CN111843587A

CN111843587A - Pipe fitting clamping device for industrial robot

Info

Publication number: CN111843587A
Application number: CN202010734780.8A
Authority: CN
Inventors: 张竹青; 许洋洋; 陈高丽; 李金佩; 张勇
Original assignee: 张竹青
Current assignee: Zhengzhou University of Industrial Technology
Priority date: 2020-07-28
Filing date: 2020-07-28
Publication date: 2020-10-30
Anticipated expiration: 2040-07-28
Also published as: CN111843587B

Abstract

The invention discloses a pipe fitting clamping device for an industrial robot, which comprises a guide rail, a suspension arm, moving assemblies and pipe fitting clamping assemblies, wherein two ends of the guide rail are suspended below a top plate by the suspension arm, at least four groups of moving assemblies are movably arranged on the suspension arm, the pipe fitting clamping assemblies are symmetrically arranged below two groups of moving assemblies at two ends, and the two pipe fitting clamping assemblies can adapt to the length of a pipe fitting under the displacement adjustment of the corresponding moving assemblies, so that the pipe fitting clamping assemblies can clamp the pipe fitting together, the pipe fitting clamping assemblies can be used for limiting the end parts of the pipe fitting, the stability of the pipe fitting is improved, and the subsequent processing is facilitated; and the auxiliary supporting components are arranged below the multiple groups of moving components positioned in the middle, and can provide auxiliary support and guide for the pipe fittings clamped by the pipe fitting clamping components.

Description

Pipe fitting clamping device for industrial robot

Technical Field

The invention relates to the technical field of pipe fitting clamping devices, in particular to a pipe fitting clamping device for an industrial robot.

Background

The existing robots are various in types, functions and shapes, and the roles of the robots are also different greatly, wherein in industrial robots, many robots need to have a clamping function, and for the reason, in the production process of various workpieces in a factory, other machining actions are almost performed depending on clamping, wherein clamping of a pipe is difficult, in order to adapt to the radian of the pipe, the existing clamping device usually adopts a V-shaped block for clamping, but although the V-shaped block can simply clamp the pipe, the actual contact area with the pipe is small, so that clamping is not firm, in addition, the existing clamping device cannot adapt to different pipe lengths, limit the pipe from the end part of the pipe, and the blanking control of the pipe is poor.

Therefore, there is a need for a pipe gripping device for an industrial robot to solve the above problems in the background art.

Disclosure of Invention

In order to achieve the purpose, the invention provides the following technical scheme: a pipe fitting clamping device for an industrial robot comprises a guide rail, a suspension arm, a moving assembly and a pipe fitting clamping assembly, wherein two ends of the guide rail are suspended below a top plate by the suspension arm, at least four groups of moving assemblies are movably arranged on the suspension arm,

the pipe fitting clamping assemblies are symmetrically arranged below the two groups of moving assemblies at the two ends, and the two pipe fitting clamping assemblies can adapt to the length of a pipe fitting under the displacement adjustment of the corresponding moving assemblies, so that the pipe fitting can be clamped together;

and the auxiliary supporting components are arranged below the multiple groups of moving components positioned in the middle, and can provide auxiliary support and guide for the pipe fittings clamped by the pipe fitting clamping components.

Further, as preferred, the subassembly is got to the pipe fitting clamp includes the linking arm, drives seat, locking Assembly and direction and adjusts the seat, wherein, the one end of linking arm is fixed in the below of removing the subassembly, just but the other end angle regulation's of linking arm is provided with and drives the seat, the middle part that drives the seat adopts the drive shaft to rotate and is provided with the direction and adjusts the seat, the below that the seat was adjusted to the direction is provided with the pipe fitting that can bear the weight of the pipe fitting and the locking Assembly that the restriction pipe fitting rocked.

Further, as preferred, the pipe fitting bearing groove level is fixed in the one side of leaning on the seat, just the pipe fitting bearing groove with lean on and constitute the L type between the seat, the top that leans on the seat is fixed in the below of installation, the mounting panel adopts the pillar to be fixed in the below of direction adjustment seat.

Furthermore, as an optimization, the locking assembly comprises a locking motor, a driven belt pulley, a rotating seat and a V-shaped claw, wherein the rotating seat is T-shaped and is rotatably arranged in the middle of the mounting plate, the vertical part of the rotating seat extends downwards and extends out of the mounting plate to form an extending part, threads are distributed on the outer circumference of the extending part of the rotating seat and are used for being in transmission connection with the nut seat, T-shaped connecting rods are symmetrically connected to two ends of the nut seat, the V-shaped claw is connected to the lower parts of the two T-shaped connecting rods, and the T-shaped connecting rod close to the abutting seat is further arranged in a limiting sliding groove formed in the side wall of the abutting seat in a limiting sliding mode through a limiting sliding block;

the top of rotating the seat stretches out mounting panel and coaxial fixed have driven pulleys, driven pulleys adopts the belt to link to each other with the driving pulley transmission, driving pulley is fixed in the output of locking motor, the below of seat is adjusted to the direction to locking motor is fixed in.

Further, as preferred, locking Assembly still includes locking cylinder and locking post, wherein, locking cylinder is fixed in the below of seat is adjusted to the direction, the coaxial and slidable of scalable end of locking cylinder passes driven pulleys, rotates seat and V type claw, just the flexible end fixing of locking cylinder has a plurality of locking posts, the other end of locking post is the rubber material.

Further, as an optimization, an adjusting rod and a telescopic cylinder which are symmetrically arranged are hinged above the driving seat, and the other ends of the adjusting rod and the telescopic cylinder are vertically arranged below the connecting arm, wherein the adjusting rod is fixedly connected with the connecting arm, and the telescopic cylinder is hinged with the connecting arm so as to adjust the deflection angle of the driving seat through the stretching of the telescopic cylinder.

Further, as preferred, the drive shaft is the T type, just the drive shaft rotates and sets up in the cavity of drive seat, the one end that the drive shaft stretched into in the cavity of drive seat is fixed with driven gear, driven gear meshes with the driving gear of fixing at the gear motor output mutually, thereby passes through gear motor's drive can drive the drive shaft and rotate, the one end that driven gear was kept away from to the drive shaft still links to each other with the direction adjustment seat is fixed.

Further, as the preferred, the side that leans on the seat to be close to pipe fitting bearing groove is fixed with the elasticity and leans on the bag, the elasticity is leaned on and is filled with the elasticity cotton in the bag.

Further, as preferred, remove the subassembly including removing seat, walking wheel and bearing block, wherein, remove the seat and be the cavity structure, and set up horizontal logical groove in its middle part for make the guide rail pass wherein, the cavity top of removing the seat is fixed with the bearing block, it is provided with the walking wheel still to rotate in the cavity of removing the seat, the walking wheel meshes with the tooth of guide rail below mutually, thereby passes through the rotation of walking wheel drives and removes the seat and carry out the displacement, the walking wheel is driven by fixing the motor that removes the seat outside and rotates.

Further, as preferred, the auxiliary stay subassembly includes extensible member, connecting rod, leading wheel one, the pole of stepping down and leading wheel two, wherein, the extensible member is fixed in the below of removing the subassembly, the below of extensible member adopts the connecting rod to be connected with the type pole of stepping down, the connecting rod and step down on the pole respectively rotatable be connected with leading wheel one and leading wheel two.

Compared with the prior art, the invention provides a pipe clamping device for an industrial robot, which has the following beneficial effects:

1. in the device, the two sets of pipe clamping assemblies can adapt to the lengths of different pipes under the displacement adjustment of the corresponding moving assemblies, so that one pipe is clamped together, the adaptability of the device is improved, the pipe clamping assemblies can be used for limiting the end parts of the pipes, the stability of the pipes is improved, and the subsequent processing is facilitated;

2. when the pipe fitting is clamped, the locking motor can drive the nut seat to move downwards, so that the V-shaped claw limits the pipe fitting downwards, meanwhile, the locking cylinder drives the locking columns to lock the pipe fitting downwards, the pipe fitting can be firmly locked by matching of the locking cylinders and the pipe fitting bearing groove, and the stability of the V-shaped claw on the limitation of the pipe fitting is compensated;

3. be provided with the auxiliary stay subassembly in this device, when getting the pipe fitting clamp, drive through the extensible member, make two shore pipe fittings of leading wheel, improve the force balance of pipe fitting, prevent to lack the strong point of power and directly fall because of the pipe fitting that the cutting is divided into two, after the pipe fitting processing, when the pipe fitting unloading, drive through the extensible member, make two downstream leading wheel, and telescopic cylinder's extension this moment, make the driving seat certain angle that deflects downwards, thereby make the leading wheel two can provide the direction for the unloading of pipe fitting.

Drawings

Fig. 1 is a schematic plan view of a pipe clamping device for an industrial robot;

FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1;

fig. 3 is a schematic view of an operating state of a pipe clamping device for an industrial robot;

in the figure: 1. a guide rail; 2. a suspension arm; 3. a moving assembly; 4. a connecting arm; 5. adjusting a rod; 6. a telescopic cylinder; 7. a driving seat; 8. a drive shaft; 9. a locking assembly; 10. mounting a plate; 11. a leaning seat; 12. a pipe fitting carrying groove; 13. a direction adjusting seat; 14. a telescoping member; 15. a connecting rod; 16. a first guide wheel; 17. a position-giving rod; 18. a second guide wheel; 19. a reduction motor; 20. a driven gear;

31. a movable seat; 32. a traveling wheel; 33. a bearing block;

91. a locking cylinder; 92. a locking post; 93. locking the motor; 94. a driven pulley; 95. a rotating seat; 96. a nut seat; 97. a limiting slide block; 98. an elastic abutting bag; 99. and a V-shaped claw.

Detailed Description

Referring to fig. 1 to 3, in an embodiment of the present invention, a pipe clamping device for an industrial robot includes a guide rail 1, a suspension arm 2, a moving assembly 3, and a pipe clamping assembly, wherein two ends of the guide rail 1 are suspended below a top plate by the suspension arm 2, at least four sets of moving assemblies 3 are movably disposed on the suspension arm 2,

the pipe clamping assemblies are symmetrically arranged below the two groups of moving assemblies 3 positioned at the two ends, and the two pipe clamping assemblies can adapt to the length of a pipe under the displacement adjustment of the corresponding moving assemblies 3, so that one pipe is clamped together, and the adaptability of the device is improved;

and, the lower side that is located the multiunit removal subassembly 3 at middle part all is provided with the auxiliary stay subassembly, the auxiliary stay subassembly can be got the pipe fitting that the subassembly was got to the pipe fitting clamp and provide auxiliary stay and direction.

In this embodiment, as shown in fig. 1, the pipe fitting clamping assembly includes a connecting arm 4, a driving seat 7, a locking assembly 9 and a direction adjusting seat 13, wherein, the one end of the connecting arm 4 is fixed below the moving assembly 3, and the driving seat 7 is provided with the other end of the connecting arm 4 with an adjustable deflection angle, the middle part of the driving seat 7 adopts a driving shaft 8 to rotate and is provided with the direction adjusting seat 13, the lower part of the direction adjusting seat 13 is provided with a pipe fitting bearing groove 12 capable of bearing the pipe fitting and a locking assembly 9 for limiting the pipe fitting to shake, the locking assembly 9 is matched with the pipe fitting bearing groove 12, and the pipe fitting can be clamped to reduce and shake in the subsequent processing process.

In a preferred embodiment, the pipe loading slot 12 is horizontally fixed on one side of the abutting seat 11, an L-shape is formed between the pipe loading slot 12 and the abutting seat 11, the top of the abutting seat 11 is fixed below the mounting plate 10, and the mounting plate 10 is fixed below the direction adjusting seat 13 by using a support.

In this embodiment, as shown in fig. 2, the locking assembly 9 includes a locking motor 93, a driven pulley 94, a rotating seat 95 and a V-shaped claw 99, wherein the rotating seat 95 is T-shaped, the rotating seat 95 is rotatably disposed in the middle of the mounting plate 10, a vertical portion of the rotating seat 95 extends downward and extends out of the mounting plate 10 to form an extending portion, threads are distributed on an outer circumference of the extending portion of the rotating seat 95 for being in transmission connection with a nut seat 96, T-shaped connecting rods are symmetrically connected to two ends of the nut seat 96, the V-shaped claw 99 is commonly connected to the lower portions of the two T-shaped connecting rods, and the T-shaped connecting rod near the abutment seat 11 is further disposed in a limiting sliding groove formed in the side wall of the abutment seat 11 by a limiting sliding block 97;

the top of rotating seat 95 stretches out mounting panel 10 and coaxial fixed have driven pulleys 94, driven pulleys 94 adopt the belt to link to each other with the driving pulley transmission, driving pulley is fixed in the output of locking motor 93, locking motor 93 is fixed in the below of direction regulation seat 13, and when concrete implementation, locking motor 93 drive driven pulleys 94 rotates to drive and rotate seat 95 and rotate, and then make screw seat 96 carry out displacement from top to bottom, when needing to press from both sides the pipe fitting tightly, locking motor 93 drives screw seat 96 and moves down, makes V type claw 99 restrict the pipe fitting downwards, to the pipe fitting processing back, locking motor 93 drives screw seat 96 rebound, makes the pipe fitting break away from the restriction of V type claw 99.

In order to compensate the stability of V type claw 99 to the pipe fitting restriction, locking assembly 9 still includes locking cylinder 91 and locking post 92, wherein, locking cylinder 91 is fixed in the below of direction adjustment seat 13, the coaxial and slidable of scalable end of locking cylinder 91 passes driven pulley 94, rotates seat 95 and V type claw 99, just locking cylinder 91's flexible end fixing has a plurality of locking posts 92, the other end of locking post 92 is the rubber material to can firmly lock the pipe fitting through the cooperation of locking post 92 with pipe fitting bearing groove 12.

In this embodiment, as shown in fig. 1, the top of driving the seat 7 articulates there are adjusting rod 5 and telescopic cylinder 6 laid symmetrically, just, the other end of adjusting rod 5 and telescopic cylinder 6 all vertically sets up in the below of linking arm 4, wherein, adjusting rod and linking arm are fixed to be continuous, telescopic cylinder 6 is articulated mutually with the linking arm, so that through telescopic cylinder 6's flexible, adjust drive the deflection angle of seat 7, after the pipe fitting processing, when unloading to the pipe fitting, through telescopic cylinder 6's extension for drive seat 7 certain angle of deflecting downwards, thereby make the pipe fitting follow pipe fitting bearing groove 12 landing down, realize quick unloading.

In this embodiment, drive shaft 8 is the T type, just drive shaft 8 rotates and sets up in the cavity of drive seat 7, the one end that drive shaft 8 stretched into in the cavity of drive seat 7 is fixed with driven gear 20, driven gear meshes with the driving gear of fixing at gear motor 19 output mutually, thereby passes through gear motor 19's drive can drive shaft 18 and rotate, the one end that drive shaft 8 kept away from driven gear still links to each other with direction adjustment seat 13 is fixed.

In a preferred embodiment, an elastic abutting bag 98 is fixed on one side of the abutting seat 11 close to the pipe bearing groove 12, and elastic cotton is filled in the elastic abutting bag 98, so that the pipe can be locked from the end of the pipe conveniently.

In this embodiment, remove subassembly 3 including removing seat 31, walking wheel 32 and bearing block 33, wherein, remove seat 31 and be the cavity structure, and horizontal logical groove has been seted up at its middle part for make guide rail 1 pass wherein, the cavity top of removing seat 31 is fixed with bearing block 33, it is provided with walking wheel 32 still to rotate in the cavity of removing seat 31, walking wheel 32 meshes with the tooth of guide rail 1 below mutually, thereby passes through walking wheel 32's rotation drives and removes seat 31 and carry out the displacement, walking wheel 32 is driven by fixing the motor that removes the seat 31 outside and rotates.

In this embodiment, the auxiliary supporting component includes extensible member 14, connecting rod 15, leading wheel 16, step down pole 17 and two 18 of leading wheel, wherein, extensible member 14 is fixed in the below of removing subassembly 3, the below of extensible member 14 adopts connecting rod 15 to be connected with the type to step down pole 17, and the extensible member can be cylinder, pneumatic cylinder or electric telescopic handle, connecting rod 15 and let and be connected with leading wheel 16 and two 18 of leading wheel on the pole 17 respectively rotatablely, the application scene of auxiliary supporting component is as follows: when the pipe fitting is clamped and processed, for example, cutting processing is carried out, the pipe fitting is propped by the two guide wheels 18 through driving of the telescopic piece 14, the stress balance of the pipe fitting is improved, the phenomenon that the pipe fitting divided into two parts is directly fallen due to the fact that the force is not available at the supporting point is avoided, after the pipe fitting is processed, when the pipe fitting is subjected to blanking, as shown in fig. 3, the two guide wheels 18 are driven through the telescopic piece 14 to move downwards, the telescopic cylinder 6 is stretched at the moment, the driving seat 7 deflects downwards by a certain angle, the two guide wheels 18 can provide guiding for blanking of the pipe fitting, and the blanking safety is improved.

In specific implementation, the two pipe clamping assemblies can adapt to the lengths of different pipes under the displacement adjustment of the corresponding moving assembly 3, at the moment, the pipes are placed on the two pipe bearing grooves 12, then the locking motor 93 drives the driven belt pulley 94 to rotate, so that the rotating seat 95 is driven to rotate, the nut seat 96 is further driven to displace downwards, the V-shaped claw 99 limits the pipes downwards, meanwhile, the locking cylinder drives the locking columns to lock the pipes downwards, the pipes can be locked firmly through the matching of the locking cylinders and the pipe bearing grooves, and the stability of the V-shaped claw on the pipe limitation is compensated;

in addition, in the auxiliary supporting assembly, the second guide wheel 18 supports the pipe fitting through the driving of the telescopic piece 14, so that the stress balance of the pipe fitting is improved, and the pipe fitting divided into two parts due to cutting is prevented from directly falling due to the lack of a supporting point of force; after the pipe fitting processing, begin to carry out the unloading to the pipe fitting, locking Assembly removes the locking to the pipe fitting this moment, through the drive of extensible member 14 for leading wheel two 18 moves down, and telescopic cylinder 6's extension this moment makes drive seat 7 certain angle that deflects downwards, thereby makes leading wheel two 18 provide the direction for the unloading of pipe fitting, thereby realizes the unloading.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The utility model provides a device is got to pipe fitting clamp for industrial robot, its includes that guide rail (1), davit (2), removal subassembly (3) and pipe fitting clamp get the subassembly, wherein, the both ends of guide rail (1) adopt davit (2) to suspend in midair in the below of roof, mobilizable being provided with four group at least removal subassemblies (3) on davit (2), its characterized in that:

pipe clamping assemblies are symmetrically arranged below the two groups of moving assemblies (3) positioned at the two ends, and the two pipe clamping assemblies can adapt to the length of a pipe under the displacement adjustment of the corresponding moving assemblies (3), so that the pipe can be clamped together;

and the auxiliary supporting components are arranged below the multiple groups of moving components (3) positioned in the middle, and can provide auxiliary support and guide for the pipe fittings clamped by the pipe fitting clamping components.

2. The pipe gripping device for the industrial robot as claimed in claim 1, wherein: the pipe fitting clamping assembly comprises a connecting arm (4), a driving seat (7), a locking assembly (9) and a direction adjusting seat (13), wherein one end of the connecting arm (4) is fixed below the moving assembly (3), the other end of the connecting arm (4) can be adjusted in angle and is provided with the driving seat (7), the middle of the driving seat (7) is provided with the direction adjusting seat (13) in a rotating mode through a driving shaft (8), and the lower portion of the direction adjusting seat (13) is provided with a pipe fitting bearing groove (12) capable of bearing a pipe fitting and a locking assembly (9) capable of limiting the pipe fitting to shake.

3. The pipe gripping device for the industrial robot as claimed in claim 2, wherein: pipe fitting bearing groove (12) level is fixed in the one side of leaning on seat (11), just pipe fitting bearing groove (12) with lean on and constitute the L type between seat (11), the top of leaning on seat (11) is fixed in the below of mounting panel (10), mounting panel (10) adopt the pillar to be fixed in the below of direction regulation seat (13).

4. The pipe gripping device for the industrial robot as claimed in claim 2, wherein: the locking assembly (9) comprises a locking motor (93), a driven belt wheel (94), a rotating seat (95) and V-shaped claws (99), wherein the rotating seat (95) is T-shaped, the rotating seat (95) is rotatably arranged in the middle of a mounting plate (10), the vertical part of the rotating seat (95) extends downwards and extends out of the mounting plate (10) to form an extending part, threads are distributed on the outer circumference of the extending part of the rotating seat (95) and are used for being in transmission connection with a nut seat (96), T-shaped connecting rods are symmetrically connected to two ends of the nut seat (96), the V-shaped claws (99) are connected to the lower parts of the two T-shaped connecting rods, and the T-shaped connecting rods close to the abutting seat (11) can be arranged in limiting sliding grooves formed in the side wall of the abutting seat (11) in a limiting mode through limiting sliding blocks (97);

the top of rotating seat (95) stretches out mounting panel (10) and coaxial be fixed with driven pulley (94), driven pulley (94) adopt the belt to link to each other with the driving pulley transmission, driving pulley is fixed in the output of locking motor (93), locking motor (93) are fixed in the below of direction adjustment seat (13).

5. The pipe gripping device for the industrial robot as claimed in claim 4, wherein: locking Assembly (9) still include locking cylinder (91) and locking post (92), wherein, locking cylinder (91) are fixed in the below of direction regulation seat (13), the coaxial and slidable of scalable end of locking cylinder (91) passes driven pulleys (94), rotates seat (95) and V type claw (99), just the flexible end fixing of locking cylinder (91) has a plurality of locking posts (92), the other end of locking post (92) is the rubber material.

6. The pipe gripping device for the industrial robot as claimed in claim 2, wherein: the upper portion of driving the seat (7) is articulated to have the regulation pole (5) and the telescopic cylinder (6) that become the symmetry and lay, just, the other end of adjusting pole (5) and telescopic cylinder (6) is all vertical to be set up in the below of linking arm (4), wherein, it is fixed continuous with the linking arm to adjust the pole, telescopic cylinder is articulated mutually with the linking arm, so that pass through the flexible of telescopic cylinder (6), adjust drive the deflection angle of seat (7).

7. The pipe gripping device for the industrial robot as claimed in claim 2, wherein: drive shaft (8) are the T type, just drive shaft (8) rotate to set up in the cavity of drive seat (7), one end that drive shaft (8) stretched into in the cavity of drive seat (7) is fixed with driven gear (20), driven gear meshes with the driving gear of fixing at gear motor (19) output mutually, thereby passes through the drive of gear motor (19) can drive shaft (18) and rotate, driven gear's one end is kept away from in drive shaft (8) still links to each other with direction regulation seat (13) is fixed.

8. The pipe gripping device for the industrial robot as claimed in claim 4, wherein: one side of the abutting seat (11) close to the pipe fitting bearing groove (12) is fixed with an elastic abutting bag (98), and elastic cotton is filled in the elastic abutting bag (98).

9. The pipe gripping device for the industrial robot as claimed in claim 1, wherein: remove subassembly (3) including removing seat (31), walking wheel (32) and bearing block (33), wherein, remove seat (31) and be the cavity structure, and its middle part has seted up horizontal logical groove for make guide rail (1) pass wherein, the cavity top of removing seat (31) is fixed with bearing block (33), it is provided with walking wheel (32) still to rotate in the cavity of removing seat (31), walking wheel (32) meshes with the tooth of guide rail (1) below mutually, thereby passes through the rotation of walking wheel (32), drives and removes seat (31) and carry out the displacement, walking wheel (32) are driven by fixing the motor that removes seat (31) outside and are rotated.

10. The pipe gripping device for the industrial robot as claimed in claim 1, wherein: the auxiliary supporting assembly comprises an extensible member (14), a connecting rod (15), a first guide wheel (16), a yielding rod (17) and a second guide wheel (18), wherein the extensible member (14) is fixed below the moving assembly (3), the connecting rod (15) is connected to the lower portion of the extensible member (14) to form the yielding rod (17), and the connecting rod (15) and the yielding rod (17) are respectively rotatably connected with the first guide wheel (16) and the second guide wheel (18).