CN219685665U - Pipe fitting clamping and transferring mechanism - Google Patents

Abstract

The utility model relates to the field of manipulators, in particular to a pipe fitting clamping and transferring mechanism, which comprises a mounting seat and a clamping assembly, wherein the clamping assembly comprises a first clamping part and a second clamping part, the first clamping part and the second clamping part are oppositely arranged, at least one of the first clamping part and the second clamping part is in sliding connection with the mounting seat, a first driving piece is arranged on the mounting seat and is used for driving the first clamping part and the second clamping part to move along the direction approaching or separating from each other; the first clamping part and the second clamping part are both provided with clamping cavities with adjustable sizes, the clamping cavities are used for clamping pipelines, and adjusting pieces used for adjusting the sizes of the clamping cavities are arranged in the clamping cavities. The utility model has the effect of making the stress of the pipe uniform, thereby reducing the probability of damage of the pipe.

Description

Pipe fitting clamping and transferring mechanism

Technical Field

The utility model relates to the field of manipulators, in particular to a pipe fitting clamping and transferring mechanism.

Background

The manipulator is used as a device for replacing hands, and is widely applied to the working fields of grabbing, carrying and the like.

At present, at least two clamping jaws are installed at the output end of most manipulators, the two clamping jaws are oppositely arranged, a clamping cavity is formed between the two clamping jaws, and the two clamping jaws can move along the directions close to or far away from each other, so that the clamping jaws can grab pipe fittings of different sizes.

However, in the above-mentioned technique, the clamping jaw can only adapt to the pipe fitting of different diameters, when snatching the pipe fitting of different length, because its length direction's is fixed, the atress of pipe fitting on the whole is inhomogeneous for the pipe fitting slides out easily from the centre gripping chamber and leads to damaging, perhaps the pipe fitting warp because of the atress is uneven.

Disclosure of Invention

In order to make the stress of the pipe fitting uniform as much as possible, thereby reducing the probability of pipe fitting damage, the utility model provides a pipe fitting clamping and transferring mechanism.

The pipe fitting clamping and transferring mechanism provided by the utility model adopts the following technical scheme:

a pipe fitting clamping and transferring mechanism comprises

A mounting base;

the clamping assembly comprises a first clamping part and a second clamping part, the first clamping part and the second clamping part are oppositely arranged, at least one of the first clamping part and the second clamping part is in sliding connection with the mounting seat, a first driving piece is arranged on the mounting seat and is used for driving the first clamping part and the second clamping part to move along the direction of approaching or separating from each other;

the first clamping part and the second clamping part are both provided with clamping cavities with adjustable sizes, the clamping cavities are used for clamping pipelines, and adjusting pieces used for adjusting the sizes of the clamping cavities are arranged in the clamping cavities.

By adopting the technical scheme, when the pipe fitting is required to be clamped, the size of the clamping cavity is firstly adjusted to be a proper size according to the diameter of the pipe fitting, then the distance between the first clamping part and the second clamping part is adjusted through the first driving part according to the length of the pipe fitting, and then the pipe fitting is clamped through the first clamping part and the second clamping part; simultaneously, the first clamping part and the second clamping part can respectively play supporting force and extrusion force to the two ends of the pipe fitting, so that the pipe fitting is uniformly stressed as far as possible, the deformation of the pipe fitting caused by uneven stress is avoided as far as possible, and the damage probability of the pipe fitting is reduced.

Optionally, the first clamping part includes two first clamping jaws, the two first clamping jaws are oppositely arranged, grooves are formed on end faces of the two first clamping jaws, and the two grooves form the clamping cavity;

the second clamping part comprises a second clamping jaw, and the first clamping part and the second clamping part have the same structure;

the mounting seat is provided with a second driving piece for driving the two first clamping jaws to move along the direction of approaching or separating from each other.

Through adopting above-mentioned technical scheme, when needs first clamping part and second clamping part carry out the centre gripping to the pipe fitting, move along the direction of keeping away from each other through two first clamping jaws of second driving piece drive, two second clamping jaws move along the direction of keeping away from each other, then make the pipe fitting be located the centre gripping intracavity, then move along the direction of being close to each other through two first clamping jaws of driving piece drive, two second clamping jaws move along the direction of being close to each other, until the chamber wall in centre gripping chamber supports tightly in the pipe fitting, thereby realize the centre gripping of first clamping part and second clamping part to the pipe fitting.

Optionally, the second driving piece includes two-way cylinder, first link and second link, two-way cylinder is installed on the mount pad, first link and second link lay relatively and install respectively in two ends of two-way cylinder, two first clamping jaw respectively with first link and second link one-to-one sliding connection, two second clamping jaw respectively with first link and second link one-to-one fixed connection.

By adopting the technical scheme, when two first clamping claws or two second clamping claws are required to be driven to move along the direction away from or close to each other, the bidirectional cylinder is started, so that two output shafts of the bidirectional cylinder are extended, the first connecting frame and the second connecting frame are driven to move along the direction away from each other, and the two first clamping claws or the two second clamping claws are driven to move along the direction away from each other; on the contrary, two output shafts of the bidirectional air cylinder are contracted, so that the first connecting frame and the second connecting frame are driven to move along the direction of mutual approaching, and the two first clamping jaws or the two second clamping jaws are driven to move along the direction of mutual approaching, and finally, the effect that the second driving piece moves along the direction of mutual approaching or separating the two first clamping jaws or the two second clamping jaws is realized on the whole.

Optionally, the first driving piece includes screw-nut pair subassembly, motor and gangbar, screw-nut pair subassembly and motor are all installed on the mount pad, the output shaft of motor with screw-nut coaxial coupling in the screw-nut pair subassembly, the one end of gangbar with nut fixed connection in the screw-nut pair subassembly, the other end of gangbar with first clamping part or second clamping part are connected.

Through adopting above-mentioned technical scheme, when needs drive first clamping part and second clamping part along being close to each other or the direction of keeping away from removes, drive the lead screw in the lead screw nut pair subassembly through the motor and corotate or reverse to nut in the lead screw nut pair subassembly removes, then drives first clamping part or second clamping part through the gangbar and removes along being away from each other or the direction of being close to each other, thereby realizes the drive effect of first driving piece to first clamping part or second clamping part.

Optionally, the end faces of the first clamping jaw and the second clamping jaw, which deviate from the mounting seat, are respectively provided with a third clamping jaw, two third clamping jaws on the first clamping jaw and the second clamping jaw are oppositely arranged, and the structure of the third clamping jaw is the same as that of the first clamping jaw or the second clamping jaw.

By adopting the technical scheme, the number of the clamping assemblies capable of clamping the pipe fittings each time is increased due to the arrangement of the third clamping jaw, so that the working efficiency of the device is improved; moreover, the size of the clamping cavity on the third clamping jaw can be different from that of the first clamping jaw or the second clamping jaw, so that the clamping assembly can adapt to more pipe fittings with different sizes, and the universality of the device is improved.

Optionally, the regulating part includes fastening screw, reset spring and butt piece, set up on the first clamping jaw with the spout of recess intercommunication, the cell wall of spout with butt piece slip butt, still set up on the first clamping jaw and supply the screw hole that fastening screw worn to establish, the screw hole with the spout intercommunication, fastening screw's one end with the butt piece is connected, fastening screw's the other end is connected with fastening nut, reset spring cup joints in fastening screw, and reset spring's one end with the butt piece is connected, the other end connect in the spout cell wall.

By adopting the technical scheme, when the size of the clamping cavity needs to be adjusted, the fastening screw is rotated forward, so that the abutting blocks on the two first clamping jaws or the two second clamping jaws move along the directions close to each other, and the space of the clamping cavity is reduced; on the contrary, the fastening screw is reversely rotated, so that the size of the clamping cavity is increased, the effect of adjusting the size of the clamping cavity is realized on the whole, and after the size of the clamping cavity is determined, the fastening screw can be fixed through the fastening nut, so that the phenomenon of loosening of the fastening screw is avoided as much as possible; and when the size of the clamping cavity needs to be readjusted, the reset spring can reset the abutting block so as to readjust.

Optionally, the abutment block is V-shaped.

Through adopting above-mentioned technical scheme, when the butt piece supports tight pipe fitting, the butt piece of V type is when the perisporium butt with the pipe fitting, is basically the inclined wall and the pipe fitting butt of V type butt piece, and V type butt piece edges and corners part is difficult to touch the pipe fitting to the probability that the butt piece damaged the pipe fitting has been reduced.

Optionally, protection pads are arranged on the cavity wall of the clamping cavity and the end face, close to the clamping cavity, of the abutting block.

Through adopting above-mentioned technical scheme, the protection pad can be with the rigidity butt of pipe fitting and other parts change into elasticity butt to the probability that the pipe fitting damaged has further been reduced.

Preferably, a plurality of clamping assemblies are arranged on the mounting seat, the linkage rod is connected with a plurality of first clamping portions or second clamping portions in the clamping assemblies, and the linkage rod drives the first clamping portions and the second clamping portions to move along the directions far away from or close to each other.

Through adopting above-mentioned technical scheme, a plurality of clamping assemblies can simultaneous working to the work efficiency of this device has been improved.

Preferably, the end face of the mounting seat, which faces away from the clamping assembly, is connected with a mechanical arm.

Through adopting above-mentioned technical scheme to realize that this device can shift the effect of pipeline position in the space.

In summary, the present utility model includes at least one of the following beneficial technical effects:

1. according to the length of the pipe fitting, the first clamping part and the second clamping part are driven by the first driving part to move along the direction of approaching or separating from each other, so that the distance between the first clamping part and the second clamping part is adjusted, the pipe fitting is uniformly stressed as much as possible, the deformation of the pipe fitting due to uneven stress is avoided as much as possible, and the damage probability of the pipe fitting is reduced; in addition, the device can be suitable for pipe fittings with different diameters by matching with the use of the adjusting piece, so that the universality of the device is improved;

2. the arrangement of the third clamping jaw not only improves the working efficiency of the device, but also can design the size of the third clamping jaw according to actual conditions, so that pipe fittings with different sizes can be clamped, and the universality of the device is further improved;

3. the fixing base can be provided with a plurality of clamping assemblies, and the clamping assemblies can synchronously work, so that the working efficiency of the device is further improved.

Drawings

Fig. 1 is a schematic overall structure of an embodiment of the present utility model.

Fig. 2 is a schematic structural view of a clamping assembly according to an embodiment of the present utility model.

Fig. 3 is a schematic structural view of a second driving member according to an embodiment of the present utility model.

Fig. 4 is a schematic structural view of an adjusting member in the embodiment of the present utility model.

Reference numerals illustrate:

1. a mechanical arm; 2. a mounting base; 21. a fixing frame; 3. a clamping assembly; 31. a first clamping part; 311. a first jaw; 312. a groove; 313. a clamping cavity; 314. a chute; 315. screw holes; 32. a second clamping portion; 321. a second jaw; 33. an adjusting member; 331. fastening a screw; 332. a return spring; 333. an abutment block; 334. a fastening nut; 34. a first driving member; 341. a screw-nut sub-assembly; 342. a motor; 343. a linkage rod; 35. a second driving member; 351. a bidirectional cylinder; 352. a first connection frame; 353. a second connecting frame; 36. a third jaw; 4. and a pipe fitting.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-4.

The embodiment of the utility model discloses a pipe fitting clamping and transferring mechanism. Referring to fig. 1, a pipe gripping transfer mechanism includes a robotic arm 1, a mount 2, and a gripping assembly 3.

Referring to fig. 1 and 2, the mechanical arm 1 in this embodiment is a mechanical arm 1 with two degrees of freedom, and the mounting base 2 is mounted at the output end of the mechanical arm 1, and a plurality of through grooves are uniformly spaced on the mounting base 2, so as to reduce the use of materials, thereby reducing the production cost. The mount pad 2 is last still to be provided with the mount 21 that is used for installing clamping assembly 3, and mount 21 is provided with a plurality ofly, and clamping assembly 3 is also corresponding to be provided with a plurality ofly, and is preferred four in this embodiment to improve the work efficiency of this device. The fixing frame 21 is detachably connected with the mounting seat 2, and each time one clamping assembly 3 is damaged, the corresponding fixing frame 21 can be detached, so that the device can work continuously, and meanwhile, the clamping assembly 3 is convenient to install and detach.

Referring to fig. 2 and 3, the clamping assembly 3 includes a first clamping portion 31, a second clamping portion 32, a first driving member 34, and a second driving member 35. The first clamping portion 31 and the second clamping portion 32 are each provided with a clamping cavity 313 of adjustable size. The first clamping portion 31 and the second clamping portion 32 are oppositely arranged along the length direction of the pipe member 4.

The second driving part 35 includes a bi-directional cylinder 351, a first link 352, and a second link 353.

The bidirectional cylinder 351 is mounted on the fixing frame 21 in a vertical direction, and the first and second connection frames 352 and 353 are oppositely disposed and respectively mounted on output shafts at both ends of the bidirectional cylinder 351.

In addition, the first clamping portion 31 includes two first clamping jaws 311, the two first clamping jaws 311 are oppositely arranged, and the two first clamping jaws 311 are respectively slidably connected with the first connecting frame 352 and the second connecting frame 353 one by one. Grooves 312 are formed in the opposite end faces of the two first clamping jaws 311, and the two grooves 312 form a clamping cavity 313;

the first clamping portion 31 and the second clamping portion 32 have the same structure. The second clamping part 32 comprises second clamping jaws 321, wherein the two second clamping jaws 321 are respectively and fixedly connected with the first connecting frame 352 and the second connecting frame 353 one by one.

Next, the first driver 34 includes a lead screw nut sub-assembly 341, a motor 342, and a link lever 343.

The screw-nut sub-assembly 341 (in the prior art, not described herein in detail) and the motor 342 are both mounted on the mounting base 2, an output shaft of the motor 342 is fixedly connected coaxially with a screw in the screw-nut sub-assembly 341, one end of the linkage rod 343 is fixedly connected with a nut in the screw-nut sub-assembly 341, and the other end of the linkage rod 343 is fixedly connected with the first clamping jaw 311.

The motor 342 in this embodiment is a servo motor, and the motor 342 rotates forward to drive the screw rod to rotate, so that the first clamping jaw 311 is driven by the nut to slide along the direction approaching to the second clamping jaw 321; conversely, the first jaw 311 slides in a direction away from the second jaw 321.

Finally, referring to fig. 3 and 4, an adjusting member 33 for adjusting the size of the clamping chamber 313 is provided in the clamping chamber 313. The adjuster 33 includes a fastening screw 331, a fastening nut 334, a return spring 332, and an abutment block 333.

The first clamping jaw 311 is provided with a chute 314 communicated with the groove 312, and the wall of the chute 314 is in sliding contact with the contact block 333. The first clamping jaw 311 is further provided with a screw hole 315 for the fastening screw 331 to penetrate, and the screw hole 315 is communicated with the chute 314. One end of the fastening screw 331 is connected with the abutting block 333, the other end of the fastening screw 331 is connected with the fastening nut 334, the fastening nut 334 is sleeved on the fastening screw 331, and the fastening nut 334 abuts against the outer side wall of the first clamping jaw 311. The return spring 332 is sleeved on the fastening screw 331, one end of the return spring 332 is connected with the abutting block 333, and the other end is connected with the wall of the chute 314.

When the size of the clamping cavity 313 needs to be adjusted, the fastening screw 331 is rotated forward, so that the two first clamping jaws 311 move in the direction of approaching each other against the block 333, and at this time, the return spring 332 is in a stretched state, so that the space of the clamping cavity 313 is reduced; on the contrary, the fastening screw 331 is reversely rotated, and the return spring 332 is in a compressed state, so that the size of the clamping cavity 313 is increased, the effect of adjusting the size of the clamping cavity 313 is realized on the whole, and after the size of the clamping cavity 313 is determined, the fastening screw 331 can be fixed through the fastening nut 334, so that the phenomenon that the fastening screw 331 is loosened is avoided as much as possible; and when a readjustment of the size of the clamping chamber 313 is required, the return spring 332 is able to return the abutment block 333 for readjustment.

In summary, when the pipe 4 needs to be clamped, the size of the clamping cavity 313 is firstly adjusted to a proper size according to the diameter of the pipe 4, then the distance between the first clamping jaw 311 and the second clamping jaw 321 is adjusted by the first driving member 34 according to the length of the pipe 4, and then the pipe 4 is clamped by the first clamping jaw 311 and the second clamping jaw 321, and the pipe 4 is not easily excessively extruded to cause damage because the size of the clamping cavity 313 is adapted to the diameter of the pipe 4; meanwhile, the first clamping jaw 311 and the second clamping jaw 321 can respectively play a role in supporting force and extrusion force on two ends of the pipe fitting 4, so that the pipe fitting 4 is uniformly stressed as much as possible, deformation of the pipe fitting 4 caused by uneven stress is avoided as much as possible, and the damage probability of the pipe fitting 4 is reduced.

The cross section of the abutting block 333 may be square, arc or the like, in this embodiment, the V-shaped abutting block 333 is preferable, and when abutting against the peripheral wall of the pipe 4, the inclined wall of the V-shaped abutting block 333 abuts against the pipe 4, and the corner portion of the V-shaped abutting block 333 is not easy to touch the pipe 4, so that the probability of damage of the abutting block 333 to the pipe 4 is reduced.

Moreover, in order to further reduce the probability of damage to the pipe member 4, both the chamber wall of the holding chamber 313 and the end face of the abutment block 333 adjacent to the holding chamber 313 are provided with protection pads. The protective pad in this embodiment is preferably rubber, which has relatively good elasticity and low friction.

Referring to fig. 4, in order to further improve the working efficiency of the device, the end faces of the first clamping jaw 311 and the second clamping jaw 321, which are away from the mounting seat 2, are respectively provided with a third clamping jaw 36, two third clamping jaws 36 on the first clamping jaw 311 and the second clamping jaw 321 are oppositely arranged, and the structure of the third clamping jaw 36 is the same as that of the first clamping jaw 311 or the second clamping jaw 321.

The third jaw 36 can be dimensioned according to the actual situation so that it can accommodate more tubes 4 of different dimensions, thereby improving its versatility.

The pipe fitting clamping and transferring mechanism of the embodiment of the utility model has the implementation principle that: when the pipe fitting 4 needs to be carried, the size of the clamping cavity 313 is firstly adjusted according to the diameter of the pipe fitting 4 and through the adjusting piece 33, and then the distance between the first clamping jaw 311 and the second clamping jaw 321 is adjusted according to the length of the pipe fitting 4 and through the first driving piece 34, so that the pipe fitting 4 is uniformly stressed as much as possible, the deformation of the pipe fitting 4 caused by uneven stress is avoided as much as possible, and the damage probability of the pipe fitting 4 is reduced;

then, the output shaft of the bidirectional cylinder 351 is driven to extend to drive the two first clamping jaws 311 to move in the direction away from each other, so that the clamping cavity 313 is opened, when the pipe fitting 4 is positioned between the two first clamping jaws 311, the bidirectional cylinder 351 is driven to shrink, so that the clamping cavity 313 is closed, and the cavity wall of the clamping cavity 313 and the abutting block 333 are abutted against the peripheral wall of the pipe fitting 4;

finally, by driving the mechanical arm 1, the mounting seat 2 is moved, so that the pipe fitting 4 is driven to move until reaching the designated position, the clamping cavity 313 is opened by the extension and contraction of the bidirectional cylinder 351, and the pipe fitting 4 is placed at the designated position.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims (10)

1. A pipe fitting clamping and transferring mechanism, comprising:

a mounting base (2);

the clamping assembly (3), the clamping assembly (3) comprises a first clamping part (31) and a second clamping part (32), the first clamping part (31) and the second clamping part (32) are oppositely arranged, at least one of the first clamping part (31) and the second clamping part (32) is in sliding connection with the mounting seat (2), a first driving piece (34) is arranged on the mounting seat (2), and the first driving piece (34) is used for driving the first clamping part (31) and the second clamping part (32) to move along the direction of approaching or separating from each other;

the first clamping part (31) and the second clamping part (32) are both provided with a clamping cavity (313) with adjustable size, the clamping cavity (313) is used for clamping a pipeline, and an adjusting piece (33) used for adjusting the size of the clamping cavity (313) is arranged in the clamping cavity (313).

2. A tubular clamping and transfer mechanism as claimed in claim 1 wherein: the first clamping part (31) comprises two first clamping jaws (311), the two first clamping jaws (311) are oppositely arranged, grooves (312) are formed in the end faces, opposite to the two first clamping jaws (311), of the two clamping jaws, and the two grooves (312) form a clamping cavity (313);

the second clamping part (32) comprises a second clamping jaw (321), and the first clamping part (31) and the second clamping part (32) have the same structure;

the mounting seat (2) is provided with a second driving piece (35) for driving the two first clamping jaws (311) to move along the approaching or separating direction.

3. A tubular clamping and transfer mechanism as claimed in claim 2 wherein: the second driving piece (35) comprises a bidirectional air cylinder (351), a first connecting frame (352) and a second connecting frame (353), the bidirectional air cylinder (351) is installed on the installation seat (2), the first connecting frame (352) and the second connecting frame (353) are oppositely arranged and respectively installed at two ends of the bidirectional air cylinder (351), the two first clamping jaws (311) are respectively connected with the first connecting frame (352) and the second connecting frame (353) in a one-to-one sliding mode, and the two second clamping jaws (321) are respectively fixedly connected with the first connecting frame (352) and the second connecting frame (353) one by one.

4. A tubular clamping and transfer mechanism as claimed in claim 1 wherein: the first driving piece (34) comprises a screw-nut auxiliary assembly (341), a motor (342) and a linkage rod (343), the screw-nut auxiliary assembly (341) and the motor (342) are both installed on the installation seat (2), an output shaft of the motor (342) is coaxially connected with a screw rod in the screw-nut auxiliary assembly (341), one end of the linkage rod (343) is fixedly connected with a nut in the screw-nut auxiliary assembly (341), and the other end of the linkage rod (343) is connected with the first clamping part (31) or the second clamping part (32).

5. A tubular clamping and transfer mechanism as claimed in claim 2 wherein: the end faces, deviating from the mounting seat (2), of the first clamping jaw (311) and the second clamping jaw (321) are respectively provided with a third clamping jaw (36), the two third clamping jaws (36) on the first clamping jaw (311) and the second clamping jaw (321) are oppositely arranged, and the structures of the third clamping jaws (36) are identical to those of the first clamping jaw (311) or the second clamping jaw (321).

6. A tubular clamping and transfer mechanism as claimed in claim 2 or claim 5 wherein: the adjusting piece (33) comprises a fastening screw (331), a reset spring (332) and an abutting block (333), a chute (314) communicated with the groove (312) is formed in the first clamping jaw (311), the chute wall of the chute (314) is in sliding abutting connection with the abutting block (333), a screw hole (315) for the fastening screw (331) to penetrate through is formed in the first clamping jaw (311), the screw hole (315) is communicated with the chute (314), one end of the fastening screw (331) is connected with the abutting block (333), a fastening nut (334) is connected to the other end of the fastening screw (331), the reset spring (332) is sleeved on the fastening screw (331), one end of the reset spring (332) is connected with the abutting block, and the other end of the reset spring (332) is connected to the chute wall of the chute (314).

7. A tubular clamping and transfer mechanism as claimed in claim 6 wherein: the abutting block (333) is V-shaped.

8. A tubular clamping and transfer mechanism as claimed in claim 6 wherein: and the cavity wall of the clamping cavity (313) and the end surface of the abutting block (333) close to the clamping cavity (313) are both provided with protection pads.

9. A tubular clamping and transfer mechanism as claimed in claim 4 wherein: be provided with a plurality of clamping components (3) on mount pad (2), gangbar (343) with a plurality of first clamping part (31) or second clamping part (32) in clamping components (3) are all connected, just gangbar (343) drive a plurality of first clamping part (31) and second clamping part (32) simultaneously along keeping away from each other or being close to the direction removal.

10. A tubular clamping and transfer mechanism as claimed in claim 1 wherein: the end face, deviating from the clamping assembly (3), of the mounting seat (2) is connected with a mechanical arm (1).