CN206405856U - Pipe fitting cramping arrangement - Google Patents

Abstract

This technology provide it is a kind of inclinations will not be produced when being clamped to pipe fitting, simple structure is good to disposition energy, will not be blocked when pipe fitting departs from from clamping device, separate thoroughly pipe fitting cramping arrangement.The pipe fitting cramping arrangement includes fixture, and fixture includes clamping actuating unit and can extend into the clamp body of tube intracavity, and three clamp jaws are evenly equipped with the circumference of clamp body；Clamp jaw is triangular in shape, with inner corner portion, external angle and lower corner；Clamp jaw can be rotatably arranged on clamp body in radial direction relative to clamp body, and the central part of clamp body sets the center of circle disk that can be moved up and down；Center of circle disk is with driving its clamping actuating unit moved up and down to be connected；The circumferentially disposed annular groove of center of circle disk, inner corner portion is stretched into annular groove；When the center of circle, disk is moved down, and inner corner portion is moved down in the presence of annular groove, and clamp jaw is rotated, and lower corner is outwards moved up and contacted with the inwall of pipe fitting, clamps pipe fitting；When the center of circle, disk is moved up, then lower corner is moved inwardly downward, unclamps pipe fitting.

Description

Pipe fitting cramping arrangement

Technical field

The clamping that this technology is related to when carrying out polishing operation to the outer wall of pipe fitting especially extinguishing pipe for fixture pipe fitting is filled Put.

Background technology

Pipe fitting especially casting pipe is in the fabrication process, inevitably jagged on outer wall.Come for extinguishing pipe Say, production and application amount is big, and its present situation is special, with the shorter big end of cylinder and longer taper small end, cylinder is big End and the taper small end formation shaft shoulder.In order to complete the small top and big bottom pipe fitting outer wall polishing to similar extinguishing pipe, need Clamping device is wanted to be clamped pipe fitting.

Because pipe fitting outer wall needs polishing, clamping device can only be clamped to the inwall of pipe fitting.In addition, working as pipe fitting After the polishing operation for completing outer wall, pipe fitting should be able to come off from clamping device.Meanwhile, in order to use manpower and material resources sparingly, clamp Device is installed on a robotic arm, after clamping device grips pipe fitting, is moved to using mechanical hand-motion clamping device and pipe fitting At burr device, pass through the movement and the rotation of deburrer of mechanical hand-motion pipe fitting, appearance of the deburrer to pipe fitting Face carries out cutting deburring, may be smooth not enough at pipe fitting deburring after the completion of deburring operation, then passes through manipulator again Drive pipe fitting to be moved at sanding apparatus, pipe fitting is polished smooth by abrasive grinding wheel, complete whole operation.This is required Clamping device is when gripping pipe fitting, it is ensured that pipe fitting will not produce inclination, can be good to disposition, it is to avoid material polishing occur uneven existing As.

The content of the invention

The purpose of this technology be to provide it is a kind of inclination will not be produced when being clamped to pipe fitting, simple structure can be good to disposition, pipe Part will not be blocked when departing from from clamping device, separate thoroughly pipe fitting cramping arrangement.

Pipe fitting cramping arrangement described in this technology, the pipe fitting has the big end of cylinder and taper small end, and pipe fitting clamps dress Put including fixture, the fixture includes clamping actuating unit and can extend into the clamp body of tube intracavity, in the circumference of clamp body It is evenly equipped with three clamp jaws；Clamp jaw is triangular in shape, with inner corner portion, external angle and lower corner；Clamp jaw can in radial direction It is rotatably arranged at relative to clamp body on clamp body, the central part of clamp body sets the center of circle disk that can be moved up and down；The center of circle Disk is with driving its clamping actuating unit moved up and down to be connected；The circumferentially disposed annular groove of center of circle disk, inner corner portion is stretched into annular groove；When Center of circle disk is moved down, and inner corner portion is moved down in the presence of annular groove, clamp jaw rotate, lower corner outwards move up and and pipe fitting Inwall contact, so as to clamp pipe fitting；Conversely, when center of circle disk is moved up, then lower corner is moved inwardly downward, pipe fitting is unclamped.

When in use, when center of circle circle moves up and down under the drive of fixture actuating unit, the triangle being attached thereto is promoted The inner corner portion of clamp jaw is swung, due to clamp jaw pivot be arranged on clamp body, when triangle clamp jaw one end When inner corner portion is enclosed pressure or lifted by the center of circle, lower corner can be pushed out or push back along the radial direction of clamp body, be pointed to so as to realize The clamping or disengaging of the pipe fitting on clamp body periphery.Three clamp jaws are in symmetrical circle configurations, and internal structure is simple, to disposition energy It is good, even if there is burr between the lower corner and pipe fitting inner wall of clamp jaw, it can also make three between lower corner and pipe fitting Clamping face is still at grade, it is ensured that pipe fitting will not produce inclination when clamping, it is to avoid material polishing non-uniform phenomenon occur. Material from fixture depart from when, the expansion of clamp end spring, material quickly separates with fixture under spring force, it is to avoid occur Material stuck phenomenon.

Above-mentioned pipe fitting cramping arrangement, thimble, which slides up and down to, is arranged on clamp body lower end, between thimble and clamp body So that thimble is downwardly away from the flexible member of clamp body lower end when being provided with normality.

When fixture grips material, clamp body stretches into tube intracavity, because pipe fitting is in upper coarse and lower fine pyramidal structure, certain stroke Afterwards, pipe fitting inner wall and the thimble of fixture the bottom back center that is engaged can not be moved, with clamp body relative to pipe fitting after Continuous to move down, Distance Shortened between thimble and clamp body, flexible member is compressed, and stores certain elastic potential energy.Then, the center of circle is enclosed Moved down under the drive of fixture actuating unit, the swing for moving down the triangle clamp jaw that promotion is attached thereto of center of circle circle, When the inner corner portion end being connected is enclosed in clamp jaw and the center of circle to be depressed, lower corner is ejected to be compressed with pipe fitting inner wall, realizes material Clamp.After pipe fitting is machined, center of circle circle is moved up under the drive of fixture actuating unit, and the interior angle being connected is enclosed with the center of circle Portion is lifted at end, and clamp jaw is rotated backward, and the lower foot that material is clamped, which inwardly resets downwards, is retracted, and pipe fitting is relaxed, in gravity Effect is fallen.Meanwhile, the elastic potential energy release of the flexible member that is compressed before storage, thimble is downward by flexible member Active force promotes pipe fitting to move down, and pipe fitting is quickly separated under double Action of Gravity Field with fixture, can effectively solve pipe fitting and be taken off from fixture From when stuck phenomenon, improve operating efficiency.

Above-mentioned pipe fitting cramping arrangement, when clamp body is extended downwardly into pipe fitting, pipe fitting inner wall is contacted with thimble, with fixture The continuing of body is moved down, and between thimble and clamp body after Distance Shortened, flexible member is compressed, when in the center of circle, disk is not moved down also, outside Corner is with pipe fitting upper end surface in contact condition.

In this manner it is possible to which the distance stretched into clamp body in pipe fitting is defined.Specifically, when clamp body is extended downwardly into In pipe fitting, after pipe fitting inner wall is contacted with thimble, as clamp body continues to move down, flexible member is compressed, now due to center of circle disk Do not move down also, clamp jaw is not rotated, its external angle is located above pipe fitting upper surface, when clamp body is moved down again, clamp jaw External angle can be contacted with the upper surface of pipe fitting, prevent clamp body relative to pipe fitting continue move down.

This clamping device is in symmetrical circle configurations, and internal structure is simple, can be good to disposition, can be prevented effectively from the polishing of material Non-uniform phenomenon.Realize the clamping of material by the swing of clamp jaw and loosen, clamp three clampings of circumference spaced at equal angles around Pawl, it is ensured that the stationarity that material is clamped.Clamp jaw loosens after material, and material departs from fixture under gravity, meanwhile, under fixture End flexible member acts on a downward elastic force on material, material is quickly separated under double Action of Gravity Field with fixture, it is to avoid There is material stuck phenomenon.

This technology also provides that a kind of operating efficiency is high, polishing effect is good simultaneously, can automated job, use manpower and material resources sparingly Pipe fitting polishing streamline, it be applied to the pipe fitting especially extinguishing pipe small to the big one end in one end polishing operation.

Pipe fitting polishing streamline described in this technology, it includes：

Pipe fitting feeding device, for pipe fitting to be delivered into certain determination position, and keeps big end small end state directed downwardly upward；

Above-mentioned pipe fitting cramping arrangement, for the gripping and release of material, its underpart can extend into pipe fitting to pipe fitting Clamp；

Manipulator, for driving the pipe fitting gripped by fixture motion, fixture is fixed on arm end；

Burr remover, is included in deburring power set and drives the lower deburrer rotated, for removing outside pipe fitting Burr on wall；

Sanding apparatus, is included in polishing power set and drives the lower abrasive grinding wheel rotated, get on for being ground pipe fitting outer wall The position of flash removed.

The beneficial effect of pipe fitting polishing streamline：Using mechanical manual task, first should by the fixture installed on a robotic arm When to determining at position, pipe fitting is gripped by fixture, being then moved to deburring by mechanical hand-motion fixture and pipe fitting again fills Place is put, by the movement and the rotation of deburrer of mechanical hand-motion pipe fitting, deburrer is carried out to the outer surface of pipe fitting Deburring is cut, may be smooth not enough at pipe fitting deburring after the completion of deburring operation, then pass through mechanical hand-motion pipe again Part is moved at sanding apparatus, and pipe fitting is polished smooth by abrasive grinding wheel, completes this operation.This technology can mitigate Human input, eliminates artificial input, and operating efficiency is high.

As an improvement, above-mentioned pipe fitting polishing streamline, sets the pipe fitting for detecting the presence of pipe fitting at the determination position Sensor is whether there is, the output of sensor connects the Manipulator Controller of control machinery hand action.

Sensor is whether there is by pipe fitting（Such as optoelectronic switch sensor）Detection determines whether there is pipe fitting at position, if there is pipe Part, then the actions such as gripping pipe fitting are carried out by Manipulator Controller control machinery hand again, further increase automaticity.

Above-mentioned pipe fitting polishing streamline, it also includes：

Camera recognition system, including camera, the working position for recognizing pipe fitting；It is manual that the output of camera connects control machinery The Manipulator Controller of work；Camera is located at top side at the determination position.

After fixture grips pipe fitting, pipe fitting is shot by camera, and delivers to Manipulator Controller and is identified, judge plus Ministry of worker position（At matched moulds usually on pipe fitting bus）Whether in setting position, if it is not, by mechanical hand-motion pipe fitting around The axis of pipe fitting is rotated, until needing working position to rotate setting position.Then control machinery hand carries out subsequently mobile etc. again Operation.The advantage so operated is, manipulator subsequent job path（Motion track）It can unify, simplify subsequent operation, can By realizing automated job.

Above-mentioned pipe fitting polishing streamline, pipe fitting feeding device includes：

Climbing conveyer, with frame, the conveying moved under the drive of power delivery unit being obliquely installed in frame Chain or conveyer belt, for eminence will to be transported to positioned at the pipe fitting of carrier chain or conveyer belt lower；

Material conveying device, including inclined guide groove, are oriented to the path that well width is more than at the pipe fitting shaft shoulder, but less than axle Big footpath at shoulder；The high-end bottom front positioned at carrier chain or conveyer belt eminence of guide groove, to cause from carrier chain or conveying It can be fallen into the pipe fitting that eminence is fallen in guide groove, the pipe fitting fallen into guide groove is understood due to deadweight oneself is turned to big end court Upper small end state directed downwardly, and because the shaft shoulder is supported on guide groove top, pipe fitting is slided along guide groove to guide groove low side；Leading The spacing crossbeam for stopping the pipe fitting glided is internally provided with to the low side of groove.

This pipe fitting feeding device can be delivered to the unordered pipe fitting after roughing certain determination position, and keep big end Small end state directed downwardly upward.Specifically, the unordered pipe fitting of each arbitrary arrangement is conveyed by climbing conveyer paramount Place, then falls towards in guide groove, due to being oriented to the path that well width is more than at the pipe fitting shaft shoulder, but less than the big footpath at the shaft shoulder； Plus the light lower end weight in pipe fitting upper end, the pipe fitting dropped into guide groove holds small end court upward due to deadweight, meeting automatic turning to big Under state, the shaft shoulder is supported on guide groove top, and such pipe fitting will be snapped down to the low side of guide groove according to such state At spacing crossbeam（I.e. described determination position）.

Above-mentioned pipe fitting polishing streamline, pipe fitting quantity control sensor, pipe fitting quantity are set in guide groove inwall somewhere The output of control sensor connects the climbing conveyer controller of control power delivery unit；When the pipe fitting positioned at guide groove lower end Quantity at least two when, pipe fitting quantity control sensor send signal, climbing conveyer control to climbing conveyer controller Device control power delivery unit stopping action processed.

Pipe fitting quantity controls sensor（Such as photoelectric sensor）The quantity in the pipe fitting of guide groove lower end can be controlled, Prevent quantity too many, when quantity is too many（But no less than two）When, it is signaled to climbing conveyer controller so that it stops Action.

Certain boss at equal intervals, boss and boss are set on above-mentioned pipe fitting polishing streamline, carrier chain or conveyer belt Between formed and can accommodate the groove of a pipe fitting, and boss height is more than the half of pipe fitting maximum outside diameter, but outer less than maximum Footpath.

So, each pipe fitting can be sunk in a groove, it is ensured that pipe fitting one by one by carrier chain or conveyer belt Eminence is delivered to, is fallen into order in guide groove.

Above-mentioned pipe fitting polishing streamline, is provided with above the middle part of carrier chain or conveyer belt along carrier chain or conveying The limit rope of bandwidth direction extension, the two ends of limit rope are held within the fixed column of the both sides of carrier chain or conveyer belt, Fixed column is arranged in frame；Limit rope to the distance of groove floor be 1.1-1.7 times of pipe fitting maximum outside diameter.

In order to prevent pipe fitting from not fallen within boss in groove, or in order to prevent the pipe fitting in two neighboring groove Between top have pipe fitting, there is provided limit rope, with the rising of carrier chain or conveyer belt, limit rope can prevent on boss and The rising for the pipe fitting not fallen within groove, can also prevent the upper of the pipe fitting on top between the pipe fitting in two neighboring groove Rise, this pipe fitting not fallen within groove is stirred downwards so that they can be normally fall in groove, Reliable guarantee is each Individual pipe fitting is all in a groove and as carrier chain or conveyer belt rise.Have in the both sides of carrier chain or conveyer belt and be arranged on Baffle plate in frame, prevents pipe fitting from falling on outside baffle plate.

Above-mentioned pipe fitting polishing streamline, set in the high-end both sides of guide groove it is upwardly extending, for from carrier chain Or the pipe fitting fallen on conveyer belt plays the pipe fitting guide plate of guide effect.Pipe fitting guide plate effectively prevents the pipe fitting fallen from falling on to lead To the outside of groove.

Above-mentioned pipe fitting polishing streamline, pose adjustment device is set on the top of guide groove, and pose adjustment device includes fixing Pose adjustment device side wall on guide groove two side top；Two pose adjustment device side walls are adjusted with the axisymmetrical of guide groove, posture The distance between whole device side wall is slightly larger than the maximum outside diameter of pipe fitting.When the pipe fitting in guide groove has crooked, pass through pose adjustment After device, pipe fitting axis is in vertical state substantially, and on the axis of guide groove.

Brief description of the drawings

Fig. 1 pipe fitting automatically grinding streamline schematic diagrames；

Fig. 2 is to remove streamline schematic diagram after a manipulator, burr remover, a sanding apparatus；

Fig. 3 is climbing conveyer schematic diagram；

Fig. 4 is material conveying device schematic diagram；

Fig. 5 is another schematic diagram of material conveying device；

Fig. 6 is clamping device（Fixture）Schematic diagram before gripping pipe fitting；

Fig. 7 is the partial enlarged drawing in Fig. 6；

Fig. 8 is clamping device（Fixture）Schematic diagram when gripping pipe fitting；

Fig. 9 is the partial enlarged drawing in Fig. 8；

Figure 10 is fixture outline drawing；

Figure 11 is Figure 10 A-A sectional views.

Embodiment

This technology is illustrated below in conjunction with the accompanying drawings.

The pipe fitting up big and down small to extinguishing pipe etc. shown in Figure 1 carries out the streamline of automatically grinding, including by climbing The pipe fitting feeding device that conveyer 1 and material conveying device 2 are constituted, fixture 3, two manipulators 4, two burr removers 5, two Individual sanding apparatus 6, two cases 7, camera recognition system 8, pipe fitting whether there is sensor 9, pipe fitting quantity control sensor 10 etc..

Needing the extinguishing pipe 100 of polishing includes the shorter big end 101 of cylinder and longer taper small end 102, cylinder Big end and the taper small end formation shaft shoulder 103.Big footpath at the shaft shoulder is the diameter at cylindrical big end 101, be also extinguishing pipe most Big external diameter.

Pipe fitting feeding device, for the determination position being delivered to pipe fitting on guide groove low side, and keeps big end small upward Hold state directed downwardly；Including by climbing conveyer 1 and material conveying device 2.

Climbing conveyer 1, with frame 11, be obliquely installed in frame moved under the drive of power delivery unit it is defeated Chain 12 is sent, for eminence will to be transported to positioned at the pipe fitting of carrier chain lower.Certain boss 13 at equal intervals is set on carrier chain, it is convex The groove 14 of a pipe fitting can be accommodated by being formed between platform and boss, and the width of groove is slightly larger than the maximum gauge of pipe fitting, and convex Platform is highly about 0.8 times of pipe fitting maximum outside diameter.

There is the baffle plate 15 being arranged in frame in the both sides of carrier chain.It is provided with above the middle part of carrier chain along defeated The limit rope 16 for sending chain width to extend, the two ends of limit rope are held within the fixed column 17 of the both sides of carrier chain, Gu Fixed column is arranged in frame；Limit rope to the distance of groove floor be 1.5 times of pipe fitting maximum outside diameter.

Material conveying device 2, including inclined guide groove 21, guide groove 21 is by being fixed on two relative guide groove plates 22nd, the guide plate 24,25 on 23 tops is constituted, and the guiding well width of formation is more than the path at the pipe fitting shaft shoulder, but less than at the shaft shoulder Big footpath.Guide plate high-end sidepiece set upwardly extend, for the pipe fitting fallen from carrier chain play guiding make Pipe fitting guide plate 26,27.Pipe fitting guide plate 26,27 is located in front of the bottom of carrier chain eminence, pipe fitting guide plate 26 and carrier chain Carrier bar top cambered surface is in tangent state, to enable the pipe fitting fallen from carrier chain eminence to fall into guide groove.

Pose adjustment device 28 includes being fixed on guide plate 24, the pose adjustment device side wall 282,283 on 25 tops, is connected to two Roof 281 between the wall of pose adjustment device side；Two pose adjustment device side walls are with the axisymmetrical of guide groove, pose adjustment device side wall The distance between be slightly larger than pipe fitting maximum outside diameter.

The pipe fitting fallen into guide groove is understood due to deadweight oneself is turned to big end small end state directed downwardly, and due to axle upward Shoulder is supported on guide plate, and pipe fitting is slided along guide groove to guide groove low side.In sliding process, pass through pose adjustment device 28 Two side is oriented to pipe fitting, and pipe fitting axis is substantially vertical, and it is coplanar with axis of guiding groove.Pipe fitting is until slipping down to and spacing crossbeam Untill 29 contacts.Stop that the spacing crossbeam 29 of the pipe fitting glided is arranged on inside the low side of guide groove.

Pipe fitting feeding device realizes automatically feeding for pipe fitting material, and the device allows pipe fitting material to fall in irregular status Enter climbing conveyer, and ensure that material is moved during supply by definitive orbit, it is to avoid pipe fitting material occurs in feeding process Arbitrarily roll, throw away tracks, phenomenon.

40 ° or so of carrier chain and horizontal plane angle, surrounding, which is installed, sets a number of convex at equal intervals on baffle plate, carrier bar Platform, and boss height is more than material radius, and groove is formed between boss and boss, the rule for material is placed.Material can be in Irregular status falls into carrier chain, and material is not necessarily fallen into groove, due to carrier bar and the angle of horizontal plane, in frictional force effect Under, moved up in the material of irregular status with carrier bar.After moving certain stroke, in the presence of limit rope, not recessed Material in groove is rolled downwards due to the barrier effect by limit rope along carrier bar, material below rolled and under thing The effect of material, and irregular status material, during exercise while being acted on by boss, certain pipe fitting material is fallen into groove, By limit rope, continue up, complete the transmission of next step.

This climbing conveyer 1 allows pipe fitting material to fall into climbing conveyer in irregular status, and limit rope has automatic tune Whole material angle function, it is ensured that irregular status material is finally regularly fallen into groove, and then complete further work.

45 ° of the guide surface of guide groove structure and horizontal plane angle, make pipe fitting material slide downward under gravity.Lead To groove top installation pipe fitting guide plate 26,27, the carrier bar top cambered surface of pipe fitting guide plate 26 and carrier chain is in tangent state, pipe fitting guide plate 27 is highly sufficiently large.After material movement is to carrier chain carrier bar top, because pipe fitting guide plate 26 and carrier bar top cambered surface are tangent, Simultaneously under the barrier effect of pipe fitting guide plate 27, it is ensured that material is smoothly fallen into guide groove, rather than throws away tracks.Lead Pose adjustment device is set on to groove, and it is in completely not necessarily vertically downward state that material, which falls into guide groove, and now material is by posture After adjuster effect, its whereabouts angle is adjusted, is in vertical laying state in guide groove.The roof of pose adjustment device is highly slightly higher In material, both ensured that material passed through pose adjustment device, and avoided material run-off the straight in guide groove to rock again, it is ensured that material It is in straightened condition slide downward in guide groove.Spacing crossbeam is installed in guide groove end, plays position-limiting action to material, makes material water Placing flat is in assigned position, it is ensured that fixture accurately steadily picks up material.A rubber ring is covered on spacing crossbeam, to buffer material impact Power, it is ensured that material positional precision.

Material conveying device 2 ensure that tubular materials steady slide downward in guide groove, it is to avoid material is thrown away Tracks produce tilt slide phenomenon in guide groove.Ensure the final positional precision of material, it is ensured that fixture exactly Pick up material.

Fixture 3 is used for the gripping and release of material, includes the cylinder on top（Clamp actuating unit）31 and it can extend into pipe The clamp body 32 of part inner chamber,

The lower housing portion of cylinder is fixedly linked with clamp body upper end.Circumference on clamp body top is evenly equipped with three clamp jaws 33；Clamp jaw is triangular in shape, with inner corner portion 331, external angle 333 and lower corner 332；The central part of clamp jaw hangs down through one Directly in the bearing pin 34 of radial direction, clamp jaw can be swung around bearing pin in radial direction relative to clamp body.The center of clamp body Portion sets the center of circle disk 35 that can be moved up and down；Center of circle disk upper end is with driving the piston rod 311 of its cylinder moved up and down to be connected； The circumferentially disposed annular groove 351 of center of circle disk, inner corner portion is stretched into annular groove；Moved down under center of circle disk drives in cylinder piston rod, Inner corner portion is moved down in the presence of annular groove, and clamp jaw is swung, and lower corner 332 is outwards moved up and connect with the inwall at the big end of pipe fitting Touch, so as to clamp pipe fitting；Conversely, when center of circle disk is moved up, then lower corner is moved inwardly downward, pipe fitting is unclamped.

Thimble 36, which slides up and down to, is arranged on the guide rod 37 for being fixed on clamp body lower end, thimble and clamp body or guide rod it Between when being provided with normality so that thimble is downwardly away from the spring 38 of clamp body lower end.

When clamp body is extended downwardly into pipe fitting, pipe fitting lower end inner wall is contacted with thimble, then clamp body continue move down one Set a distance, then just shorten corresponding distance between clamp body and thimble, spring is compressed, external angle 333 and pipe fitting upper end surface In contact condition（When in the center of circle, disk is not moved down also）.

When fixture grips material, clamp body is stretched into inside pipe fitting material, because material is in upper coarse and lower fine pyramidal structure, necessarily After stroke, material inwall is contacted with clamp body bottom thimble, as clamp body continues to move down under the drive of manipulator, spring Compressed, store certain elastic potential energy.Now cylinder intake pipe air inlet, cylinder piston rod is extended downwardly from, and promotion is attached thereto The center of circle circle move down, now cylinder enters state in work.What the center of circle was enclosed moves down the triangle clamp jaw that promotion is attached thereto Swing, clamp jaw centre bore is connected with a bearing pin, when clamp jaw is that inner corner portion is depressed with center of circle circle connected end, lower corner quilt Ejection is compressed with material inwall, and now cylinder is in locking state, realizes the clamping of material.Three identicals of clamp body circle distribution It is distributed between clamp jaw, clamp jaw in hexagonal angle, even if occurring burr between a clamp jaw and material clamping face, can also makes three folders Tight face is still at grade, it is ensured that the clamping of material will not produce inclination, it is to avoid material polishing non-uniform phenomenon occur；Material After machining, cylinder exhaust pipe exhaust, piston rod is retracted, and center of circle circle is moved up, and now cylinder is in fast-rewinding state.Center of circle circle Move up make clamp jaw be attached thereto end i.e. inner corner portion lift so that the pinching end of clamp jaw and material be lower corner reset retract, Material is relaxed, and is fallen under gravity.Meanwhile, the elastic potential energy release of spring store, material is by downward spring Power is acted on, and material is quickly separated under double Action of Gravity Field with fixture, improves operating efficiency.

Manipulator 4, for driving the pipe fitting gripped by fixture motion, the housing upper end of cylinder is fixed on arm end.

Belong to the burr remover 5 of prior art, be included in deburring power set and drive the lower deburrer rotated 51, for removing the burr on pipe fitting outer wall；

Belong to the sanding apparatus 6 of prior art, be included in polishing power set and drive the lower abrasive grinding wheel 61 rotated, be used for Grinding pipe fitting outer wall gets on the position of flash removed.

Case 7 surrounds burr remover 5 and sanding apparatus 6, prevents burr remover 5 and sanding apparatus 6 from carrying out unhairing When piercing operation and polishing operation, tiny chip is splashed to surrounding.

Camera recognition system 8, including camera, the working position for recognizing pipe fitting；The output of camera connects control machinery hand The Manipulator Controller of action；Camera is located at top side at spacing crossbeam 29.

Setting the pipe fitting for detecting the presence of pipe fitting whether there is sensor 9 at the guide groove plate inwall of spacing crossbeam, sensing The output of device connects the Manipulator Controller of control machinery hand action.

Pipe fitting quantity control sensor 10 is set in guide groove plate inwall somewhere, and the output of pipe fitting quantity control sensor connects Control the climbing conveyer controller of power delivery unit；When the quantity of the pipe fitting positioned at guide groove lower end is two, pipe Number of packages amount controls sensor to send signal to climbing conveyer controller, and climbing conveyer controller control power delivery unit stops Stop is made.

Pipe fitting material delivers into material conveying device 2 through climbing conveyer 1, finally in the guide groove of material conveying device 2 It is regularly arranged in guide groove end in the presence of the spacing crossbeam in end.Guide groove end inner surface installs two sensors, pipe fitting Quantity control sensor 10 is used for the start and stop for controlling climbing conveyer, and pipe fitting, which whether there is sensor 9, is used for the motion of control machinery hand. In the presence of pipe fitting quantity control sensor 10 detects the pipe fitting of guide groove end more than two, climbing conveyer controller is received The stop motion signal that pipe fitting quantity control sensor 10 is sent；When pipe fitting quantity control sensor 10 detects guide groove end In the presence of less than two materials, climbing conveyer controller receives enabling signal.Ensure robot movement to when being oriented to groove location Always there is material to grip, but guide groove in again will not storing excess material.Guide groove is detected when pipe fitting whether there is sensor 9 End has in the presence of material, and robot movement is to groove location is oriented to, when manipulator is to ad-hoc location, is ready to pass through fixture gripping Pipe fitting.Detected when pipe fitting whether there is sensor 9 in the presence of guide groove end do not have a material, manipulator attonity.

When the pipe fitting that mechanical hand-motion fixture is stretched at spacing crossbeam 29, then fixture gripping pipe fitting, manipulator is Pipe fitting vertical ascent is driven to depart from guide groove.Then camera is taken pictures to pipe fitting, judges that pipe fitting needs the position processed, if processing department Position does not drive fixture, pipe fitting to be rotated around the axis of pipe fitting in the end joint of setting position, i.e. control machinery hand, then takes pictures again Whether working position is judged in setting position, until working position is untill setting position.

Then manipulator can drive fixture and pipe fitting by the motion of setting track, and specifically, pipe fitting is first moved to unhairing At bayonet tool, by driving pipe fitting relative to the motion of deburrer, complete to remove task to the burr on pipe fitting outer wall；Connect Mechanical hand-motion pipe fitting to be moved at abrasive grinding wheel, by driving pipe fitting relative to the motion of abrasive grinding wheel, be processed further Deburring surface, to improve crudy；Blanking frame of the mechanical hand-motion pipe fitting to collection pipe fitting afterwards（It is not shown）Top is entered Row discharging；During discharging, cylinder action drives piston rod to move up, clamp jaw backswing, lower corner is moved inward downwards, unclamped Pipe fitting；Spring promotes pipe fitting to fall by thimble simultaneously, and pipe fitting quickly falls into blanking frame under the elastic force effect of deadweight and spring, Complete the polishing operation of pipe fitting.Two manipulators are acted simultaneously, alternately to the crawl of material, processing, release, are provided significantly Operating efficiency.

Claims (3)

1. pipe fitting cramping arrangement, the pipe fitting has the big end of cylinder and taper small end, pipe fitting cramping arrangement includes fixture, and it is special Levying is：The fixture includes clamping actuating unit and can extend into the clamp body of tube intracavity, is evenly equipped with the circumference of clamp body Three clamp jaws；Clamp jaw is triangular in shape, with inner corner portion, external angle and lower corner；Clamp jaw can be relative in radial direction Clamp body is rotatably arranged on clamp body, and the central part of clamp body sets the center of circle disk that can be moved up and down；Center of circle disk and band Its clamping actuating unit moved up and down is moved to be connected；The circumferentially disposed annular groove of center of circle disk, inner corner portion is stretched into annular groove；When center of circle disk Move down, inner corner portion is moved down in the presence of annular groove, clamp jaw rotate, lower corner outwards move up and with the inwall of pipe fitting Contact, so as to clamp pipe fitting；Conversely, when center of circle disk is moved up, then lower corner is moved inwardly downward, pipe fitting is unclamped.

2. pipe fitting cramping arrangement as claimed in claim 1, it is characterized in that：Thimble, which slides up and down to, is arranged on clamp body lower end, So that thimble is downwardly away from the flexible member of clamp body lower end when being provided with normality between thimble and clamp body.

3. pipe fitting cramping arrangement as claimed in claim 2, it is characterized in that：When clamp body is extended downwardly into pipe fitting, pipe fitting inner wall with Thimble contact, with clamp body continue move down, flexible member is compressed, when in the center of circle, disk is not moved down also, external angle and pipe fitting Upper end surface is in contact condition.