CN209834994U - Swing centre gripping manipulator and plastic pipe visual detection device - Google Patents

Abstract

A swing clamping manipulator and visual inspection device for plastic pipes. In the manipulator, the mechanical driving seat is installed on the mechanical hand frame, the manipulator driver is installed on the mechanical driving seat, the output end of the manipulator driver is rotatably connected to the driving disc, and the mechanical pendulum is connected to the The two ends of the mechanical swing rod with the drive disc are respectively connected with the drive disc and the swing plate; one end of the swing plate is connected to the output end of the swing drive through a bearing, and the other end of the swing plate is connected to the clamping assembly. The plastic tube visual detection device, the discharge device is the X-axis conveying component to deliver the plastic tube; the swing clamping manipulator sends the plastic tube of the X-axis conveying component to the Y-axis conveying component; the Y-axis conveying component has a detection component; the Y-axis conveying component will The plastic tube is passed to the detection component; the detection component is used to detect and control the quality of the plastic tube. The manipulator of this design is flexible and reliable in design, accurate in gripping and high in efficiency; the detection device is easy to operate, accurate and fast in detection, and can image the surface of plastic tubes for detection and automatic removal.

Description

A swing clamping manipulator and a visual inspection device for plastic pipes

technical field

The utility model relates to the technical field of detection equipment, in particular to a swing clamping manipulator and a plastic tube visual detection device.

Background technique

Existing manipulators are complex in structure, and automation often requires multi-space rotation, inaccurate positioning, and insufficient grasping. The overall efficiency is low when used for a long time, and excessive power consumption will be consumed for feeding materials back and forth, which is not conducive to the cost of the enterprise. At the same time, the rigid clamping of the manipulator will damage the surface of the workpiece and affect the processing efficiency.

Utility model content

The purpose of the utility model is to provide a swing clamping manipulator, which can swing and has a clamping part, which can swing and pick up objects.

The utility model also proposes a visual detection device for plastic pipes, and the detection device has a structure of automatic transmission and detection of plastic pipes.

For this purpose, the utility model adopts the following technical solutions:

A swing clamping manipulator, comprising: a manipulator frame, a manipulator drive assembly, a swing assembly and a clamp assembly;

The manipulator drive assembly includes: a mechanical drive seat, a manipulator driver, a drive disc and a mechanical swing bar;

The mechanical drive seat is mounted on the mechanical hand frame, the manipulator driver is mounted on the mechanical drive seat, the output end of the manipulator driver is rotatably connected to the drive disc, and the mechanical swing rod is connected with the drive disc;

The swing assembly includes: a swing driver and a swing plate;

The oscillating driver is mounted on the manipulator frame;

One end of the mechanical swing rod is connected to the drive disc, and the other end is connected to the swing plate;

One end of the swing plate is connected to the output end of the swing drive through a bearing, and the other end of the swing plate is movably connected to the clamping assembly.

To further illustrate, the swing assembly includes: a swing driving wheel, a swing driven wheel, a swing driven shaft and a swing conveyor belt;

The swing driving wheel is sleeved at the output end of the swing drive; the swing driven shaft is mounted on one end of the swing plate through a bearing, and is located at the end with the clamping assembly; the swing driven shaft One end of the swing conveyor belt is installed with the swing driven wheel, and the other end is fixed with the clamping assembly; one end of the swing conveyor belt is connected to the swing drive wheel, and the other end is connected to the swing driven wheel; the swing driven shaft is connected to the swing conveyor belt. The oscillating driven wheel rotates coaxially and drives the clamping assembly to oscillate.

To further illustrate, the clamping assembly includes: a clamping bottom plate, a clamping base, a clamping connection piece and a clamping piece;

The clamping base is installed on the clamping bottom plate, the clamping connecting piece is connected to the clamping base, the clamping connecting piece is fixed with the swing driven shaft, and the clamping piece can The lift is connected to the clamping bottom plate.

To further illustrate, the clamping assembly includes: a clamping lifter;

The clamping lifter is installed on the clamping bottom plate, and the clamping member can be lifted and installed on the output end of the clamping lifter;

The bottom of the clamping piece is provided with a vacuum suction cup, and the vacuum suction cup can be adjusted to connect with vacuum.

A visual inspection device for plastic pipes, including: a discharge device, the swing clamping manipulator, an X-axis conveying assembly, a Y-axis conveying assembly, and a detection assembly;

The discharge device is used to deliver plastic tubes for the X-axis conveying assembly; the swing clamping manipulator is used to deliver the plastic tubes on the X-axis conveying assembly to the Y-axis conveying assembly; the Y-axis The conveying component is equipped with the detection component; the Y-axis conveying component is used to transfer the plastic pipes to the detection component in sequence; the detection component is used to detect and control the quality of the plastic pipe.

To further illustrate, the Y-axis conveying assembly is provided with a Y-axis conveyor belt, and the Y-axis conveying assembly conveys plastic tubes for the detection assembly on the Y-axis conveyor belt;

The detection component includes: a detection workbench, a detection frame, a light source and a detection camera;

The Y-axis conveyor belt is located on the detection workbench, the detection frame is installed on the detection workbench, the light source part irradiates the light source to the Y-axis conveyor belt, the detection camera is installed on the detection frame, And located above the Y-axis conveyor belt.

To further illustrate, the detection assembly includes: a body rotation assembly;

The body rotation assembly includes: a first detection driving seat, a first telescopic driver, a second detection driving seat, a second telescopic driver and a body driving motor;

The first detection drive base and the second detection drive base are respectively fixed on the detection workbench and on both sides of the Y-axis conveyor belt; the first telescopic driver is installed on the first detection drive base , the output end of the first telescopic driver is provided with a pipe sleeve head to the Y-axis conveyor belt; the second telescopic driver is installed on the second detection drive seat, and the output end of the second telescopic driver is connected to a The body drive motor, the output end of the body drive motor is provided with a pipe plug at the Y-axis conveyor belt.

To further illustrate, the detection component includes: a rejection component;

The rejecting assembly includes: rejecting the recovery box, rejecting the base and rejecting the driver;

The rejection recovery box and the rejection base are respectively arranged on both sides of the Y-axis conveyor belt, and the rejection driver is fixed on the rejection base;

The output end of the reject driver is in the same straight line as the reject recovery box.

To further illustrate, the Y-axis conveying assembly includes: a Y-axis frame, a Y-axis frame, a Y-axis driving roller, a Y-axis driven roller, and a Y-axis driver;

The Y-axis frame is fixed on the Y-axis frame, the Y-axis frame is movably mounted on both ends of the Y-axis driving roller, and the Y-axis frame is movably mounted on both ends of the Y-axis driven roller. shaft frame; the Y-axis driver is fixed on the Y-axis frame, and the output end of the Y-axis driver is connected to the Y-axis driving roller; one end of the Y-axis conveyor belt is connected to the Y-axis driving roller, so The other end of the Y-axis conveyor belt is connected to the Y-axis driven roller;

There are several installation positions for rubber hoses on the Y-axis conveyor belt.

To further illustrate, the X-axis conveying assembly includes: an X-axis moving assembly, an X-axis limiting assembly and an X-axis baffle;

The X-axis limiting component is set on the X-axis moving component; the X-axis clamping component is set on the X-axis moving component and is located at one end of the swing clamping manipulator;

The X-axis moving assembly includes: an X-axis frame, an X-axis frame, an X-axis driving wheel, an X-axis driven wheel, an X-axis conveyor belt, and an X-axis driver;

The X-axis frame is fixed on the X-axis frame; the X-axis frame is installed at both ends of the X-axis driving wheel; the X-axis frame is installed at both ends of the X-axis driven wheel; One end of the X-axis conveyor belt is connected to the X-axis driving wheel, and the other end is connected to the X-axis driven wheel; the output end of the X-axis driver is connected to the X-axis driving wheel;

The X-axis conveyor belt is connected to the discharge port of the discharge device;

The X-axis limit assembly includes: an X-axis limit seat and an X-axis height limit plate;

The X-axis limiting seat is installed on the side of the X-axis frame, the X-axis height limiting plate is installed horizontally on the X-axis limiting seat, and the X-axis height limiting plate is located on the X-axis conveyor belt the top of

The X-axis baffle can be horizontally telescopically installed on the X-axis frame.

The beneficial effects of the utility model:

1. The oscillating clamping manipulator of this design has a oscillating structure, which can transport the rubber hose from the directions of the X axis and the Z axis, achieving the effect of intermittently clamping and moving the object, and improving the accuracy of feeding.

2. The design of the visual inspection device for plastic pipes is flexible and reliable, easy to operate, accurate and fast in detection, and reliable in classification. It can image the surface of plastic products, automatically reject and collect and count defective plastic pipes.

Description of drawings

Fig. 1 is a structural diagram of a plastic pipe visual detection device;

Fig. 2 is the structural diagram of swing clamping manipulator;

Fig. 3 is the structural diagram of swing clamping manipulator;

Fig. 4 is a structural diagram of a Y-axis conveying assembly and a detection assembly;

Fig. 5 is a structural diagram of a Y-axis conveying assembly and a detection assembly;

Fig. 6 is a structural diagram of an X-axis conveying assembly and a discharge device;

Figure 7 is an enlarged view of A in Figure 6;

Fig. 8 is a structural diagram of the body rotating assembly and the plastic tube.

in:

Manipulator frame 1, manipulator driving component 2, swing component 3, clamping component 4;

Mechanical driving seat 21, manipulator driver 22, driving disc 23, mechanical pendulum 24;

Swing driver 31, swing plate 32, swing driving wheel 33, swing driven wheel 34, swing driven shaft 35, swing conveyor belt 36;

Clamping base plate 41, clamping base 42, clamping connector 43, clamping member 44, clamping lifter 45; vacuum suction cup 441;

Discharging device 01, swing clamping manipulator 02, X-axis conveying component 5, Y-axis conveying component 6, detection component 7; adjustment operation panel 03; plastic tube 07

X-axis moving assembly 51, X-axis limit assembly 52, X-axis baffle 53;

X-axis frame 511, X-axis frame 512, X-axis driving wheel 513, X-axis driven wheel 514, X-axis conveyor belt 515, X-axis driver 516;

X-axis limit seat 521, X-axis height limit plate 522;

Y-axis conveyor belt 61, Y-axis frame 62, Y-axis frame 63, Y-axis driving roller 64, Y-axis driven roller 65, Y-axis driver 66; hose installation position 611;

Detection workbench 71, detection frame 72, light source 73, detection camera 74, body rotating assembly 75, rejecting assembly 76;

The first detection drive seat 751, the first telescopic driver 752, the second detection drive seat 753, the second telescopic driver 754, and the body drive motor 755;

Pipe sleeve head 7521; pipe plug 7551;

Reject recycling box 761 , reject base 762 , reject driver 763 .

Detailed ways

The technical solution of the present utility model will be further described below in conjunction with the accompanying drawings through specific embodiments.

A swing clamping manipulator, comprising: a manipulator frame 1, a manipulator driving component 2, a swing component 3 and a clamping component 4;

The manipulator drive assembly 2 includes: a mechanical drive seat 21, a manipulator driver 22, a drive disc 23 and a mechanical swing bar 24;

The mechanical drive base 21 is installed on the mechanical hand frame 1, the manipulator driver 22 is installed on the mechanical drive base 21, and the output end of the manipulator driver 22 is rotatably connected to the drive disc 23, so The mechanical fork 24 is connected with the drive disk 23;

The swing assembly 3 includes: a swing driver 31 and a swing plate 32;

The swing driver 31 is installed on the mechanical hand frame 1;

One end of the mechanical swing rod 24 is connected to the drive disc 23, and the other end is connected to the swing plate 32;

One end of the swing plate 32 is connected to the output end of the swing driver 31 through a bearing, and the other end of the swing plate 32 is movably connected to the clamping assembly 4 .

To further explain, the swing clamping manipulator of this design has a swing structure, which can transport the rubber hose from the directions of the X axis and the Z axis, achieving the effect of intermittently clamping and moving the object, and improving the accuracy of feeding.

In this design, the manipulator driver 22 drives the drive disk 23 to rotate, because the mechanical swing rod 24 is installed on the drive disk 23, the mechanical swing rod 24 is connected with the swing plate 32, and the swing plate 32 with the clamping assembly 4 swings; Control the swing clamping effect of the clamping assembly 4 .

The swing driver 31 is connected to the clamping assembly 4 through bearings, so the drive output of the swing driver 31 will not make the swing plate 32 rotate synchronously with the output end of the swing driver 31, but only a pivot point.

At the same time, the rotation angle of the driving disk 23 depends on the situation, and can rotate 0-180° clockwise or counterclockwise.

To further illustrate, the swing assembly 3 includes: a swing driving wheel 33 , a swing driven wheel 34 , a swing driven shaft 35 and a swing conveyor belt 36 ;

The swing driving wheel 33 is sleeved at the output end of the swing driver 31; the swing driven shaft 35 is mounted on one end of the swing plate 32 through a bearing, and is located at the end with the clamping assembly 4; One end of the swing driven shaft 35 is equipped with the swing driven wheel 34, and the other end is fixed with the clamping assembly 4; one end of the swing conveyor belt 36 is connected to the swing drive wheel 33, and the other end is connected to the swing slave. The driving wheel 34 ; the oscillating driven shaft 35 rotates coaxially with the oscillating driven wheel 34 , and drives the clamping assembly 4 to oscillate.

To further illustrate, the output end of the swing driver 31 is connected to the swing driving wheel 33, and the swing driving wheel 33 is connected to the swing driven wheel 34 through the swing conveyor belt 36; when the swing driver 31 is started, the swing drive wheel 33 rotates and drives the swing driven wheel 34 , due to the coaxial rotation of the swing driven shaft 35 and the swing driven wheel 34, and through the action of the swing driven shaft 35, the clamping assembly 4 is driven to rotate; after the swing plate 32 swings the clamping assembly 4, the swing drive can 31 rotation, so that the position of the clamping assembly 4 is more accurate, and the clamping deviation will not be caused by errors.

To further illustrate, the clamping assembly 4 includes: a clamping bottom plate 41 , a clamping base 42 , a clamping connecting piece 43 and a clamping piece 44 ;

The clamping base 42 is installed on the clamping bottom plate 41, the clamping connector 43 is connected to the clamping base 42, the clamping connector 43 is fixed with the swing driven shaft 35, The clamping member 44 is liftably connected to the clamping base 41 .

To further illustrate, the clamping assembly 4 includes: a clamping lifter 45;

The clamping lifter 45 is installed on the clamping bottom plate 41, and the clamping member 44 can be lifted and installed on the output end of the clamping lifter 45;

The bottom of the clamping member 44 is provided with a vacuum suction cup 441 , and the vacuum suction cup 441 can be adjusted to connect with vacuum.

Furthermore, the addition of the clamping lifter 45 can effectively prevent the clamping member 44 from colliding with other components, and the clamping lifter 45 can ignore the swing error for this design, that is, when the clamping member 44 swings on the clamping base plate 41 After the action, it may not be vertical enough, but by clamping the lifter 45 up and down, the elastic vacuum suction cup 441 acts on the object. Since the vacuum suction cup 441 has elasticity, there is no need to consider the vacuum suction cup 441 on the clamping base plate 41 Whether it is a horizontal plane or not, only the vacuum suction cup 441 is in contact with the object, and the vacuum is connected to achieve the effect of sucking the object tightly; the effect of clamping the object without error is realized.

Plastic tube visual inspection device, including: a discharge device 01, the swing clamping manipulator 02, an X-axis conveying assembly 5, a Y-axis conveying assembly 6, and a detection assembly 7;

The discharge device 01 is used to deliver the plastic tube 07 to the X-axis conveying assembly 5; the swing clamping manipulator 02 is used to deliver the plastic tube 07 on the X-axis conveying assembly 5 to the Y-axis conveying Component 6; the Y-axis conveying component 6 is equipped with the detection component 7; the Y-axis conveying component 6 is used to sequentially transmit the plastic tube 07 to the detection component 7; the detection component 7 is used for detection and control The quality of the plastic tube 07.

To further explain, the plastic tube 07 visual inspection device of this design is equipped with a swing clamping manipulator 02, which is used to transfer the plastic tube 07 of the X-axis conveying component 5 to the Y-axis conveying component 6, and through the Y-axis Under the action of the conveyor belt 61, the plastic tube 07 is sent to the detection component 7 to realize the effect of automatic feeding and detection.

To further illustrate, the Y-axis conveying assembly 6 is provided with a Y-axis conveyor belt 61, and the Y-axis conveying assembly 6 conveys the plastic tube 07 for the detection assembly 7 on the Y-axis conveyor belt 61;

The detection assembly 7 includes: a detection workbench 71, a detection frame 72, a light source 73 and a detection camera 74;

The Y-axis conveyor belt 61 is located on the inspection table 71, the inspection frame 72 is installed on the inspection table 71, the light source 73 irradiates light to the Y-axis conveyor belt 61, and the inspection camera 74 is installed on the detection frame 72 and above the Y-axis conveyor belt 61 .

To further illustrate, under the irradiation of the light source 73, the detection camera 74 can detect the plastic tube 07 conveyed by the Y-axis conveyor belt 61, and the detection camera 74 can scan the surface of the plastic tube 07 to find whether there is any defect on the surface of the plastic tube 07. If there is a defect on the surface of the plastic tube 07, after calculation or recording, it will be warned and dealt with; this ensures the quality of the plastic tube 07 processing line.

To further illustrate, the detection assembly 7 includes: a body rotation assembly 75;

The body rotation assembly 75 includes: a first detection driving base 751, a first telescopic driver 752, a second detection driving base 753, a second telescopic driver 754 and a body driving motor 755;

The first detection drive base 751 and the second detection drive base 753 are respectively fixed on the detection workbench 71 and on both sides of the Y-axis conveyor belt 61; the first telescopic drive 752 is installed on the The first detection driving seat 751, the output end of the first telescopic driver 752 is provided with a pipe sleeve head 7521 toward the Y-axis conveyor belt 61; the second telescopic driver 754 is installed on the second detection driving seat 753, so The output end of the second retractable driver 754 is connected to the body drive motor 755 , and the output end of the body drive motor 755 is provided with a pipe plug 7551 at the Y-axis conveyor belt 61 .

To further illustrate, the Y-axis conveyor belt 61 intermittently passes the body rotating assembly 75, the Y-axis conveyor belt 61 advances one unit, and the body rotating assembly 75 detects the plastic tube 07 at the corresponding position; The plastic tube 07 passing through is rotatably fixed, and the second telescopic driver 754 telescopic body drives the motor 755, so that the pipe plug 7551 on the output end of the body drive motor 755 fixes the plastic tube 07, and the two ends of the plastic tube 07 are respectively connected by the tube. The sleeve head 7521 and the pipe plug 7551 are fixed, and after the body drive motor 755 is started, the plastic pipe 07 rotates; under the action of the light source part 73, the detection camera 74 scans the rotating plastic pipe 07 to detect defects on the surface of the plastic pipe 07. If there is no problem, loosen the pipe sleeve 7521 and pipe plug 7551; if there is a defect on the surface, after loosening the pipe sleeve 7521 and pipe plug 7551, the detection camera 74 will feed back to the rejecting component 76, and the rejecting component 76 will remove the defective plastic tube 07 Therefore, the rotation of the plastic tube 07 can increase the scanning area of the surface of the plastic tube 07 by the detection camera 74, thereby achieving the effect of improving the qualified rate of the product.

To further illustrate, the detection component 7 includes: a rejection component 76;

The rejection assembly 76 includes: a rejection recovery box 761, a rejection base 762 and a rejection driver 763;

The rejection recovery box 761 and the rejection base 762 are respectively arranged on both sides of the Y-axis conveyor belt 61, and the rejection driver 763 is fixed on the rejection base 762;

The output end of the reject driver 763 and the reject recovery box 761 are in the same straight line.

To further illustrate, when the rejecting component 76 receives a notification of a defective product, the plastic tube 07 will pass through after calculating the specified number, and the plastic tube 07 will fall into the output end position of the rejecting driver 763 and connect with the output end of the rejecting driver 763. When it is in the same straight line as the rejecting recycling box 761, the rejecting driver 763 will drive out and push the defective plastic tube 07 to the rejecting recycling bin 761 to achieve the effect of rejecting.

To further illustrate, the Y-axis conveying assembly 6 includes: a Y-axis frame 62 , a Y-axis frame 63 , a Y-axis driving roller 64 , a Y-axis driven roller 65 and a Y-axis driver 66 ;

The Y-axis frame 63 is fixed on the Y-axis frame 62, the Y-axis frame 63 is movable at both ends of the Y-axis driving roller 64, and the two ends of the Y-axis driven roller 65 are movable The Y-axis frame 63 is installed; the Y-axis driver 66 is fixed on the Y-axis frame 63, and the output end of the Y-axis driver 66 is connected to the Y-axis driving roller 64; the Y-axis conveyor belt 61 One end is connected with the Y-axis driving roller 64, and the other end of the Y-axis conveyor belt 61 is connected with the Y-axis driven roller 65;

Several rubber hose installation positions 611 are provided on the Y-axis conveyor belt 61 .

To further illustrate, the Y-axis conveyor belt 61 has several rubber hose installation positions 611. After the swing clamping manipulator 02 takes out the plastic tube 07 from the position of the X-axis conveying assembly 5 and places it on the rubber hose installation positions 611, the Y-axis conveyor belt 61 will move to Move one unit of the plastic tube 07 forward, swing the clamping manipulator 02 to continue to take the plastic tube 07 to the X-axis conveying component 5, and put it in the next empty rubber tube installation position 611.

The swing clamping manipulator 02 is installed between the X-axis conveying assembly 5 and the Y-axis conveying assembly 6 .

To further illustrate, the X-axis conveying assembly 5 includes: an X-axis moving assembly 51 , an X-axis limiting assembly 52 and an X-axis baffle 53 ;

The X-axis limiting component 52 is arranged on the X-axis moving component 51; the X-axis clamping component 4 is set on the X-axis moving component 51 and is located at one end of the swing clamping manipulator 02;

The X-axis moving assembly 51 includes: an X-axis frame 511, an X-axis frame 512, an X-axis driving wheel 513, an X-axis driven wheel 514, an X-axis conveyor belt 515 and an X-axis driver 516;

The X-axis frame 512 is fixed on the X-axis frame 511; the X-axis frame 512 is installed at both ends of the X-axis driving wheel 513; the X-axis frame 512 is installed at both ends of the X-axis driven wheel 514. Axis frame 512; one end of the X-axis conveyor belt 515 is connected to the X-axis driving wheel 513, and the other end is connected to the X-axis driven wheel 514; the output end of the X-axis driver 516 is connected to the X-axis driving wheel 513;

The X-axis conveyor belt 515 is connected to the discharge port of the discharge device 01;

The X-axis limiting assembly 52 includes: an X-axis limiting seat 521 and an X-axis height limiting plate 522;

The X-axis limiting seat 521 is installed on the side of the X-axis frame 512, the X-axis height limiting plate 522 is horizontally installed on the X-axis limiting seat 521, and the X-axis height limiting plate 522 is located Above the X-axis conveyor belt 515;

The X-axis baffle 53 is horizontally telescopically mounted on the X-axis frame 512 .

To further explain, the X-axis height limiting plate 522 is used to limit the vertical position of the plastic tube 07 at the X-axis conveyor belt 515, so that the plastic tube 07 is always kept in a uniform form for transmission; At the same time, it also has a positioning function. The swing clamping manipulator 02 will clamp the plastic tube 07 at the position where it contacts the X-axis baffle 53, so as to improve the accuracy of clamping.

The discharge device 01 is provided with an adjustment operation panel 03, which is used to adjust and control the parameters of the discharge device 01, the swing clamping manipulator 02, the X-axis conveying component 5, the Y-axis conveying component 6 and the detection component 7, so as to realize unified control; Simultaneously, a horizontally telescopic air cylinder can also be arranged on the X-axis baffle 53 to control the horizontal expansion and contraction of the X-axis baffle 53, so as to control the position of the X-axis baffle 53 and change the positioning.

The technical principles of the present utility model have been described above in conjunction with specific embodiments. These descriptions are only for explaining the principle of the utility model, and cannot be construed as limiting the protection scope of the utility model in any way. Based on the explanations herein, those skilled in the art can think of other specific implementation modes of the present utility model without creative work, and these modes will all fall within the protection scope of the present utility model.

Claims (10)

1. A swing clamping robot, comprising: the manipulator comprises a manipulator frame, a manipulator driving assembly, a swinging assembly and a clamping assembly;

the robot driving assembly includes: the mechanical swing rod driving mechanism comprises a mechanical driving seat, a mechanical arm driver, a driving disc and a mechanical swing rod;

the mechanical driving seat is mounted on the mechanical mobile phone frame, the mechanical arm driver is mounted on the mechanical driving seat, the output end of the mechanical arm driver is rotatably connected to the driving disc, and the mechanical swing rod is connected with the driving disc;

the swing assembly includes: a swing driver and a swing plate;

the swing driver is arranged on the mechanical mobile phone frame;

one end of the mechanical swing rod is connected to the driving disc, and the other end of the mechanical swing rod is connected to the swing plate;

one end of the swinging plate is connected to the output end of the swinging driver through a bearing, and the other end of the swinging plate is movably connected to the clamping component.

2. The oscillating gripper robot of claim 1, wherein said oscillating assembly comprises: the device comprises a swing driving wheel, a swing driven shaft and a swing conveying belt;

the swing driving wheel is sleeved at the output end position of the swing driver; the swing driven shaft is arranged at one end of the swing plate through a bearing and is positioned at one end with the clamping assembly; the swing driven wheel is mounted at one end of the swing driven shaft, and the clamping assembly is fixed at the other end of the swing driven shaft; one end of the swing conveyor belt is connected with the swing driving wheel, and the other end of the swing conveyor belt is connected with the swing driven wheel; the swing driven shaft and the swing driven wheel coaxially rotate and drive the clamping assembly to swing.

3. The oscillating clamp robot of claim 2, wherein said clamp assembly comprises: the clamping device comprises a clamping bottom plate, a clamping base, a clamping connecting piece and a clamping piece;

the centre gripping frame install in the centre gripping bottom plate, the centre gripping connecting piece connect in the centre gripping frame, the centre gripping connecting piece is fixed with the swing driven shaft, the holder liftable connect in the centre gripping bottom plate.

4. The oscillating clamp robot of claim 3, wherein said clamp assembly comprises: a clamping lifter;

the clamping lifter is arranged on the clamping bottom plate, and the clamping piece is arranged at the output end of the clamping lifter in a lifting manner;

the bottom of holder is equipped with vacuum chuck, vacuum chuck adjustable connection vacuum.

5. The utility model provides a plastic pipe visual detection device which characterized in that includes: the device comprises a discharging device, a swinging clamping manipulator, an X-axis conveying assembly, a Y-axis conveying assembly and a detection assembly;

the swing clamping manipulator is the swing clamping manipulator as claimed in any one of claims 1 to 4;

the discharging device is used for conveying the plastic pipes for the X-axis conveying assembly; the swing clamping manipulator is used for conveying the plastic pipes on the X-axis conveying assembly to the Y-axis conveying assembly; the Y-axis conveying assembly is provided with the detection assembly; the Y-axis conveying assembly is used for sequentially conveying the plastic pipes to the detection assembly; the detection assembly is used for detecting and controlling the quality of the plastic pipe.

6. The visual inspection apparatus for plastic pipes as claimed in claim 5, wherein the Y-axis conveyor assembly is provided with a Y-axis conveyor belt, and the Y-axis conveyor assembly conveys the plastic pipes for the inspection assembly on the Y-axis conveyor belt;

the detection assembly comprises: the device comprises a detection workbench, a detection rack, a light source piece and a detection camera;

the Y-axis conveyor belt is located the detection workbench, the detection rack is mounted on the detection workbench, the light source component irradiates light to the Y-axis conveyor belt, and the detection camera is mounted on the detection rack and located above the Y-axis conveyor belt.

7. The visual inspection device for plastic pipes as claimed in claim 6, wherein the inspection assembly comprises: a body rotating assembly;

the body rotating assembly comprises: the device comprises a first detection driving seat, a first telescopic driver, a second detection driving seat, a second telescopic driver and a device body driving motor;

the first detection driving seat and the second detection driving seat are respectively fixed on the detection workbench and are arranged on two sides of the Y-axis conveyor belt; the first telescopic driver is arranged on the first detection driving seat, and a pipe sleeve head is arranged at the position, facing the Y-axis conveyor belt, of the output end of the first telescopic driver; the second telescopic driver is installed on the second detection driving seat, the output end of the second telescopic driver is connected with the piece body driving motor, and a pipe plug is arranged at the position, facing the Y-axis conveying belt, of the output end of the piece body driving motor.

8. The visual inspection apparatus for plastic pipes as set forth in claim 7, wherein the inspection assembly comprises: a rejection component;

the rejection assembly includes: the device comprises a rejection recovery box, a rejection base and a rejection driver;

the rejection recovery box and the rejection base are respectively arranged on two sides of the Y-axis conveyor belt, and the rejection driver is fixed on the rejection base;

the output end of the removing driver and the removing recycling box are located on the same straight line.

9. The visual inspection apparatus for plastic pipes as set forth in claim 6, wherein the Y-axis conveying assembly comprises: the device comprises a Y-axis frame, a Y-axis driving roller, a Y-axis driven roller and a Y-axis driver;

the Y-axis frame is fixed on the Y-axis frame, the Y-axis frame is movably mounted at two ends of the Y-axis driving roller, and the Y-axis frame is movably mounted at two ends of the Y-axis driven roller; the Y-axis driver is fixed on the Y-axis frame, and the output end of the Y-axis driver is connected to the Y-axis driving roller; one end of the Y-axis conveyor belt is connected with the Y-axis driving roller, and the other end of the Y-axis conveyor belt is connected with the Y-axis driven roller;

and a plurality of rubber tube mounting positions are arranged on the Y-axis conveying belt in a conveying manner.

10. The visual inspection apparatus for plastic pipes as set forth in claim 6, wherein the X-axis conveying assembly comprises: the X-axis moving assembly, the X-axis limiting assembly and the X-axis baffle plate are arranged on the X-axis moving assembly;

the X-axis limiting assembly is arranged on the X-axis moving assembly; the X-axis clamping assembly is arranged on the X-axis moving assembly and is positioned at one end of the swinging clamping manipulator;

the X-axis moving assembly includes: the X-axis driving wheel is connected with the X-axis frame through the X-axis driving wheel;

the X-axis frame is fixed on the X-axis rack; the X-axis frame is arranged at two ends of the X-axis driving wheel; the X-axis frame is mounted at two ends of the X-axis driven wheel; one end of the X-axis conveyor belt is connected with the X-axis driving wheel, and the other end of the X-axis conveyor belt is connected with the X-axis driven wheel; the output end of the X-axis driver is in driving connection with the X-axis driving wheel;

the X-axis conveyor belt is connected with a discharge port of the discharge device;

the spacing subassembly of X axle includes: the X-axis limiting seat and the X-axis height limiting plate;

the X-axis limiting seat is arranged on the side edge of the X-axis frame, the X-axis height limiting plate is horizontally arranged on the X-axis limiting seat, and the X-axis height limiting plate is positioned above the X-axis conveyor belt;

the X-axis baffle can be horizontally and telescopically arranged on the X-axis frame.