posture control.

[0029] Example 4, as Figure 3 As shown, a ball-hinged pipe clamp is further optimized based on embodiment 3. The opening / closing drive component 2 is an opening / closing drive cylinder, with one end hinged to the connecting seat 6 and the other end hinged to the outer ring support 1; the cylinder drives the opening and closing of the clamp assembly 7. The outer ring support 1 is a semi-circular plate base, with a hemispherical groove 102 on its inner side. The inner ring hemispherical clamp 3 is located within the hemispherical groove 102, forming a spherical fit. A limiting ring 103 is provided at the bottom of the semi-circular plate base to limit the inner ring hemispherical clamp 3; the limiting ring is a semi-circular ring, which cooperates with the outer ring support to limit the inner ring hemispherical clamp 3, ensuring the stability of the ball-hinged structure. In addition, the inner ring surface of the limiting ring is not smaller than the clamping surface of the inner hemispherical jaws to ensure that the normal clamping operation of the inner hemispherical jaws is not affected; as a preferred method, the inner ring surface of the limiting ring is equal to the clamping surface of the inner hemispherical jaws, providing a larger clamping surface area and improving clamping stability.

[0030] In this embodiment, the inner hemispherical gripper 3 includes a hemispherical structure 301. A roller 302 is embedded on the inner ring surface of the hemispherical structure 301. The outer circle of the roller maintains two-point or three-point rolling contact with the tube, forming a virtual V-shaped positioning. As long as the tube enters the gripping area, the roller can guide the axis of the tube to the center of the gripper during the Z-axis movement, eliminating the need for manual alignment and improving the repeatability of positioning accuracy. The top of the hemispherical structure 301 is provided with an arc-shaped cover plate 304, which is located above the outer ring support 1. A spring is located between the arc-shaped cover plate and the outer ring support. A support roller 303 is provided on the arc-shaped cover plate 304. Two or three support rollers can be set as needed. Due to the design of the support rollers, there will be a certain Z-axis error on the end face of the tube when the robot is loading. The roller contacts the tube before the gripper body and absorbs the impact through micro-rolling and yielding, avoiding the "metal-on-metal" collision sound and protecting the cutting edge of the gripper from being broken. In addition, during the clamping process of pipe fittings with flanges, the support roller contacts the flange. When the pipe fitting rotates under the action of the steering adjustment mechanism, the support roller changes the sliding contact between the flange and the clamp to a rolling contact, reducing wear.

[0031] As a further preferred embodiment, a semi-circular annular groove 305 is formed on the inner side of the hemispherical structural member 301. A roller 302 and a reinforcing rib 306 are provided within the semi-circular annular groove 305. The outer circular surface of the roller 302 and the outer surface of the reinforcing rib 306 are located within the same clamping arc surface; that is, when clamping the pipe, the outer circular surface of the roller 302 and the outer surface of the reinforcing rib 306 contact the pipe, providing stable clamping. The reinforcing rib increases the strength of the inner hemispherical gripper, and together with the roller, further improves clamping stability.

[0032] Compared with the prior art, this utility model provides a gripper that allows for opening and closing via a ball joint and can adjust its swing angle independently; moreover, it has higher structural strength, stronger motion stability, and higher control precision; it is highly compatible with robots, further improving the robot assembly accuracy.

[0033] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A ball-joint pipe clamp, comprising a connecting seat (6), characterized in that: Two gripper assemblies (7) that can form a circular clamping surface are symmetrically hinged on the connecting seat (6). An opening and closing drive (2) is connected between the connecting seat (6) and the corresponding gripper assembly (7). The gripper assembly (7) includes an outer ring support (1) and an inner ring hemispherical gripper (3). The inner ring hemispherical gripper (3) and the outer ring support (1) are spherically engaged to form a spherical hinge structure.

2. The ball-joint pipe clamp according to claim 1, characterized in that: A reset buffer mechanism for resetting the inner hemispherical gripper (3) is provided between the inner ring hemispherical gripper (3) and the outer ring support (1).

3. The ball-joint pipe clamp according to claim 2, characterized in that: The reset buffer mechanism includes several springs (5), which are arranged along the Z direction between the upper end face of the inner hemispherical gripper (3) and the upper end face of the outer support (1).

4. The ball-joint pipe clamp according to claim 1 or 3, characterized in that: A steering adjustment mechanism (4) for actively adjusting the steering of the inner hemispherical gripper (3) is also provided between the outer ring support (1) and the inner ring hemispherical gripper (3).

5. The ball-joint pipe clamp according to claim 4, characterized in that: The steering adjustment mechanism (4) includes a steering groove (101) provided on the outer ring bracket (1), a universal hinge (402) is provided in the steering groove (101), and an adjustment cylinder (401) is hinged on the universal hinge (402). The piston rod of the adjustment cylinder (401) corresponds to the inner ring hemispherical cleaver (3).

6. The ball-joint pipe clamp according to claim 5, characterized in that: The outer ring support (1) is provided with at least two steering adjustment mechanisms (4), and the piston rod of the adjustment cylinder (401) is connected to the outer wall ball joint of the inner ring hemispherical chuck (3).

7. The ball-joint pipe clamp according to claim 1, 5, or 6, characterized in that: The outer ring support (1) is a semi-circular plate base. A hemispherical groove (102) is provided on the inner side of the semi-circular plate base. The inner ring hemispherical claw (3) is located in the hemispherical groove (102). A limiting ring (103) is provided at the bottom of the semi-circular plate base to limit the inner ring hemispherical claw (3).

8. The ball-joint pipe clamp according to claim 7, characterized in that: The inner ring hemispherical gripper (3) includes a hemispherical structural component (301), a roller (302) is embedded on the inner ring surface of the hemispherical structural component (301), and an arc-shaped cover plate (304) is provided on the top of the hemispherical structural component (301). The arc-shaped cover plate (304) is located above the outer ring support (1), and a support roller (303) is provided on the arc-shaped cover plate (304).

9. The ball-joint pipe clamp according to claim 8, characterized in that: The inner side of the hemispherical structural component (301) is provided with a semi-circular annular groove (305), and a roller (302) and a reinforcing rib (306) are provided in the semi-circular annular groove (305). The outer circular surface of the roller (302) and the outer surface of the reinforcing rib (306) are located in the same clamping arc surface.

10. The ball-joint pipe clamp according to claim 1, 8, or 9, characterized in that: The opening and closing drive component (2) is an opening and closing drive cylinder. One end of the opening and closing drive cylinder is hinged to the connecting seat (6), and the other end is hinged to the outer ring bracket (1).

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