CN112453134B

CN112453134B - Pipe fitting rotating clamp holder and robot pipe bending workstation comprising same

Info

Publication number: CN112453134B
Application number: CN202010983532.7A
Authority: CN
Inventors: 吴诚骁; 刘明; 刘坤; 钟圣泽
Original assignee: Shanghai Fanuc Robotics Co Ltd
Current assignee: Shanghai Fanuc Robotics Co Ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2022-07-01
Anticipated expiration: 2040-09-17
Also published as: CN112453134A

Abstract

The invention discloses a pipe fitting rotary clamp holder and a robot pipe bending workstation comprising the same, and belongs to the technical field of automation equipment. The method comprises the following steps: the first fluted disc and the second fluted disc that set up with one heart and the diameter is the same, wherein the through-hole that runs through is seted up at the middle part of first fluted disc and second fluted disc, be provided with the first clamping mechanism who is connected with first fluted disc in the through-hole, the second clamping mechanism who is connected with the second fluted disc, first fluted disc rotates with the second fluted disc relatively, first clamping mechanism is close to each other or the separation with the second clamping mechanism, first fluted disc and the synchronous rotation of second fluted disc, the interval keeps unchangeable between first clamping mechanism and the second clamping mechanism. The driving mechanism comprises a first driving mechanism in driving connection with the first fluted disc and a second driving mechanism in driving connection with the second fluted disc. The pipe fitting rotary clamp and the robot pipe bending workstation comprising the same, provided by the invention, have the advantages that the layout is simplified, the equipment size is optimized, the number of operators is reduced, and the automation degree is improved.

Description

Pipe fitting rotating clamp holder and robot pipe bending workstation comprising same

Technical Field

The invention relates to the technical field of automation equipment, in particular to a pipe fitting rotary clamp holder and a robot pipe bending workstation comprising the same.

Background

At present, the pipe bending process is widely applied to the fields of ship manufacturing, furniture, bridges, automobile industry and the like, and the quality of the bent pipe directly influences the safety, stability and reliability of products. The traditional bent pipe factory has large-scale production and various processes, and a large amount of manpower is needed for pipe bending operation. At present, under the background of intelligent manufacturing and the pursuit of each manufacturer to production efficiency and precision, the machine automation provides effectual solution to the return bend production, and the production line of return bend factory adopts dedicated bending machine to carry out the return bend more, nevertheless need go up through the manual work and unload supplementary, and degree of automation is lower relatively, lacks the understanding to robot and integrated technology, through the manual work go up the unloading, arranges personnel and shuttles back and forth the great potential safety hazard that exists in the other work of bending machine.

Disclosure of Invention

To the above-mentioned problem that exists among the prior art, aim at providing a pipe fitting rotary clamp and contain its pipe bending workstation of robot, the last unloading of pipe fitting can be carried out in combination of manipulator to the pipe fitting rotary clamp, still simplifies the overall arrangement, optimizes the equipment size, has reduced operating personnel, has improved degree of automation, and this pipe fitting rotary clamp is mainly used to medium-sized pipe fitting.

The specific technical scheme is as follows:

a pipe rotary gripper, comprising: a double-fluted disc clamping and rotating mechanism and a driving mechanism.

The double-fluted-disc clamping and rotating mechanism comprises a first fluted disc and a second fluted disc which are concentrically arranged and have the same diameter, wherein a through hole which penetrates through the first fluted disc and the second fluted disc is formed in the middle of the first fluted disc and the second fluted disc, a first clamping mechanism connected with the first fluted disc and a second clamping mechanism connected with the second fluted disc are arranged in the through hole, the first fluted disc and the second fluted disc rotate relatively, the first clamping mechanism and the second clamping mechanism are close to or separated from each other, the first fluted disc and the second fluted disc rotate synchronously, the distance between the first clamping mechanism and the second clamping mechanism is kept unchanged, and the pipe fitting is arranged between the first clamping mechanism and the second clamping mechanism.

The driving mechanism comprises a first driving mechanism in driving connection with the first fluted disc and a second driving mechanism in driving connection with the second fluted disc.

The pipe fitting rotary gripper is further characterized by further comprising a paw floating mechanism, and the double-chuck clamping rotary mechanism is connected with the manipulator through the paw floating mechanism.

The pipe fitting rotary clamp holder is characterized in that the paw floating mechanism comprises a connecting plate, a plurality of spring assemblies and a cylinder pin-penetrating positioning mechanism, one side of the connecting plate is connected with the double-fluted disc clamping rotary mechanism, the other side of the connecting plate is movably connected with the manipulator, and the spring assemblies are arranged between the connecting plate and the manipulator; in addition, the manipulator is provided with a positioning hole, and the cylinder pin-penetrating positioning mechanism is matched with the positioning hole.

The pipe fitting rotary gripper is characterized by further comprising two groups of gear transmission mechanisms, each gear transmission mechanism comprises a driving gear and a plurality of driven gears, the driving gear is fixedly connected with the output end of the first driving mechanism or the output end of the second driving mechanism, and the driving gear is meshed with the outer side of the first fluted disc or the outer side of the second fluted disc through the plurality of driven gears.

The pipe fitting rotary gripper is further characterized in that the first driving mechanism and the second driving mechanism are arranged in parallel, and the first driving mechanism and the second driving mechanism are one of a rotary air cylinder, a rotary electric cylinder and a servo motor.

In the above pipe fitting rotary gripper, the first clamping mechanism and the second clamping mechanism are eccentrically arranged in the through hole, and the longitudinal sections of the first clamping mechanism and the second clamping mechanism are arranged in an arc shape.

In the pipe fitting rotary clamp, the edge of the first gear plate is provided with an opening, and the opening is the origin of the double gear plate clamping rotary mechanism.

A robot pipe bending workstation comprises a pipe fitting feeding machine, a blanking frame, a manipulator and a fixed pipe bending machine, wherein the manipulator is close to the fixed pipe bending machine, a pipe fitting rotary clamp holder is arranged at the end part of the manipulator close to the fixed pipe bending machine, and the pipe fitting feeding machine and the blanking frame are respectively positioned on two sides of the fixed pipe bending machine.

The robot pipe bending workstation is characterized by further comprising a positioning mechanism for detecting the pipe fitting, wherein the positioning mechanism is located in the moving range of the manipulator.

In the robot pipe bending workstation, the positioning mechanism is in communication connection with the manipulator.

The positive effects of the technical scheme are as follows:

the invention provides a pipe fitting rotating clamp and a robot pipe bending workstation comprising the same,

1. the double-fluted-disc clamping and rotating mechanism integrates a rotating clamping function, so that the structure is more compact, the gear transmission mechanism can effectively eliminate tooth gaps and improve the rotating precision, the position adjustment of the pipe fitting is more accurate, the pipe fitting clamping and rotating paw provides cooperation assistance for a robot bent pipe, the equipment layout is optimized, operators are reduced, and the automation degree of the equipment is improved.

2. The paw floating mechanism increases the flexibility of the paw, eliminates or reduces the rigid stress of the mechanical arm, and prolongs the service life of the mechanical arm.

3. The pipe fitting rotary clamp holder is matched with the mechanical arm, the fixed pipe bender, the feeding and discharging mechanism and the like to form a simple pipe bending work station, the whole process does not need manual participation, full-automatic operation is realized, a worker is far away from a pipe bending work area, and the safety of the worker is improved.

Drawings

FIG. 1 is a schematic structural view of an embodiment of a rotary gripper for pipe fittings according to the present invention;

FIG. 2 is a top view of an embodiment of a robotic elbow workstation of the present invention;

FIG. 3 is a perspective view of an embodiment of a robotic elbow workstation of the present invention.

In the drawings: 1. a pipe fitting feeding machine; 2. a manipulator; 3. a pipe fitting rotating gripper; 31. a double-fluted disc clamping rotating mechanism; 311. a first fluted disc; 312. a second fluted disc; 313. a first clamping mechanism; 314. a second clamping mechanism; 32. a paw floating mechanism; 321. a connecting plate; 322. a spring assembly; 323. a cylinder pin-penetrating positioning mechanism; 33. a drive mechanism; 331. a first drive mechanism; 332. a second drive mechanism; 34. a gear transmission mechanism; 341. a driving gear; 342. a driven gear; 4. a fixed pipe bender; 5. a blanking frame; 6. a pipe fitting.

Detailed Description

In order to make the technical means, the creation features, the achievement objects and the effects of the present invention easy to understand, the following embodiments are specifically described with reference to fig. 1 to 3 for a pipe fitting rotating gripper and a robotic pipe bending workstation including the same according to the present invention.

The numbering of the components themselves, such as "first", "second", etc., is used herein only to distinguish between the objects depicted and not to have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the pipe fitting rotating gripper and the robot pipe bending workstation comprising the pipe fitting rotating gripper, the double-toothed-disc clamping rotating mechanism 31 comprises a first toothed disc 311 and a second toothed disc 312 which are concentrically arranged and have the same diameter, the central axes of the first toothed disc 311 and the second toothed disc 312 are the same, the first toothed disc 311 and the second toothed disc 312 are arranged in parallel, a through hole is formed in the middle of the first toothed disc 311 and the second toothed disc 312, the through hole of the first toothed disc 311 and the through hole of the second toothed disc 312 are opposite to each other, a first clamping mechanism 313 connected with the first toothed disc 311 and a second clamping mechanism 314 connected with the second toothed disc 312 are arranged in the through holes, the first clamping mechanism 313 and the second clamping mechanism 314 are eccentrically arranged, that is, the structure connecting the first clamping mechanism 313 and the first toothed disc 311 is not arranged along the diameter direction of the first toothed disc 311, the structure connecting the second clamping mechanism 314 and the second toothed disc 312 is not arranged along the diameter direction of the second toothed disc 312, the first toothed disc 311 and the second toothed disc 312 rotate relatively, that is, the first toothed disc 311 and the second toothed disc 312 rotate in different directions, respectively, or the first toothed disc 311 rotates in a certain direction, the second toothed disc 312 is stationary, or the first toothed disc 311 is stationary, the second toothed disc 312 rotates in a certain direction, the first clamping mechanism 313 and the second clamping mechanism 314 approach or separate from each other, so as to clamp or unclamp the pipe 6, the first toothed disc 311 and the second toothed disc 312 rotate synchronously, and the distance between the first clamping mechanism 313 and the second clamping mechanism 314 remains unchanged, that is, the pipe 6 is rotated after the pipe 6 is clamped, so as to adjust the posture of the pipe 6, the pipe 6 is disposed between the first clamping mechanism 313 and the second clamping mechanism 314, and the position transfer of the pipe 6 is realized by the clamping mechanisms.

The driving mechanism 33 includes a first driving mechanism 331 connected to the first toothed plate 311 and a second driving mechanism 332 connected to the second toothed plate 312, and individually controls the first toothed plate 311 and the second toothed plate 312 to rotate.

In a preferred embodiment, as shown in fig. 1, a paw floating mechanism 32 is further included, and the double-chuck clamping rotating mechanism 31 is connected with the manipulator 2 through the paw floating mechanism 32, so that the flexibility of the paw is increased when the pipe bending is carried out, and the rigid stress of the manipulator 2 is eliminated or reduced.

In a preferred embodiment, as shown in fig. 1, the paw floating mechanism 32 includes a connecting plate 321, a plurality of spring assemblies 322, and a cylinder pin-through positioning mechanism 323, one side of the connecting plate 321 is connected to the double-fluted-disc clamping rotating mechanism 31, the other side of the connecting plate 321 is movably connected to the manipulator 2, and a plurality of spring assemblies 322 are disposed between the connecting plate 321 and the manipulator 2, further the manipulator 2 is sleeved with the connecting plate 321 through a rod, and the plurality of spring assemblies 322 are annularly arranged around an outer ring of the rod, so as to improve the flexibility between the manipulator 2 and the double-fluted-disc clamping rotating mechanism 31; in addition, the manipulator 2 is provided with a positioning hole, and the cylinder pin-penetrating positioning mechanism 323 is matched with the positioning hole and can be used for locking the relative position between the manipulator 2 and the double-fluted-disc clamping and rotating mechanism 31.

In a preferred embodiment, as shown in fig. 1, two sets of gear transmission mechanisms 34 are further included, each gear transmission mechanism 34 includes a driving gear 341 and a plurality of driven gears 342, and specifically includes a driving gear 341 and two driven gears 342, wherein the diameter of the driven gears 342 is smaller than the diameter of the driving gear 341, the driving gear 341 is engaged with the two driven gears 342, the two driven gears 342 are engaged with the first toothed disc 311 or the second toothed disc 312, the two driving gears 341 are fixedly connected with the output end of the first driving mechanism 331 or the second driving mechanism 332, the driving gear 341 is engaged with the outer side of the first toothed disc 311 or the second toothed disc 312 through the plurality of driven gears 342, thereby driving the first toothed disc 311 or the second toothed disc 312 to rotate, the two driven gears 342 are disposed between the toothed disc and the driving gear 341 to eliminate backlash and improve the rotation precision, if driven by the servo motor, the first toothed disc 311 and the second toothed disc 312 can rotate to any specified angle with a rotation precision of ± 0.1 °.

In a preferred embodiment, as shown in fig. 1, the first driving mechanism 331 and the second driving mechanism 332 are disposed in parallel, and the first driving mechanism 331 and the second driving mechanism 332 are one of a rotary cylinder, a rotary electric cylinder, and a servo motor, and the servo motor can be used as a power source to ensure the rotation accuracy of the first toothed disc 311 and the second toothed disc 312, so as to improve the accuracy.

In a preferred embodiment, as shown in fig. 1, the first clamping mechanism 313 and the second clamping mechanism 314 are eccentrically disposed in the through hole, the longitudinal sections of the first clamping mechanism 313 and the second clamping mechanism 314 are disposed in an arc shape, the curvature radii of the sections of the first clamping mechanism 313 and the second clamping mechanism 314 are different, and the nearest distance between the first clamping mechanism 313 and the second clamping mechanism 314 is changed during the relative rotation of the first toothed disc 311 and the second toothed disc 312, so as to meet the clamping requirements of the pipes 6 with different pipe diameters.

In a preferred embodiment, as shown in fig. 1, the edge of the first toothed disc 311 is provided with an opening, which is the origin of the double-toothed disc holding/rotating mechanism 31, for confirming that the double-toothed disc holding/rotating mechanism 31 returns to the origin position after completing one work flow, so as to start the next work flow, and ensuring that the origin position of each revolution of the double-toothed disc holding/rotating mechanism 31 is the same.

Referring to fig. 2 and 3, the pipe bending workstation of robot, including pipe fitting material loading machine 1, unloading frame 5, manipulator 2 and fixed bending machine 4, use this pipe fitting rotary clamp 3 at the pipe bending workstation of robot, install the tip at manipulator 2, use with 2 supporting of manipulator and accomplish pipe fitting pay-off and rotation operation, pipe fitting clamping accuracy: 0.05mm, rotary clamping precision: ± 0.1 °, maximum rotational speed: 80 r/min. Pipe fitting material loading machine 1 is used for piling up the pipe fitting 6 that does not carry out the bending, pile up the subsequent clamp of being convenient for with parallel gesture, manipulator 2 is close to fixed bending machine 4, manipulator 2 takes off the pipe fitting from pipe fitting material loading machine 1 and places and carry out the return bend operation in fixed bending machine 4, manipulator 2 is close to the tip of fixed bending machine 4 and is provided with the rotatory holder 3 of pipe fitting, be convenient for carry out the centre gripping removal to pipe fitting 6, and pipe fitting material loading machine 1 and unloading frame 5 are located the both sides of fixed bending machine 4 respectively, unloading frame 5 is used for temporarily placing the pipe fitting that finishes through buckling.

In a preferred embodiment, as shown in fig. 2 and 3, a positioning mechanism (not shown in the figure) for detecting the pipe 6 is further included, the positioning mechanism is located in the moving range of the manipulator 2, and the positioning mechanism is used for detecting whether the pipe 6 to be bent is conveyed to a preset position in real time, so that the manipulator 2 cooperates with the pipe rotating gripper 3 to perform gripping rotation on the pipe, and the like.

In a preferred embodiment, as shown in fig. 2 and 3, the positioning mechanism is in communication with the manipulator 2, and when the positioning mechanism detects the position of the pipe 6, the positioning mechanism sends a signal to the manipulator 2, and the pipe rotary gripper 3 of the manipulator 2 moves to a preset position to grip the pipe, so as to perform the subsequent bending operation.

In the following description, a specific embodiment is described, and it should be noted that the structures, processes, and materials described in the following embodiment are only used to illustrate the feasibility of the embodiment, and are not intended to limit the scope of the present invention.

The working principle of the pipe fitting rotary clamp and the robot pipe bending workstation comprising the same is as follows: the pipe fitting to be bent is stacked in the pipe fitting feeding machine, each time the pipe fitting feeding machine pushes one pipe fitting to be bent out of the pipe fitting to be bent to the position of the positioning mechanism, the positioning mechanism transmits a signal to the manipulator after acquiring the pipe fitting, the pipe fitting rotary clamp of the manipulator moves to a preset position, the first driving mechanism on the left side drives the first fluted disc to rotate, so that the first clamping mechanism and the second clamping mechanism are driven to be close to each other to clamp the pipe fitting, and then the first driving mechanism and the second driving mechanism drive the first fluted disc and the second fluted disc to synchronously rotate, so that the pipe fitting rotates to a specified angle and the clamping of the pipe fitting is kept from loosening; then the manipulator conveys the pipe fitting to the die clamping position of the fixed pipe bender, the fixed pipe bender clamps the pipe fitting, and the pipe fitting rotating clamp of the manipulator loosens the pipe fitting; when the fixed pipe bender bends the pipe, the pipe rotating clamp of the manipulator clamps the pipe again, and rotates the pipe to a specified angle, then the fixed pipe bender clamps the pipe, the pipe rotating clamp of the manipulator loosens the pipe again, and the fixed pipe bender bends the pipe again; finally, after the pipe fitting rotating clamp of the manipulator clamps the pipe fitting again, the fixed pipe bender loosens the bent pipe fitting, and the manipulator discharges the pipe fitting to a discharging rack; and then repeating the above actions to continuously finish the bending of the pipe fitting.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.

Claims

1. A rotary gripper for pipe fittings, comprising:

the double-fluted-disc clamping and rotating mechanism comprises a first fluted disc and a second fluted disc which are concentrically arranged and have the same diameter, wherein a through hole is formed in the middle of the first fluted disc and the second fluted disc, a first clamping mechanism connected with the first fluted disc and a second clamping mechanism connected with the second fluted disc are arranged in the through hole, a pipe fitting is arranged between the first clamping mechanism and the second clamping mechanism, the first clamping mechanism and the second clamping mechanism are eccentrically arranged in the through hole, the longitudinal sections of the first clamping mechanism and the second clamping mechanism are arranged in an arc shape, the first fluted disc and the second fluted disc relatively rotate, the first clamping mechanism and the second clamping mechanism are close to or separated from each other, so that the pipe fitting is clamped or loosened, and the first fluted disc and the second fluted disc synchronously rotate, the distance between the first clamping mechanism and the second clamping mechanism is kept unchanged, so that the pipe fitting is clamped and then rotated;

and the driving mechanism comprises a first driving mechanism in driving connection with the first fluted disc and a second driving mechanism in driving connection with the second fluted disc.

2. The rotary gripper for pipe fittings according to claim 1, further comprising a claw floating mechanism, wherein the double-toothed disc clamping rotating mechanism is connected with a manipulator through the claw floating mechanism.

3. The pipe fitting rotary clamp holder according to claim 2, wherein the paw floating mechanism comprises a connecting plate, a plurality of spring assemblies and a cylinder pin-through positioning mechanism, one side of the connecting plate is connected with the double-fluted disc clamping and rotating mechanism, the other side of the connecting plate is movably connected with the manipulator, and the spring assemblies are arranged between the connecting plate and the manipulator; in addition, the manipulator is provided with a positioning hole, and the cylinder pin-penetrating positioning mechanism is matched with the positioning hole.

4. A tube rotary gripper according to claim 1, further comprising two sets of gear mechanisms, each gear mechanism comprising a driving gear and a plurality of driven gears, wherein the driving gear is fixedly connected to an output end of the first driving mechanism or the second driving mechanism, and the driving gear is engaged with an outer side of the first gear plate or the second gear plate through the plurality of driven gears.

5. A rotary pipe gripper according to claim 1, wherein said first drive mechanism and said second drive mechanism are juxtaposed, and said first drive mechanism and said second drive mechanism are one of a rotary cylinder, a rotary electric cylinder, and a servo motor.

6. A tube rotating gripper according to claim 1, wherein the edge of the first toothed disc is provided with an opening which is the origin of the double toothed disc gripping rotation mechanism.

7. A robot pipe bending workstation comprising the pipe rotating clamp holder according to any one of claims 1 to 6, wherein the robot pipe bending workstation comprises a pipe feeding machine, a blanking machine, a manipulator and a fixed pipe bender, the manipulator is close to the fixed pipe bender, the end of the manipulator close to the fixed pipe bender is provided with the pipe rotating clamp holder, and the pipe feeding machine and the blanking machine are respectively positioned on two sides of the fixed pipe bender.

8. The robotic pipe bending station according to claim 7, further comprising a positioning mechanism for inspecting a pipe, the positioning mechanism located within a range of motion of the manipulator.

9. The robotic elbow workstation of claim 8 wherein the positioning mechanism is communicatively coupled to the robot arm.