A gripper tube insertion mechanism

Abstract

The utility model discloses a kind of clamping jaw type pipe penetrating mechanisms, including horizontal sliding rail, mobile module, still including sliding connection seat of sliding connection in horizontal sliding rail, gas blowing connecting seat installed on sliding connection seat.Combination gas blowing connecting seat is stably installed to assembly component, replace traditional manual or simple mechanical guidance, avoid inner tube wear and tear deviation inclination, ensure inner and outer tube coaxiality and gap uniform, reduce rework, polyamine acid elastic ring push clamping piece body realizes elastic clamping, discard traditional rigid push, avoid scratch, extrude pipe material, reduce thin-walled or precision pipe scrap rate, rely on conveying, adjusting and the like component realizes automatic continuous operation, without manual auxiliary push adjustment, shorten single-piece assembly rhythm, improve batch capacity;Automation and adaptability are excellent, can be connected automatic production line, reduce manual monitoring intervention, reduce cost and operation error, and without dismounting and replacing a large number of tooling, more convenient specification adjustment.

Description

Technical Field

[0001] This utility model relates to the technical field of tube threading mechanisms, specifically a gripper-type tube threading mechanism. Background Technology

[0002] A gripper-type pipe threading mechanism is an automated equipment component that uses gripper assemblies to grasp and position the pipe to be threaded, and then precisely inserts it into the target pipe or hole. Your question is very specific, as it precisely points to a specific execution component in the field of automated assembly. The core of this mechanism is the combination of the gripping function of the "gripper" and the action function of "threading," mainly used to replace manual labor in performing high-precision, repetitive pipe threading operations.

[0003] In existing technologies, traditional tube threading machines have several significant drawbacks compared to internal tube assembly machines that use grippers to pick up and thread the tubes. Firstly, their positioning accuracy is poor, relying heavily on manual or simple mechanical guidance without precise gripper calibration. This leads to easy misalignment and tilting of the internal tube during threading, resulting in uneven gaps between the inner and outer tubes, affecting sealing and stability, and requiring rework. Secondly, their efficiency is low, requiring manual assistance for pushing and adjusting, making automated continuous processes impossible, resulting in long assembly cycles per piece and insufficient batch production capacity. Thirdly, they are prone to damaging workpieces; rigid pushing without flexible buffering easily scratches and squeezes the tubes, leading to a high scrap rate for thin-walled or precision tubes. Furthermore, they have poor adaptability; fixed tooling requires replacing numerous parts when changing specifications, resulting in long adjustment cycles. Finally, their automation level is low, relying on manual monitoring and intervention, making it difficult to integrate with automated production lines, increasing labor costs, and increasing the risk of defects due to operational errors. Utility Model Content

[0004] The purpose of this utility model is to provide a gripper-type tube insertion mechanism to solve the problems mentioned in the background art, where traditional tube insertion machines rely on manual or simple mechanical guidance, lack precise gripping and calibration, and the inner tube is prone to deviation and tilting during insertion, resulting in uneven gaps between the inner and outer tubes and affecting sealing and stability.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a gripper-type tube insertion mechanism, including a transverse slide rail, a moving module, a sliding connecting seat slidably connected to the transverse slide rail, an air blowing connecting seat mounted on the sliding connecting seat, an assembly assembly mounted on the air blowing connecting seat, a conveying assembly mounted on the sliding connecting seat, an adjusting assembly mounted on the sliding connecting seat, a conveying and cutting assembly mounted on the moving module, a silicone inner tube mounted inside the conveying and cutting assembly, a limiting assembly sleeved outside the silicone inner tube, a flexible shaft fixing post mounted on the conveying assembly, a clamping plate seat fixedly connected to the flexible shaft fixing post, a pin hole opened inside the clamping plate seat, a rotating pin rotatably connected inside the pin hole, a positioning pin fixedly connected to the clamping plate seat, and a polyurethane elastic ring mounted on the positioning pin. The clamping plate body is rotatably connected to the clamping plate seat, and the polyurethane elastic ring pushes the clamping plate body to rotate in a preset direction.

[0006] In the preferred embodiment of this technical solution, three clip bodies are provided, and the three clip bodies are arranged in an array on the clip holder.

[0007] Based on the preferred embodiment of this technical solution, the conveying and cutting assembly includes a cutter fixing slide rail fixedly connected to one end of the moving module, a sliding support seat slidably connected to the cutter fixing slide rail, a conveying structure mounted on the moving module, a cutter guide sleeve mounted on the conveying structure, an inner tube guide mounted on the conveying structure, a cutter telescopic cylinder mounted on the sliding support seat, and a V-shaped cutter mounted on the cutter telescopic cylinder. The sliding support seat is fixedly connected to the output end of the cutter lifting cylinder. The silicone inner tube passes through the inner tube guide and the cutter guide sleeve on the conveying structure, and the conveying structure drives the silicone inner tube to be conveyed along a preset direction.

[0008] Based on the preferred embodiment of this technical solution, the cutter guide sleeve has a cutting groove at the corresponding position of the V-shaped cutter, and the cutter telescopic cylinder pushes the V-shaped cutter to slide inside the cutting groove.

[0009] According to the preferred embodiment of this technical solution, the adjustment component includes a transverse cylinder mounted on a sliding connecting seat, a linear guide rail slidably connected inside the sliding connecting seat, a sleeve clamping cylinder fixedly connected to one end of the linear guide rail, a connecting sleeve mounted on the sleeve clamping cylinder, a hollow stepper motor mounted on the sliding connecting seat, and a lifting screw mounted inside the hollow stepper motor. The bottom of the sleeve clamping cylinder is in contact with the lifting screw, and the hollow stepper motor drives the lifting screw to move along a preset direction.

[0010] According to the preferred embodiment of this technical solution, the conveying assembly includes a flexible shaft drive wheel servo motor mounted on one end of the sliding connecting seat, a rotating guide shaft fixedly connected to the output end of the flexible shaft drive wheel servo motor, a linkage gear and a flexible shaft conveying roller fixedly connected to the rotating guide shaft, a fixed guide tube mounted on the sliding connecting seat, and a flexible shaft body conveyed inside the flexible shaft conveying roller and the fixed guide tube. The flexible shaft body is conveyed inside the connecting sleeve, and the flexible shaft drive wheel servo motor drives the flexible shaft conveying roller to move the flexible shaft body along a preset direction.

[0011] In the preferred embodiment of this technical solution, two rotating guide shafts are provided, and the two rotating guide shafts are symmetrically connected to the inside of the sliding connecting seat.

[0012] According to the preferred embodiment of this technical solution, the limiting component includes a first shaping tube installed on the silicone inner tube, a second shaping tube fixedly connected to the first shaping tube, and a reset sleeve fixedly connected to the second shaping tube. The connecting sleeve contacts the inner groove of the reset sleeve, and the flexible shaft body and the clamp seat pass through the reset sleeve, the second shaping tube and the first shaping tube and are inserted into the inside of the silicone inner tube.

[0013] In a preferred embodiment of this technical solution, the inner diameter of the silicone inner tube is smaller than the inner diameters of the reset sleeve and the first shaping tube. In a preferred embodiment of this technical solution, the assembly includes a fixed support rod mounted on a sliding connecting seat, an air blowing guide lifting cylinder fixedly connected to the fixed support rod, an air blowing guide support seat mounted on the air blowing guide lifting cylinder, a large core lifting assembly cylinder mounted on the air blowing guide support seat, a large core body mounted on the large core lifting assembly cylinder, an air blowing guide body mounted on the air blowing guide support seat, and an air pump connecting sleeve mounted at the output end of the air blowing guide body. The air blowing guide body is inserted into the interior of the large core body. The large core lifting assembly cylinder drives the large core body to move along a preset direction, and the air blowing guide lifting cylinder drives the air blowing guide body to insert into the interior of the silicone inner tube. Compared with the prior art, the beneficial effects of this utility model are: 1. Through the precise sliding cooperation between the transverse slide rail and the sliding connecting seat, combined with the stable installation of the assembly components by the air-blowing connecting seat, it replaces the traditional manual or simple mechanical guidance, avoids the misalignment and tilting of the inner tube during insertion, ensures the coaxiality and uniform gap of the inner and outer tubes, reduces rework, and the polyurethane elastic ring pushes the clamp body to achieve elastic clamping, abandoning the traditional rigid pushing, avoiding scratching and squeezing of the tube, reducing the scrap rate of thin-walled or precision tubes, and achieving automatic continuous operation by relying on conveying and adjustment components, without the need for manual assistance in pushing and adjusting, shortening the assembly cycle of a single piece, and increasing batch production capacity; it has excellent automation and adaptability, can be connected to automatic production lines, reduces manual monitoring and intervention, reduces costs and operational errors, and does not require the replacement of a large number of tooling, making specification adjustment more convenient.

[0014] 2. Relying on the dual guidance of the inner tube guide and the cutter guide sleeve, the silicone inner tube can be constrained to be conveyed along a preset straight line, avoiding the jamming and deviation problems that are easy to occur in traditional conveying, ensuring the accuracy of subsequent tube insertion and docking. The V-shaped cutter, in conjunction with the cutting groove of the cutter guide sleeve, can achieve a smooth and burr-free cut surface of the silicone inner tube, avoiding defects such as burrs and bevels that are easy to occur in traditional cutting, reducing subsequent assembly rework. The cutter lifting cylinder drives the sliding support seat to slide along the cutter fixed slide rail, which can flexibly adjust the cutter height to adapt to silicone inner tubes of different diameters and specifications, without the need to disassemble and change a large number of tooling as in traditional equipment. Fourth, it has high operating efficiency. The integrated design of the conveying structure and the cutting component realizes the continuous operation of "conveying-cutting", eliminating the traditional manual transfer and separate cutting links, shortening the single-piece processing cycle, and adapting to the needs of mass production.

[0015] 3. It can precisely solve the tube-threading problems caused by the lack of effective limiters in traditional tube-threading machines. First, it offers high guiding precision. Through the continuous guiding channel formed by the reset sleeve, the second shaping tube, and the first shaping tube, it can constrain the trajectory of the flexible shaft body and the clamp seat throughout the entire process, avoiding component offset and shaking problems caused by traditional simple guides, ensuring a straight tube-threading path. Second, it provides excellent inner tube shaping and protection. The first shaping tube can support and shape the end of the silicone inner tube, preventing deformation due to its own elastic contraction or external pressure, avoiding tube jamming and connection failure problems caused by inner tube deformation in traditional tube-threading. Third, it ensures sufficient coaxiality. The cooperation between the reset sleeve and the flexible shaft connecting sleeve, combined with the guiding effect of the double shaping tubes, ensures that the flexible shaft, clamps, and silicone inner tube always remain coaxial, solving the defects of poor coaxiality and uneven gap between inner and outer tubes in traditional tube-threading. Fourth, it has high tube insertion smoothness. The inner diameter of the shaping tube and the reset sleeve is larger than that of the silicone inner tube, which can provide sufficient room for the flexible shaft and the gripper to move, avoiding the component jamming in traditional rigid tube insertion, and improving tube insertion efficiency and success rate. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of one embodiment of the gripper-type tube-threading mechanism of this utility model; Figure 2 This is a schematic diagram of the clamping plate seat structure of this utility model; Figure 3 This is a schematic diagram of the mobile module structure of this utility model; Figure 4 This is a schematic diagram of the sliding support structure of this utility model; Figure 5 This is a schematic diagram of the sliding connecting seat structure of this utility model; Figure 6 This is a schematic diagram of the conveying component structure of this utility model; Figure 7 This is a schematic diagram of the second shaping tube structure of this utility model.

[0017] In the diagram: 1. Horizontal slide rail; 2. Sliding connecting seat; 3. Air blowing connecting seat; 4. Moving module; 5. Silicone inner tube; 601. Clamping plate seat; 602. Flexible shaft fixing post; 603. Pin hole; 604. Rotating pin; 605. Clamping plate body; 606. Positioning pin; 607. Polyurethane elastic ring; 701. Cutter fixing slide rail; 702. Sliding support seat; 703. Cutter lifting cylinder; 704. Conveying structure; 705. Cutter guide sleeve; 706. Inner tube guide tube; 707. Cutter telescopic cylinder; 708. V-shaped cutter; 801. Horizontal slide cylinder; 802. Linear guide rail; 803. 804. Hollow stepper motor; 805. Lifting screw; 806. Air blowing duct support seat; 807. Air blowing duct lifting cylinder; 808. Large core lifting assembly cylinder; 809. Air blowing duct body; 810. Fixed support rod; 811. Large core body; 812. Air pump connecting sleeve; 901. Flexible shaft drive wheel servo motor; 902. Rotating guide shaft; 903. Linkage gear; 904. Flexible shaft conveying roller; 905. Fixed guide tube; 906. Flexible shaft body; 907. Connecting sleeve; 908. First shaping tube; 909. Second shaping tube; 910. Reset sleeve. Detailed Implementation

[0018] 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.

[0019] Please see Figure 1-7This utility model provides an embodiment of a gripper-type tube-threading mechanism: it includes a transverse slide rail 1, a moving module 4, a sliding connecting seat 2 slidably connected to the transverse slide rail 1, an air-blowing connecting seat 3 mounted on the sliding connecting seat 2, an assembly mounted on the air-blowing connecting seat 3, a conveying assembly mounted on the sliding connecting seat 2, an adjusting assembly mounted on the sliding connecting seat 2, a conveying and cutting assembly mounted on the moving module 4, a silicone inner tube 5 mounted inside the conveying and cutting assembly, a limiting assembly sleeved outside the silicone inner tube 5, a flexible shaft fixing post 602 mounted on the conveying assembly, a clamping plate seat 601 fixedly connected to the flexible shaft fixing post 602, a pin hole 603 opened inside the clamping plate seat 601, a rotating pin 604 rotatably connected inside the pin hole 603, a positioning pin 606 fixedly connected to the clamping plate seat 601, and a positioning pin 606 mounted on the positioning pin. The polyurethane spring ring 607 on 606 and the clamp body 605 are rotatably connected to the clamp seat 601. The polyurethane spring ring 607 pushes the clamp body 605 to rotate in a preset direction. By sliding the sliding connecting seat 2 to the transverse slide rail 1, the air blowing connecting seat 3, assembly components, conveying components and other components installed on it can be flexibly moved along the transverse slide rail 1, realizing the horizontal position adjustment of the mechanism to meet the tube threading requirements of different workstations. By setting the polyurethane spring ring 607 on the positioning pin 606 and using it to push the clamp body 605 to rotate in a preset direction, the clamp body 605 can always maintain a stable clamping force on the flexible shaft or related components, avoiding the components from falling off due to excessively loose clamping or being damaged due to excessively tight clamping. At the same time, the polyurethane spring ring 607 has good elastic recovery ability, which can adapt to the clamping requirements of components of different sizes and improve the versatility of the mechanism.

[0020] Please see Figure 2 A further solution based on this embodiment is as follows: three clamping bodies 605 are provided, and the three clamping bodies 605 are arranged in an array on the clamping seat 601. By arranging the three clamping bodies 605 in an array on the clamping seat 601, the clamping force can be evenly distributed on the outer circumference of the workpiece, avoiding uneven force caused by single or double clamping, thereby preventing the workpiece from shifting, deforming or falling off during the clamping process.

[0021] Please see Figure 3-4A further embodiment of this solution is as follows: the conveying and cutting assembly includes a cutter fixing slide rail 701 fixedly connected to one end of the moving module 4, a sliding support seat 702 slidably connected to the cutter fixing slide rail 701, a conveying structure 704 mounted on the moving module 4, a cutter guide sleeve 705 mounted on the conveying structure 704, an inner tube guide 706 mounted on the conveying structure 704, a cutter telescopic cylinder 707 mounted on the sliding support seat 702, and a V-shaped cutter 708 mounted on the cutter telescopic cylinder 707. The sliding support 702 is fixedly connected to the output end of the cutter lifting cylinder 703. The silicone inner tube 5 passes through the inner tube guide 706 on the conveying structure 704 and the cutter guide sleeve 705. The conveying structure 704 drives the silicone inner tube 5 to be conveyed in a preset direction. By driving the silicone inner tube 5 along the inner tube guide 706 and the cutter guide sleeve 705 through the conveying structure 704, the straightness of the conveying path of the silicone inner tube 5 can be ensured by the dual guiding effect of the inner tube guide 706 and the cutter guide sleeve 705, and the jamming or deviation during the conveying process can be avoided.

[0022] Please see Figure 3-4 A further solution based on this embodiment is as follows: the cutter guide sleeve 705 has a cutting groove at the corresponding position of the V-shaped cutter 708, and the cutter telescopic cylinder 707 pushes the V-shaped cutter 708 to slide inside the cutting groove. By opening a cutting groove at the corresponding position of the V-shaped cutter 708 on the cutter guide sleeve 705, a precise sliding trajectory can be provided for the V-shaped cutter 708, avoiding lateral deviation of the cutter during the cutting process, ensuring the accuracy of the cutting position, and thus ensuring the consistency of the length of the silicone inner tube 5 after cutting.

[0023] Please see Figure 5 A further solution based on this embodiment is as follows: The adjustment component includes a transverse cylinder 801 mounted on the sliding connecting seat 2, a linear guide rail 802 slidably connected inside the sliding connecting seat 2, a sleeve clamping cylinder 803 fixedly connected to one end of the linear guide rail 802, a connecting sleeve 907 mounted on the sleeve clamping cylinder 803, a hollow stepper motor 804 mounted on the sliding connecting seat 2, and a lifting screw 805 mounted inside the hollow stepper motor 804. The bottom of the sleeve clamping cylinder 803 is in contact with the lifting screw 805. The hollow stepper motor 804 drives the lifting screw 805 to move along a preset direction. By driving the lifting screw 805 to move along the preset direction through the hollow stepper motor 804, and utilizing the contact transmission between the lifting screw 805 and the bottom of the sleeve clamping cylinder 803, the sleeve clamping cylinder 803 can be driven to achieve micro-position adjustment along the linear guide rail 802. The adjustment accuracy can reach the millimeter level, effectively compensating for the docking deviation caused by component installation errors or changes in workpiece specifications.

[0024] Please see Figure 6A further solution based on this embodiment is as follows: The conveying assembly includes a flexible shaft drive wheel servo motor 901 installed at one end of the sliding connecting seat 2, a rotating guide shaft 902 fixedly connected to the output end of the flexible shaft drive wheel servo motor 901, a linkage gear 903 and a flexible shaft conveying roller 904 fixedly connected to the rotating guide shaft 902, a fixed guide tube 905 installed on the sliding connecting seat 2, and a flexible shaft body 906 conveyed inside the flexible shaft conveying roller 904 and the fixed guide tube 905. The flexible shaft body 906 is conveyed inside the connecting sleeve 907. The flexible shaft drive wheel servo motor 901 drives the flexible shaft conveying roller 904 to move the flexible shaft body 906 along a preset direction. By driving the rotating guide shaft 902 to rotate through the flexible shaft drive wheel servo motor 901, the linkage gear 903 and the flexible shaft conveying roller 904 operate synchronously, which can realize the uniform and precise conveying of the flexible shaft body 906. The controllability of the servo motor can precisely adjust the conveying speed and length of the flexible shaft to meet the requirements of different tube threading operations for the conveying amount of the flexible shaft.

[0025] Please see Figure 6 A further solution based on this embodiment is as follows: two rotating guide shafts 902 are provided, and the two rotating guide shafts 902 are symmetrically rotatably connected inside the sliding connecting seat 2. By symmetrically rotatably connecting the two rotating guide shafts 902 inside the sliding connecting seat 2, the flexible shaft conveying rollers 904 on the two rotating guide shafts 902 can act symmetrically on both sides of the flexible shaft body 906, thereby achieving force balance during the flexible shaft conveying process and avoiding the flexible shaft offset or uneven conveying speed caused by unilateral force.

[0026] Please see Figure 7 A further solution based on this embodiment is as follows: The limiting component includes a first shaping tube 908 installed on the silicone inner tube 5, a second shaping tube 909 fixedly connected to the first shaping tube 908, and a reset sleeve 910 fixedly connected to the second shaping tube 909. The connecting sleeve 907 contacts the inner groove of the reset sleeve 910. The flexible shaft body 906 and the clamp seat 601 pass through the reset sleeve 910, the second shaping tube 909 and the first shaping tube 908 and are inserted into the inside of the silicone inner tube 5. Through the sequential connection of the reset sleeve 910, the second shaping tube 909 and the first shaping tube 908, a continuous guide channel for the flexible shaft body 906 and the clamp seat 601 is formed, which can ensure that the flexible shaft and the clamp seat move smoothly along the preset path and avoid deviation or shaking before passing through the tube.

[0027] Please see Figure 7A further solution based on this embodiment is as follows: the inner diameter of the silicone inner tube 5 is smaller than the inner diameter of the reset sleeve 910 and the first shaping tube 908. By setting the inner diameter of the silicone inner tube 5 to be smaller than the inner diameter of the reset sleeve 910 and the first shaping tube 908, on the one hand, the larger diameter of the reset sleeve 910 and the first shaping tube 908 can provide sufficient guiding space for the flexible shaft body 906 and the clamp seat 601, avoiding the flexible shaft conveying jam or the clamp seat jamming due to the small tube diameter, and ensuring a smooth tube insertion process. Please refer to... Figure 5 A further solution based on this embodiment is as follows: the assembly component includes a fixed support rod 810 mounted on the sliding connecting seat 2, an air blowing duct lifting cylinder 807 fixedly connected to the fixed support rod 810, an air blowing duct support seat 806 mounted on the air blowing duct lifting cylinder 807, a large core lifting assembly cylinder 808 mounted on the air blowing duct support seat 806, a large core body 811 mounted on the large core lifting assembly cylinder 808, an air blowing duct body 809 mounted on the air blowing duct support seat 806, and an air pump connecting sleeve 812 mounted at the output end of the air blowing duct body 809. The air blowing duct body 809 is inserted into the interior of the large core body 811, and the large core lifting assembly cylinder 808 drives the large core body 811. 1. Moving along a preset direction, the air blowing guide lifting cylinder 807 drives the air blowing guide body 809 to insert into the interior of the silicone inner tube 5. The fixed support rod 810 provides stable installation support for the air blowing guide lifting cylinder 807, ensuring that the cylinder will not shake during the driving process, thereby ensuring the stable movement of the air blowing guide support 806 and subsequent components, and improving the overall stability of the assembly. By driving the air blowing guide lifting cylinder 807 to insert the air blowing guide body 809 into the silicone inner tube 5, air can be blown into the silicone inner tube 5 through the guide to remove dust and impurities inside the inner tube, avoiding impurities from affecting the fit between the flexible shaft body 906 and the inner tube. At the same time, the airflow can also play an auxiliary guiding role when the flexible shaft is inserted, reducing the resistance of insertion.

[0028] The original first shaping tube 908 can be replaced with a ceramic shaping tube or a metal shaping tube with an adjustable inner diameter. The metal shaping tube with an adjustable inner diameter, such as a split structure with the inner diameter adjusted by bolts, can be adapted to silicone inner tubes 5 of different diameters without replacing the whole tube, reducing the number of parts to be disassembled during shape change, shortening the adjustment cycle, and improving the adaptability of the mechanism to workpieces of multiple specifications. The original reset sleeve 910 can be replaced with a detachable reset sleeve, or with a reset sleeve with a position sensor. If a miniature photoelectric sensor is embedded in the inner groove of the reset sleeve, the position of the flexible shaft connecting sleeve 907 can be monitored in real time. If a positional deviation occurs, it can be fed back to the control system for adjustment in a timely manner. Compared with the original reset sleeve 910, which relies solely on mechanical positioning, this further improves the positioning accuracy and reduces the failure of tube insertion caused by the deviation of the connecting sleeve 907.

[0029] Working principle: According to the length of the directional tube, the moving module 4 pushes the sliding support seat 702 along the cutter fixed slide rail 701 through the cutter lifting cylinder 703 to adjust the conveying and cutting component to the corresponding height. The conveying structure 704 drives the silicone inner tube 5 through the inner tube guide tube 706 and the cutter guide sleeve 705. Before the tube feeding mechanism descends, the silicone inner tube 5 automatically resets to 10mm from the outlet of the inner tube guide tube 706. If cutting is required, the cutter telescopic cylinder 707 pushes the V-shaped cutter 708 to slide along the cutting groove of the cutter guide sleeve 705 to complete the cutting of the silicone inner tube 5. Next, the clamp seat 601 is connected to the conveying component through the flexible shaft fixing column 602. The clamp body 605 rotates around the rotating pin 604 in the pin hole 603. The polyurethane elastic ring 607 pushes the clamp body 605 to keep it open. When the gripper enters the limiting assembly, the first shaping tube 908 and the reset sleeve 910 limit the opening angle of the clamp body 605 through their inner diameters, and the positioning pin 606 remains centered under the constraint of the shaping tube. At the same time, the servo motor 901 of the flexible shaft drive wheel of the conveying assembly drives two symmetrical rotating guide shafts 902, which synchronously drive the flexible shaft conveying roller 904 through the linkage gear 903. The flexible shaft body 906 moves along the fixed guide tube 905, pushing the gripper to the docking point with the silicone inner tube 5. Both descend synchronously. Finally, the gripper enters the second shaping tube 909 with a smaller inner diameter, and the clamp body 605 is squeezed and tightened, clamping the silicone inner tube 5 together with the positioning pin 606. The flexible shaft body 906 pulls the gripper to pull out the inner tube. Subsequently, the flexible shaft pulls the gripper into the connecting sleeve 907. Under the action of the lifting screw 805 driven by the hollow stepper motor 804, the sleeve clamping cylinder 803 descends synchronously along the linear guide rail 802. The transverse cylinder 801 assists in fine-tuning the position of the sliding connecting seat 2. After reaching the designated height, the connecting sleeve 907 accelerates its descent and disengages from the gripper. The clamping plate body 605 opens under the action of the polyurethane elastic ring 607. The flexible shaft body 906 pulls the gripper to quickly separate from the silicone inner tube 5, completing the tube insertion. The air blowing guide lifting cylinder (807) of the assembly component drives the air blowing guide body (809) to insert into the silicone inner tube (5) for air blowing and cleaning. The large core lifting assembly cylinder (808) pushes the large core body (811) to assemble with the inner tube.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art 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 appended claims and their equivalents.

Claims

1. A gripper-type tube-threading mechanism, comprising a transverse slide rail (1) and a moving module (4), characterized in that: It also includes a sliding connecting seat (2) slidably connected to the transverse slide rail (1), an air blowing connecting seat (3) mounted on the sliding connecting seat (2), an assembly mounted on the air blowing connecting seat (3), a conveying assembly mounted on the sliding connecting seat (2), an adjusting assembly mounted on the sliding connecting seat (2), a conveying and cutting assembly mounted on the moving module (4), a silicone inner tube (5) mounted inside the conveying and cutting assembly, a limiting assembly sleeved outside the silicone inner tube (5), and a flexible shaft fixing post (602) mounted on the conveying assembly. The clamp seat (601) is fixedly connected to the flexible shaft fixing column (602), the pin hole (603) is opened inside the clamp seat (601), the rotating pin (604) is rotatably connected inside the pin hole (603), the positioning pin (606) is fixedly connected to the clamp seat (601), and the polyurethane elastic ring (607) is installed on the positioning pin (606). The clamp body (605) is rotatably connected to the clamp seat (601), and the polyurethane elastic ring (607) pushes the clamp body (605) to rotate in a preset direction.

2. The clamp-type tube-threading mechanism according to claim 1, characterized in that: There are three clip bodies (605), and the three clip bodies (605) are arranged in an array on the clip holder (601).

3. The clamp-type tube-threading mechanism according to claim 1, characterized in that: The conveying and cutting assembly includes a cutter fixing slide rail (701) fixedly connected to one end of the moving module (4), a sliding support seat (702) slidably connected to the cutter fixing slide rail (701), a conveying structure (704) mounted on the moving module (4), a cutter guide sleeve (705) mounted on the conveying structure (704), an inner tube guide (706) mounted on the conveying structure (704), a cutter telescopic cylinder (707) mounted on the sliding support seat (702), and a V-shaped cutter (708) mounted on the cutter telescopic cylinder (707). The sliding support seat (702) is fixedly connected to the output end of the cutter lifting cylinder (703). The silicone inner tube (5) passes through the inner tube guide (706) and the cutter guide sleeve (705) on the conveying structure (704). The conveying structure (704) drives the silicone inner tube (5) to be conveyed in a preset direction.

4. The clamp-type tube-threading mechanism according to claim 3, characterized in that: The cutter guide sleeve (705) has a cutting groove at the corresponding position of the V-shaped cutter (708), and the cutter telescopic cylinder (707) pushes the V-shaped cutter (708) to slide inside the cutting groove.

5. The clamp-type tube-threading mechanism according to claim 1, characterized in that: The adjustment assembly includes a transverse cylinder (801) mounted on a sliding connecting seat (2), a linear guide rail (802) slidably connected inside the sliding connecting seat (2), a sleeve clamping cylinder (803) fixedly connected to one end of the linear guide rail (802), a connecting sleeve (907) mounted on the sleeve clamping cylinder (803), a hollow stepper motor (804) mounted on the sliding connecting seat (2), and a lifting screw (805) mounted inside the hollow stepper motor (804). The bottom of the sleeve clamping cylinder (803) is in contact with the lifting screw (805), and the hollow stepper motor (804) drives the lifting screw (805) to move along a preset direction.

6. The clamp-type tube-threading mechanism according to claim 1, characterized in that: The conveying assembly includes a flexible shaft drive wheel servo motor (901) mounted on one end of the sliding connecting seat (2), a rotating guide shaft (902) fixedly connected to the output end of the flexible shaft drive wheel servo motor (901), a linkage gear (903) and a flexible shaft conveying roller (904) fixedly connected to the rotating guide shaft (902), a fixed guide tube (905) mounted on the sliding connecting seat (2), and a flexible shaft body (906) conveyed inside the flexible shaft conveying roller (904) and the fixed guide tube (905). The flexible shaft body (906) is conveyed inside the connecting sleeve (907). The flexible shaft drive wheel servo motor (901) drives the flexible shaft conveying roller (904) to move the flexible shaft body (906) along a preset direction.

7. A gripper-type tube-threading mechanism according to claim 6, characterized in that: There are two rotating guide shafts (902), and the two rotating guide shafts (902) are symmetrically connected to the inside of the sliding connecting seat (2).

8. The clamp-type tube-threading mechanism according to claim 1, characterized in that: The limiting assembly includes a first shaping tube (908) mounted on the silicone inner tube (5), a second shaping tube (909) fixedly connected to the first shaping tube (908), and a reset sleeve (910) fixedly connected to the second shaping tube (909). The connecting sleeve (907) contacts the inner groove of the reset sleeve (910). The flexible shaft body (906) and the clamp seat (601) pass through the reset sleeve (910), the second shaping tube (909) and the first shaping tube (908) and are inserted into the inside of the silicone inner tube (5).

9. A gripper-type tube-threading mechanism according to claim 8, characterized in that: The inner diameter of the silicone inner tube (5) is smaller than the inner diameter of the reset sleeve (910) and the first shaping tube (908).

10. A gripper-type tube-threading mechanism according to claim 1, characterized in that: The assembly components include a fixed support rod (810) mounted on a sliding connecting seat (2), an air blowing duct lifting cylinder (807) fixedly connected to the fixed support rod (810), an air blowing duct support seat (806) mounted on the air blowing duct lifting cylinder (807), a large core lifting assembly cylinder (808) mounted on the air blowing duct support seat (806), a large core body (811) mounted on the large core lifting assembly cylinder (808), an air blowing duct body (809) mounted on the air blowing duct support seat (806), and an air pump connecting sleeve (812) mounted on the output end of the air blowing duct body (809). The air blowing duct body (809) is inserted into the interior of the large core body (811). The large core lifting assembly cylinder (808) drives the large core body (811) to move along a preset direction, and the air blowing duct lifting cylinder (807) drives the air blowing duct body (809) to be inserted into the interior of the silicone inner tube (5).

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