A robot for automatically sorting steel pipes

Abstract

The utility model relates to manipulator technical field especially relates to a kind of manipulator of automatic sorting steel pipe. Including guide rail, clamping jaw, two friction pads and dismounting device, the surface of guide rail is connected with base slidingly, the surface of base is fixedly connected with electric rotary table, the surface of base is fixedly connected with controller, the upper surface of electric rotary table is fixedly connected with connecting seat, the inner wall of connecting seat is rotatably connected with big arm connecting rod, the inner wall of big arm connecting rod is rotatably connected with rotating arm rod, one end of rotating arm rod is fixedly connected with small arm connecting rod, the inner wall of small arm connecting rod is rotatably connected with rotating rod, the clamping jaw is fixedly connected with rotating rod by means of dismounting device, and the dismounting device includes fixed block and connecting block. The utility model provides a kind of manipulator of automatic sorting steel pipe has the advantage that the grabbing site of manipulator can be conveniently disassembled and replaced according to the size of steel pipe.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm for automatically sorting steel pipes. Background Technology

[0002] A robotic arm typically refers to a robotic device used to perform various tasks. It consists of multiple mechanical parts, sensors, and actuators, and is capable of performing precise operations. An automated steel pipe sorting robotic arm is a robotic system specifically designed for the automated sorting and processing of steel pipes.

[0003] Existing technologies, such as the utility model patent with publication number CN215825310U, disclose an automatic sorting robot, comprising: a Y-axis sliding module, an X-axis sliding module, a Z-axis sliding module, and a robot arm module mounted on an external frame. The X-axis sliding module is mounted on the Y-axis sliding module and is driven by the Y-axis sliding module to reciprocate along the Y-axis. The Z-axis sliding module includes a speed-multiplying mechanism and a Z-axis drive mechanism. The speed-multiplying mechanism is mounted on the X-axis sliding module and is driven by the X-axis sliding module to reciprocate along the X-axis. The Z-axis drive mechanism is mounted on the speed-multiplying mechanism and is driven by the speed-multiplying mechanism to reciprocate along the Z-axis. The robot arm module is mounted on the Z-axis drive mechanism and is driven by the Z-axis drive mechanism to reciprocate along the Z-axis. This utility model is an automatic sorting robot with a long stroke, high degree of automation, small footprint, good flexibility, and high efficiency, which can meet the needs of specific application scenarios.

[0004] During the process of using robotic arms to automatically sort steel pipes, it was found that due to the different sizes and weights of the steel pipes, operators need to adjust the gripping parts of the robotic arms according to the type of steel pipe. However, some existing robotic arms are quite complicated to operate when adjusting the gripping parts, resulting in a lot of time consumption and thus affecting work efficiency. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies where, due to differences in the size and weight of steel pipes, operators need to adjust the gripping part of the robotic arm according to the type of steel pipe. Furthermore, some existing robotic arms involve complex operations when adjusting the gripping part, resulting in significant time consumption and consequently affecting work efficiency.

[0006] To solve the above-mentioned technical problems, this utility model provides an automatic steel pipe sorting robot, including: a guide rail, grippers, two friction pads, and a disassembly device. A base is slidably connected to the surface of the guide rail. An electric rotary table is fixedly connected to the surface of the base. A controller is fixedly connected to the surface of the base. A connecting seat is fixedly connected to the upper surface of the electric rotary table. A large arm connecting rod is rotatably connected to the inner wall of the connecting seat. A rotating arm is rotatably connected to the inner wall of the large arm connecting rod. A small arm connecting rod is fixedly connected to one end of the rotating arm connecting rod. A rotating rod is rotatably connected to the inner wall of the small arm connecting rod. The grippers are fixedly connected to the rotating rod via the disassembly device. The disassembly device includes a fixing block and a connecting block. One end of the fixing block is fixedly connected to the rotating rod. A push block is slidably connected to the inner wall of the fixing block. A guide rod slidably passes through the inner wall of the push block. Both ends of the guide rod are fixedly connected to the same fixing block. A rotating rod is threaded through the inner wall of the push block. Both ends of the rotating rod are rotatably connected to the same fixing block. A first bevel gear is fixedly connected to the arc surface of the rotating rod. A second bevel gear meshes with the teeth of the first bevel gear. An adjusting rod is fixedly connected to the inner wall of the second bevel gear. The arc surface of the adjusting rod is rotatably connected to a fixed block. A limit block is fixedly connected to one end of the fixed block. An insert block is fixedly connected to one side of the limit block. One end of the connecting block is fixedly connected to a gripper. The inner wall of the connecting block is inserted into the insert block. One end of the connecting block abuts against the limit block. One end of the push block is fixed... A push rod is fixedly connected, and the arc surface of the push rod is slidably connected to a limiting block. One end of the push rod is fixedly connected to a pressing block, the pressing block having a trapezoidal cross-section. Insert rods are slidably connected to both sides of the insert block, and one end of the insert rod is fixedly connected to an adjusting block, the adjusting block having a wedge-shaped cross-section. A spring is fitted onto the arc surface of the insert rod, and both ends of the spring are fixedly connected to the adjusting block and the insert block, respectively. Insertion holes are provided on the inner wall of the connecting block corresponding to the positions of the two insert rods, and the inner walls of the insertion holes are inserted into the insert rods.

[0007] The effect achieved by the above components is as follows: by setting up a disassembly device, the gripper can be quickly disassembled and replaced. Specifically, firstly, the adjusting rod is rotated, and the rotating rod is driven to rotate through the transmission of the first bevel gear and the second bevel gear, so that the push block moves along the guide rod and the inner wall of the fixed block, so that the push rod pushes the squeezing block. The trapezoidal section of the squeezing block squeezes the wedge-shaped surface of the adjusting block, so that the insert rod overcomes the spring force and inserts into the insertion hole of the connecting block, thereby fixing the gripper. Reversely rotating the adjusting rod causes the push block to retract, the squeezing block releases the adjusting block, and the spring pulls the insert rod back, releasing the lock and facilitating the disassembly of the gripper.

[0008] Preferably, a guide block is fixedly connected to one end of the insertion rod, and the guide block has a conical structure.

[0009] The effect achieved by the above components is as follows: by setting the tapered guide block, the insertion rod is automatically guided and aligned when inserted into the insertion hole of the connecting block, which reduces the resistance and alignment difficulty during assembly and improves the efficiency and accuracy of disassembling and installing the gripper.

[0010] Preferably, one end of the adjusting rod is fixedly connected to a handwheel, and the handwheel has a circular cross-section.

[0011] The effects achieved by the above components are as follows: by setting a circular handwheel, a comfortable manual operation point is provided, the grip and control force when rotating the adjustment lever are increased, making the operation more effortless and precise, and facilitating quick disassembly.

[0012] Preferably, guide posts are fixedly connected to both sides of the surface of the connecting block, and guide holes are opened at one end of the fixed block corresponding to the positions of the two guide posts, and the inner wall of the guide hole is inserted into the guide post.

[0013] The aforementioned components achieve the following effects: by setting guide posts and guide holes, they play a preliminary positioning and guiding role when the connecting block and the fixed block are mated, ensuring that the position of the insert block and the connecting block is accurate when they are inserted, preventing misalignment or displacement, and improving the stability and reliability of the connection.

[0014] Preferably, the surface of the gripper is provided with two auxiliary devices. The two friction pads are fixedly connected to the same gripper by means of the two auxiliary devices. The auxiliary devices include two auxiliary blocks and two screws. One side of the two auxiliary blocks is fixedly connected to the same friction pad. A guide groove is opened on one side of the gripper corresponding to the position of the two auxiliary blocks. The inner wall of the guide groove is inserted into the auxiliary block. One end of the two screws is rotatably connected to the same gripper. A baffle is threadedly connected to the arc surface of the screw. The cross-section of the baffle is "L". The inner wall of the two baffles abuts against the gripper. The inner wall of the long arm end of the baffle abuts against one end of the auxiliary block. The inner wall of the short arm end of the baffle slides through a limit rod. One end of the two limit rods is fixedly connected to the same gripper.

[0015] The aforementioned components achieve the following effects: by providing an auxiliary device, the friction pad can be easily installed and fixed onto the gripper. The insertion of the auxiliary block into the guide groove ensures initial positioning; rotating the screw pushes the baffle to press the auxiliary block, thereby fixing the friction pad; the limiting rod prevents the baffle from rotating, ensuring a secure fixation.

[0016] Preferably, a plurality of anti-slip grooves are formed on the arc surface of one end of the screw, and the plurality of anti-slip grooves are evenly distributed on the arc surface of one end of the screw.

[0017] The aforementioned components achieve the following effects: by opening an anti-slip groove at one end of the screw, the friction force when manually rotating the screw is increased, preventing slippage, making the operation smoother and more reliable, and improving the efficiency of the adjustment auxiliary device.

[0018] Preferably, a limiting plate is inserted into the long arm end surface of the baffle, the limiting plate has a "U" shaped cross section, and one end of the two limiting plates is fixedly connected to the same gripper.

[0019] The effect achieved by the above components is as follows: by setting a U-shaped limiting plate, the long arm end of the baffle is additionally limited, preventing the baffle from loosening or shifting under vibration or load, thus enhancing the stability and safety of the friction pad fixation.

[0020] Compared with related technologies, the automatic steel pipe sorting robot provided by this utility model has the following advantages:

[0021] This invention provides a robotic arm for automatically sorting steel pipes. When using the robotic arm to automatically sort steel pipes, the controller issues a command, the base moves on the guide rail, and the entire robotic arm is brought near the pile of steel pipes. The electric rotary table drives the upper part of the connecting seat to rotate. Simultaneously, the upper arm linkage, rotating arm linkage, lower arm linkage, and rotating rod move in coordination to precisely adjust the gripper to the position and angle of the steel pipe to be grasped. The gripper closes and clamps the steel pipe. The friction pad on the inner side of the gripper increases friction to prevent the steel pipe from slipping. The robotic arm moves the steel pipe to the target position, the gripper opens, and the steel pipe is released. This process is repeated to achieve automatic sorting. When installing a new gripper, align the connecting block on the gripper with the limiting block on the fixed block, ensuring that the two guide pins on the connecting block are inserted into the guide holes of the fixed block for initial positioning and to prevent misalignment. Simultaneously, the insert block on the limiting block will insert into the inner wall of the connecting block. By rotating the adjusting rod with the handwheel, the second bevel gear on the adjusting rod will drive the first bevel gear meshing with it to rotate. The first bevel gear will drive the rotating rod to rotate. Since the rotating rod and the push block are threaded together, the push block will move linearly along the guide rod towards the connecting block. The push block pushes the push rod and the pressing block together. The trapezoidal inclined surface of the pressing block will press against the wedge-shaped surfaces of the adjusting blocks on both sides of the insert block, causing the two adjusting blocks to move to both sides with the insert rod, compressing the spring. Guided by the conical guide block, the insert rod smoothly inserts into the insertion holes on both sides of the connecting block. At this point, the gripper is firmly locked onto the fixed block by the insert rod, and the installation is complete. When it is necessary to disassemble the gripper, turn the handwheel in the reverse direction. This, through the second and first bevel gears, drives the rotating rod to reverse, causing the push block to move in the opposite direction. The push block then drives the push rod and the pressing block to move in the opposite direction. Under the action of the spring, the adjusting block and the insert rod move in the opposite direction, causing the insert rod to exit from the insertion hole of the connecting block. Then, the gripper, along with the connecting block, can be directly pulled off the fixing block. By operating the disassembly device, the gripper can be disassembled and replaced.

[0022] When the friction pad is worn and needs to be replaced, align the two auxiliary blocks on the back of the friction pad with the two guide grooves on the gripper. Slide the auxiliary blocks into the guide grooves, rotate the screw to move the baffle along the limit rod. The limit plate further prevents the baffle from loosening. The baffle gradually moves until it abuts against the auxiliary blocks, pressing them firmly and thus fixing the friction pad on the gripper. When the friction pad needs to be removed, rotate the screw in the opposite direction to move the baffle in the opposite direction, releasing the pressure on the auxiliary blocks. Then, simply slide the friction pad out of the guide groove of the gripper. By operating the auxiliary device, the friction pad can be replaced. Attached Figure Description

[0023] Figure 1 A schematic diagram of the structure of an automatic steel pipe sorting robot provided by this utility model;

[0024] Figure 2 for Figure 1 A schematic diagram of the cross-sectional structure of the disassembly device shown;

[0025] Figure 3 for Figure 2 The enlarged view at point A is shown below;

[0026] Figure 4 for Figure 1 A partial structural schematic diagram of the auxiliary device is shown;

[0027] Figure 5 for Figure 4 A schematic diagram of the partially disassembled structure of the auxiliary device shown.

[0028] The diagram shows the following components: 1. Guide rail; 2. Base; 3. Electric rotary table; 4. Controller; 5. Connecting seat; 6. Boom link; 7. Rotating boom link; 8. Forearm link; 9. Rotating rod; 10. Gripper; 11. Friction pad; 12. Disassembly device; 1201. Fixing block; 1202. Guide rod; 1203. Rotating rod; 1204. Push block; 1205. First bevel gear; 1206. Second bevel gear; 1207. Adjusting rod; 1208. Handwheel; 120... 9. Push rod; 1210. Extrusion block; 1211. Limiting block; 1212. Insertion block; 1213. Guide post; 1214. Guide hole; 1215. Connecting block; 1216. Insertion hole; 1217. Insertion rod; 1218. Guide block; 1219. Spring; 1220. Adjusting block; 13. Auxiliary device; 131. Limiting rod; 132. Screw; 133. Anti-slip groove; 134. Baffle; 135. Limiting plate; 136. Guide groove; 137. Auxiliary block. Detailed Implementation

[0029] 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 the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0030] The specific implementation of this utility model will be described in detail below with reference to specific embodiments.

[0031] Please see Figures 1 to 5 The present invention provides an automatic steel pipe sorting robot, comprising: a guide rail 1, a gripper 10, two friction pads 11, and a disassembly device 12. A base 2 is slidably connected to the surface of the guide rail 1, an electric rotary table 3 is fixedly connected to the surface of the base 2, a controller 4 is fixedly connected to the surface of the base 2, a connecting seat 5 is fixedly connected to the upper surface of the electric rotary table 3, a large arm connecting rod 6 is rotatably connected to the inner wall of the connecting seat 5, a rotating arm 7 is rotatably connected to the inner wall of the large arm connecting rod 6, a small arm connecting rod 8 is fixedly connected to one end of the rotating arm 7, a rotating rod 9 is rotatably connected to the inner wall of the small arm connecting rod 8, the gripper 10 is fixedly connected to the rotating rod 9 by means of the disassembly device 12, two auxiliary devices 13 are provided on the surface of the gripper 10, and the two friction pads 11 are fixedly connected to the same gripper 10 by means of the two auxiliary devices 13.

[0032] In the embodiments of this utility model, please refer to Figure 2 and Figure 4The disassembly device 12 includes a fixing block 1201 and a connecting block 1215. One end of the fixing block 1201 is fixedly connected to the rotating rod 9. A push block 1204 is slidably connected to the inner wall of the fixing block 1201. A guide rod 1202 slidably passes through the inner wall of the push block 1204. Both ends of the guide rod 1202 are fixedly connected to the same fixing block 1201. A rotating rod 1203 is threaded through the inner wall of the push block 1204. Both ends of the rotating rod 1203 are connected to the same fixing block 1215. 1201 is rotatably connected to a rotating rod 1203. A first bevel gear 1205 is fixedly connected to the arc surface of the rotating rod 1203. A second bevel gear 1206 meshes with the tooth surface of the first bevel gear 1205. An adjusting rod 1207 is fixedly connected to the inner wall of the second bevel gear 1206. The arc surface of the adjusting rod 1207 is rotatably connected to the fixing block 1201. A limit block 1211 is fixedly connected to one end of the fixing block 1201. An insert block 1 is fixedly connected to one side of the limit block 1211. 212, one end of the connecting block 1215 is fixedly connected to the gripper 10, the inner wall of the connecting block 1215 is inserted into the insert block 1212, one end of the connecting block 1215 abuts against the limiting block 1211, one end of the push block 1204 is fixedly connected to a push rod 1209, the arc surface of the push rod 1209 is slidably connected to the limiting block 1211, one end of the push rod 1209 is fixedly connected to a pressing block 1210, the pressing block 1210 has a trapezoidal cross-section, and the insert block 1212... Both sides are slidably connected with insert rods 1217. One end of the insert rod 1217 is fixedly connected to an adjusting block 1220. The cross-section of the adjusting block 1220 is wedge-shaped. The arc surface of the insert rod 1217 is fitted with a spring 1219. The two ends of the spring 1219 are fixedly connected to the adjusting block 1220 and the insert block 1212, respectively. The inner wall of the connecting block 1215 is provided with insertion holes 1216 corresponding to the positions of the two insert rods 1217. The inner wall of the insertion hole 1216 is inserted into the insert rod 1217. By setting up the disassembly device 12, the gripper 10 can be quickly disassembled and replaced. Specifically, firstly, the adjusting rod 1207 is rotated, which drives the rotating rod 1203 to rotate through the first bevel gear 1205 and the second bevel gear 1206. This causes the push block 1204 to move along the inner wall of the guide rod 1202 and the fixing block 1201, causing the push rod 1209 to push the pressing block 1210. The trapezoidal cross section of the pressing block 1210 presses the wedge-shaped surface of the adjusting block 1220, allowing the insertion rod 1217 to overcome the force of the spring 1219 and insert into the insertion hole 1216 of the connecting block 1215, thus fixing the gripper 10. Reversely rotating the adjusting rod 1207 causes the push block 1204 to retract, the pressing block 1210 to release the adjusting block 1220, and the spring 1219 to pull the insertion rod 1217 back, releasing the lock and facilitating the disassembly of the gripper 10. One end of the insertion rod 1217 is fixedly connected to a guide block 1218, which has a conical structure. By setting the tapered guide block 1218, the insertion rod 1217 is automatically guided and aligned when inserted into the insertion hole 1216 of the connecting block 1215, which reduces the resistance and alignment difficulty during assembly and improves the efficiency and accuracy of disassembling and installing the gripper 10.A handwheel 1208 is fixedly connected to one end of the adjusting rod 1207. The handwheel 1208 has a circular cross-section. The circular handwheel 1208 provides a comfortable manual operating point, increasing the grip and control force when rotating the adjusting rod 1207, making operation more effortless and precise, and facilitating quick disassembly. Guide posts 1213 are fixedly connected to both sides of the connecting block 1215. Guide holes 1214 are provided at one end of the fixing block 1201 corresponding to the positions of the two guide posts 1213. The inner walls of the guide holes 1214 are inserted into the guide posts 1213. By providing the guide posts 1213 and guide holes 1214, the connecting block 1215 and the fixing block 1201 are initially positioned and guided, ensuring accurate positioning of the insert block 1212 and the connecting block 1215, preventing misalignment or displacement, and improving the stability and reliability of the connection.

[0033] In the embodiments of this utility model, please refer to Figure 4 and Figure 5 The auxiliary device 13 includes two auxiliary blocks 137 and two screws 132. One side of each auxiliary block 137 is fixedly connected to the same friction pad 11. A guide groove 136 is provided on one side of the gripper 10 corresponding to the position of each auxiliary block 137. The inner wall of the guide groove 136 is inserted into the auxiliary block 137. One end of each screw 132 is rotatably connected to the same gripper 10. A baffle 134 is threaded onto the arc surface of each screw 132. The baffle 134 has an "L"-shaped cross-section. The inner walls of both baffles 134 abut against the gripper 10. The inner wall of the long arm end of the baffle 134 abuts against one end of each auxiliary block 137. The inner wall of the short arm end of the baffle 134 slides through a limit rod 131. One end of each limit rod 131 is fixedly connected to the same gripper 10. By providing the auxiliary device 13, the friction pad 11 can be easily installed and fixed onto the gripper 10. The insertion of the auxiliary block 137 into the guide groove 136 ensures initial positioning. Rotating the screw 132 pushes the baffle 134 to press the auxiliary block 137, thereby fixing the friction pad 11. The limiting rod 131 prevents the baffle 134 from rotating, ensuring a firm fixation. Several anti-slip grooves 133 are evenly distributed on the arc surface of one end of the screw 132. By creating anti-slip grooves 133 at one end of the screw 132, the friction force when manually rotating the screw 132 is increased, preventing slippage and making the operation smoother and more reliable, thus improving the efficiency of the adjustment auxiliary device 13. A limiting plate 135 is inserted into the long arm end surface of the baffle 134. The limiting plate 135 has a "U" shaped cross-section, and one end of both limiting plates 135 is fixedly connected to the same gripper 10. By setting a U-shaped limiting plate 135, the long arm end of the baffle 134 is additionally limited to prevent the baffle 134 from loosening or shifting under vibration or load, thereby enhancing the stability and safety of fixing the friction pad 11.

[0034] The working principle of the automatic steel pipe sorting robot provided by this utility model is as follows: When the robot automatically sorts steel pipes, the controller 4 issues a command, the base 2 moves on the guide rail 1, and brings the entire robot to the vicinity of the steel pipe pile. The electric rotary table 3 drives the upper part of the connecting seat 5 to rotate. At the same time, the upper arm connecting rod 6, the rotating arm 7, the lower arm connecting rod 8, and the rotating rod 9 move in coordination to precisely adjust the gripper 10 to the position and angle of the steel pipe to be gripped. The gripper 10 closes and clamps the steel pipe. The friction pad 11 on the inner side of the gripper 10 increases the friction and prevents the steel pipe from slipping. The robot arm moves the steel pipe to the target position, the gripper 10 opens, and the steel pipe is released. The above process is repeated to achieve automatic sorting. When installing the new gripper 10, align the connecting block 1215 on the gripper 10 with the limiting block 1211 on the fixing block 1201, ensuring that the two guide pins 1213 on the connecting block 1215 are inserted into the guide holes 1214 of the fixing block 1201, which serves as a preliminary positioning function to prevent misalignment. At the same time, the insert 1212 on the limiting block 1211 will also be inserted into the inner wall of the connecting block 1215. By rotating the adjusting rod 1207 with the handwheel 1208, the second bevel gear 1206 on the adjusting rod 1207 will drive the first bevel gear 1205 meshing with it to rotate. The first bevel gear 1205 drives the rotating rod 1203 to rotate. Since the rotating rod 1203... The push block 1204 is threadedly connected to the push block 1204. The push block 1204 will move linearly along the guide rod 1202 toward the connecting block 1215. The push block 1204 pushes the push rod 1209 and the pressing block 1210 to move together. The trapezoidal inclined surface of the pressing block 1210 will press the wedge-shaped surface of the adjusting blocks 1220 on both sides of the insert block 1212, causing the two adjusting blocks 1220 to move to both sides with the insert rod 1217, compressing the spring 1219. Under the guidance of the tapered guide block 1218, the insert rod 1217 is smoothly inserted into the insertion holes 1216 on both sides of the connecting block 1215. At this time, the gripper 10 is firmly locked on the fixing block 1201 through the insert rod 1217, and the installation is completed. When it is necessary to disassemble the gripper 10, turn the handwheel 1208 in the opposite direction. Through the second bevel gear 1206 and the first bevel gear 1205, the rotating rod 1203 is reversed, causing the push block 1204 to move in the opposite direction. The push block 1204 drives the push rod 1209 and the pressing block 1210 to move in the opposite direction. Under the action of the spring 1219, the adjusting block 1220 and the insert rod 1217 move in the opposite direction, causing the insert rod 1217 to exit from the insertion hole 1216 of the connecting block 1215. Then, the gripper 10 together with the connecting block 1215 can be directly pulled off the fixing block 1201.

[0035] When the friction pad 11 is worn and needs to be replaced with a new one, align the two auxiliary blocks 137 on the back of the friction pad 11 with the two guide grooves 136 on the gripper 10, slide the auxiliary blocks 137 into the guide grooves 136, rotate the screw 132 to move the baffle 134 along the limiting rod 131, and at the same time, the limiting plate 135 can further prevent the baffle 134 from loosening. The baffle 134 gradually moves to abut against the auxiliary blocks 137 and presses the auxiliary blocks 137, thereby fixing the friction pad 11 on the gripper 10. When it is necessary to remove the friction pad 11, rotate the screw 132 in the opposite direction to move the baffle 134 in the opposite direction to release the pressing force on the auxiliary blocks 137, and then slide the friction pad 11 directly out of the guide grooves 136 of the gripper 10.

[0036] The circuits and controls involved in this utility model are all existing technologies, and will not be described in detail here.

[0037] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A robot for automatically sorting steel pipes, characterized in that, include: The system comprises a guide rail (1), grippers (10), two friction pads (11), and a disassembly device (12). A base (2) is slidably connected to the surface of the guide rail (1). An electric rotary table (3) is fixedly connected to the surface of the base (2). A controller (4) is fixedly connected to the surface of the base (2). A connecting seat (5) is fixedly connected to the upper surface of the electric rotary table (3). A boom link (6) is rotatably connected to the inner wall of the connecting seat (5). A rotating arm (7) is rotatably connected to the inner wall of the boom link (6). A forearm link (8) is fixedly connected to one end of the rotating arm (7). A rotating rod (9) is rotatably connected to the inner wall of the forearm link (8). The grippers (10) are disassembled using the disassembly device (12). The disassembly device (12) is fixedly connected to the rotating rod (9). It includes a fixing block (1201) and a connecting block (1215). One end of the fixing block (1201) is fixedly connected to the rotating rod (9). A push block (1204) is slidably connected to the inner wall of the fixing block (1201). A guide rod (1202) is slidably passed through the inner wall of the push block (1204). Both ends of the guide rod (1202) are fixedly connected to the same fixing block (1201). A rotating rod (1203) is threaded through the inner wall of the push block (1204). Both ends of the rotating rod (1203) are rotatably connected to the same fixing block (1201). A first cone is fixedly connected to the arc surface of the rotating rod (1203). The first bevel gear (1205) meshes with a second bevel gear (1206) on its tooth surface. An adjusting rod (1207) is fixedly connected to the inner wall of the second bevel gear (1206). The arc surface of the adjusting rod (1207) is rotatably connected to a fixed block (1201). A limiting block (1211) is fixedly connected to one end of the fixed block (1201). An insert block (1212) is fixedly connected to one side of the limiting block (1211). One end of a connecting block (1215) is fixedly connected to a gripper (10). The inner wall of the connecting block (1215) is inserted into the insert block (1212). One end of the connecting block (1215) abuts against the limiting block (1211). Next, a push rod (1209) is fixedly connected to one end of the push block (1204). The arc surface of the push rod (1209) is slidably connected to the limiting block (1211). A pressing block (1210) is fixedly connected to one end of the push rod (1209). The cross-section of the pressing block (1210) is trapezoidal. Insert rods (1217) are slidably connected to both sides of the insert block (1212). An adjusting block (1220) is fixedly connected to one end of the insert rod (1217). The cross-section of the adjusting block (1220) is wedge-shaped. A spring (1219) is sleeved on the arc surface of the insert rod (1217). The two ends of the spring (1219) are fixedly connected to the adjusting block (1220) and the insert block (1212) respectively.The inner wall of the connecting block (1215) is provided with a hole (1216) corresponding to the position of the two insertion rods (1217), and the inner wall of the hole (1216) is inserted with the insertion rod (1217).

2. A mechanical hand for automatically sorting steel pipes according to claim 1, characterized in that, One end of the insertion rod (1217) is fixedly connected to a guide block (1218), which has a conical structure.

3. A mechanical hand for automatically sorting steel pipes according to claim 1, characterized in that, One end of the adjusting rod (1207) is fixedly connected to a handwheel (1208), and the cross-section of the handwheel (1208) is circular.

4. A mechanical hand for automatically sorting steel pipes according to claim 1, characterized in that, Guide posts (1213) are fixedly connected to both sides of the surface of the connecting block (1215). One end of the fixing block (1201) is provided with guide holes (1214) corresponding to the positions of the two guide posts (1213). The inner wall of the guide hole (1214) is inserted into the guide post (1213).

5. A mechanical hand for automatically sorting steel pipes according to claim 1, characterized in that, Two auxiliary devices (13) are provided on the surface of the gripper (10). The two friction pads (11) are fixedly connected to the same gripper (10) by means of the two auxiliary devices (13). The auxiliary device (13) includes two auxiliary blocks (137) and two screws (132). One side of the two auxiliary blocks (137) is fixedly connected to the same friction pad (11). A guide groove (136) is provided on one side of the gripper (10) at the position corresponding to the two auxiliary blocks (137). The inner wall of the guide groove (136) is inserted into the auxiliary block (137). Then, one end of each of the two screws (132) is rotatably connected to the same gripper (10). The arc surface of the screw (132) is threaded with a baffle (134). The cross-section of the baffle (134) is "L" shaped. The inner walls of both baffles (134) abut against the gripper (10). The inner wall of the long arm end of the baffle (134) abuts against one end of the auxiliary block (137). The inner wall of the short arm end of the baffle (134) slides through a limit rod (131). One end of each of the two limit rods (131) is fixedly connected to the same gripper (10).

6. A mechanical hand for automatically sorting steel pipes according to claim 5, characterized in that, The screw (132) has a plurality of anti-slip grooves (133) on one end of its arc surface, and the plurality of anti-slip grooves (133) are evenly distributed on one end of the arc surface of the screw (132).

7. A mechanical hand for automatically sorting steel pipes according to claim 5, characterized in that, A limiting plate (135) is inserted into the long arm end surface of the baffle (134). The limiting plate (135) has a "U" shaped cross section. One end of the two limiting plates (135) is fixedly connected to the same gripper (10).

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