CN110901093A - Intelligent flexible robotic arm - Google Patents
Intelligent flexible robotic arm Download PDFInfo
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- CN110901093A CN110901093A CN201911104112.0A CN201911104112A CN110901093A CN 110901093 A CN110901093 A CN 110901093A CN 201911104112 A CN201911104112 A CN 201911104112A CN 110901093 A CN110901093 A CN 110901093A
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- metal pipe
- arm
- cylinder
- movable frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/001—Combinations of extrusion moulding with other shaping operations
- B29C48/0021—Combinations of extrusion moulding with other shaping operations combined with joining, lining or laminating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/001—Combinations of extrusion moulding with other shaping operations
- B29C48/0022—Combinations of extrusion moulding with other shaping operations combined with cutting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/25—Component parts, details or accessories; Auxiliary operations
- B29C48/355—Conveyors for extruded articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C48/00—Extrusion moulding, i.e. expressing the moulding material through a die or nozzle which imparts the desired form; Apparatus therefor
- B29C48/25—Component parts, details or accessories; Auxiliary operations
- B29C48/92—Measuring, controlling or regulating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C2948/00—Indexing scheme relating to extrusion moulding
- B29C2948/92—Measuring, controlling or regulating
- B29C2948/92009—Measured parameter
- B29C2948/92076—Position, e.g. linear or angular
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2023/00—Tubular articles
- B29L2023/22—Tubes or pipes, i.e. rigid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
Abstract
本发明是一种智能柔性机械手臂，它包括基座、第一固定座、第一活动架、第一托辊、第一气缸、第二固定座、第二活动架、第二托辊和第二气缸，其特点是：还包括第一递送机械手，所述第一递送机械手置于第一固定座与黏合剂挤出机之间，第一托举机械手置于基座上，第一切刀组件置于第一活动架上；第二递送机械手置于基座上、第二固定座与塑料挤出机之间，第二托举机械手置于基座上，第二切刀组件置于第二活动架上；在基座上设置位置传感器，控制器均分别与第一气缸、第二气缸、第一递送机械手、第一托举机械手、第一切刀组件、第二递送机械手、第二托举机械手和第二切刀组件、位置传感器、黏合剂挤出机和塑料挤出机信号连接。
The invention is an intelligent flexible mechanical arm, which comprises a base, a first fixed seat, a first movable frame, a first idler, a first cylinder, a second fixed seat, a second movable frame, a second idler and a first idler. Two air cylinders, which are characterized by: also comprising a first delivery manipulator, the first delivery manipulator is placed between the first fixing seat and the adhesive extruder, the first lift manipulator is placed on the base, and the first cutter The assembly is placed on the first movable frame; the second delivery manipulator is placed on the base, between the second fixed seat and the plastic extruder, the second lift manipulator is placed on the base, and the second cutter assembly is placed on the first Two movable frames; position sensors are arranged on the base, and the controllers are respectively connected with the first cylinder, the second cylinder, the first delivery manipulator, the first lift manipulator, the first cutter assembly, the second delivery manipulator, the second The lift manipulator and the second cutter assembly, the position sensor, the adhesive extruder and the plastic extruder signal connection.
Description
Technical Field
The invention relates to mechanical manufacturing, in particular to the technical field of pipeline manufacturing, and discloses an intelligent flexible mechanical arm.
Background
The pipeline transportation is a transportation mode for transporting liquid and gas materials for a long distance by using a pipeline as a transportation tool, and has the advantages of large transportation volume, small occupied area, short pipeline transportation construction period, low cost, safe and reliable pipeline transportation, strong continuity, low pipeline transportation energy consumption, low cost and good benefit. The 3PE composite pipe as one kind of steel-plastic composite pipe has plastic powder layer, adhesive layer and anticorrosive layer in the outer layer of the metal pipe from inside to outside. In the process of winding the adhesive layer and the anticorrosive layer, the adhesive tape and the anticorrosive tape are relatively soft and have certain heat after being extruded from an extruder, and due to the relatively soft characteristic, the adhesive tape and the anticorrosive tape cannot directly enter between the metal pipe and the carrier roller, the adhesive tape needs to be manually delivered, the adhesive tape and the anticorrosive tape are manually placed in a gap between the metal pipe and the carrier roller, the metal pipe rotates to drive the adhesive tape and the anticorrosive tape to be attached to the outer wall of the pipe, upward winding cannot be realized after the adhesive tape and the anticorrosive tape pass through the gap between the metal pipe and the carrier roller, the adhesive tape and the anticorrosive tape which pass through the gap between the metal pipe and the carrier roller need to be manually lifted and pressed, and the 3PE pipe can not be manufactured until the adhesive tape and the anticorrosive tape pass through the highest point of the metal pipe. After the whole metal pipe is completely wrapped and wound with the adhesive tape and the anti-corrosion tape, materials at the outlets of the extruders of the adhesive tape and the anti-corrosion tape need to be cut off manually, certain relevance exists among the three actions, and in the actual production process, one worker can hardly complete the three actions at the same time. The intelligent flexible mechanical arm in the prior art can only solve the problem of single and normal-temperature working condition use aiming at properties, and can not be used under the working condition of high-temperature and rapid continuous operation temporarily, so that the prior art can not meet the processing requirement for processing a 3PE composite pipe which needs a hot processing procedure and rapid continuous operation.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, and the intelligent flexible mechanical arm is provided.
The technical scheme for solving the technical problem is as follows: an intelligent flexible mechanical arm comprises a base, a first fixed seat, a first movable frame, a first carrier roller, a first air cylinder, a second fixed seat, a second movable frame, a second carrier roller and a second air cylinder, wherein the base is positioned behind a metal pipe spraying station, one end, close to the spraying station, of the base is a metal pipe inlet, the other end of the base is a metal pipe outlet, the first fixed seat is arranged on the base and at the metal pipe inlet, the first movable frame is arranged on the first fixed seat and hinged to the first fixed seat, the first carrier roller is arranged on the first movable frame and hinged to the first movable frame, the first air cylinder is arranged between the first fixed seat and the first movable frame, the lower end of the first air cylinder is fixedly connected with the first fixed seat, and the upper end of the first air cylinder is hinged to the first movable frame; the second fixing base is arranged on the base and between the first fixing base and the metal pipe outlet, the second movable frame is arranged on the second fixing base and hinged, the second carrier roller is arranged on the second movable frame and hinged, the second cylinder is arranged between the second fixing base and the second movable frame, the lower end of the second cylinder is fixedly connected with the second fixing base, and the upper end of the second cylinder is hinged to the second movable frame, and the second movable frame is characterized in that: the adhesive tape cutting machine further comprises a first delivery mechanical arm, a first lifting mechanical arm, a first cutter assembly, a second delivery mechanical arm, a second lifting mechanical arm, a second cutter assembly, a position sensor and a controller, wherein the first delivery mechanical arm is arranged on the base and on one side of the metal pipe between the first fixing seat and the adhesive extruder and used for delivering an adhesive tape between the first carrier roller and the metal pipe, the first lifting mechanical arm is arranged on the base and on the other side of the metal pipe and used for lifting the adhesive tape delivered between the first carrier roller and the metal pipe upwards to a position bypassing the highest point of the metal pipe, and the first cutter assembly is arranged on the first movable frame and between the first delivery mechanical arm and the metal pipe and used for cutting off the adhesive tape; the second delivery manipulator is arranged on the base and on one side of the metal pipe between the second fixed seat and the plastic extruder and used for delivering an anticorrosive belt between the second carrier roller and the metal pipe, the second lifting manipulator is arranged on the base and on the other side of the metal pipe and used for lifting the anticorrosive belt delivered between the second carrier roller and the metal pipe upwards to a position of bypassing the highest point of the metal pipe, and the second cutter assembly is arranged on the second movable frame and between the second delivery manipulator and the metal pipe and used for cutting off the anticorrosive belt; the automatic adhesive extruding machine is characterized in that position sensors are arranged at the position of an outlet of the metal pipe on the base and used for feeding back the initial position and the tail position of the metal pipe, the signal output end of the controller is in signal connection with the first cylinder, the second cylinder, the first delivery mechanical arm, the first lifting mechanical arm, the first cutter assembly, the second delivery mechanical arm, the second lifting mechanical arm and the second cutter assembly, the signal input end of the controller is in signal connection with the position sensors, and the controller is in two-way signal connection with the adhesive extruding machine and the plastic extruding machine.
The first delivery manipulator and the second delivery manipulator are identical in structure and respectively comprise a base, a connecting arm, a base rotating disk, a large arm, a base motor, a large arm cylinder, a rotating disk motor, a large joint, a clamping jaw cylinder and a clamping jaw joint, the base is arranged on the base and on one side of a metal pipe between a first fixing seat and an adhesive extruder, the lower end of the connecting arm is fixedly connected with the base through the base rotating disk, the upper end of the connecting arm is fixedly connected with the large arm through the large arm rotating disk, the base rotating disk is driven to rotate through the base motor, the large arm rotating disk is driven to rotate through the large arm motor, a cylinder body of the large arm cylinder is arranged on the connecting arm or the base rotating disk and is hinged, a piston rod is hinged with the large arm and is used for driving the, the rotary plate is driven to rotate by a rotary plate motor, the clamping jaw joint is fixedly connected with the large joint through a clamping jaw air cylinder and used for stretching the clamping jaw and the clamping jaw joint, the clamping jaw is arranged at the front end of the clamping jaw joint and used for clamping an adhesive tape or an anti-corrosion tape to deliver, and the base motor, the large arm motor, the rotary plate motor, the large arm air cylinder and the clamping jaw air cylinder are equally divided into a plurality of parts and are respectively connected with a signal output end of a controller through signals.
First lifting manipulator and second lifting manipulator structure are the same, all include bottom plate, fixed plate, lifting unit, swing part, every single move part, clamping part and solenoid valve, the bottom plate is arranged in on the base, the opposite side of tubular metal resonator, the top of bottom plate is arranged in to the fixed plate, lifting unit arranges in between bottom plate and the fixed plate, and lifting unit's lower extreme links firmly with the bottom plate, the upper end links firmly with the fixed plate, swing part rear end and middle are equallyd divide do not articulated with the fixed plate, the front end stretches out outside the fixed plate, every single move part rear end and swing part middle part are articulated, middle and swing part front end are articulated, clamping part arranges in every single move part front end and links firmly, the solenoid valve is arranged in on the bottom plate and links firmly, and the solenoid valve is used for controlling lifting unit, swing part, every single.
The lifting component is a telescopic rod, the lower end of the telescopic rod is fixedly connected with the bottom plate, and the upper end of the telescopic rod is fixedly connected with the fixed plate.
The swing part comprises a connecting rod, a swing arm and a swing cylinder, the rear end of the connecting rod is hinged to the fixed plate, the swing arm is arranged on the fixed plate and hinged to the fixed plate, the front end of the swing arm extends out of the fixed plate, the rear end of the swing arm is hinged to the front end of the connecting rod, the hinge point is located between the hinge point of the rear end of the connecting rod and the fixed plate and between the hinge point of the swing arm and the fixed plate, the swing cylinder is arranged on the side face of the connecting rod, the cylinder body of the swing.
The pitching component comprises a connecting block and a pitching cylinder, the middle of the connecting block is hinged to the front end of a swing arm of the swinging component, the pitching cylinder is arranged on the side face of the swing arm of the swinging component, a cylinder body of the pitching cylinder is hinged to the swing arm of the swinging component, and a piston rod is hinged to the lower end of the connecting block.
The clamping component comprises a pneumatic finger, an upper clamping block and a lower clamping block, the pneumatic finger is arranged in front of the pitching component, the connecting block is fixedly connected with the upper side of a hinged point of the swing arm of the swinging component, the upper clamping block is positioned in front of the pneumatic finger and fixedly connected with the front side of the pneumatic finger, and the lower clamping block is positioned in front of the pneumatic finger and below the upper clamping block and fixedly connected with the front side of the pneumatic finger and the lower side of the upper clamping block.
The first cutter assembly and the second cutter assembly are identical in structure and comprise a sliding table, a cutter holder and a cutter, the sliding table is arranged on the first movable frame or the second movable frame, the first delivery mechanical arm or the second delivery mechanical arm and the metal pipe are arranged between the first delivery mechanical arm and the metal pipe, the cutter holder is arranged on the sliding table, the cutter holder is fixedly connected with a sliding block of the sliding table, and the cutter is arranged on the cutter holder and fixedly connected with the cutter holder.
The using process of the invention is as follows: when a metal pipe is about to enter an adhesive tape winding station from a metal pipe inlet, a position sensor of the intelligent flexible mechanical arm inputs signals into a controller, the controller outputs signals to a first cutter assembly and a second cutter assembly, and waste materials in front of extrusion ports of an adhesive extruder and a plastic extruder are cleaned; when a metal pipe enters an adhesive tape winding station from an inlet of the metal pipe, a position sensor of an intelligent flexible mechanical arm inputs signals into a controller, the controller outputs signals to an adhesive extruder and a plastic extruder to start extruding an adhesive tape and an anticorrosive tape in sequence, when the adhesive tape and the anticorrosive tape are extruded from an outlet of the extruder respectively, a first cutter assembly and a second cutter assembly receive the signals transmitted by the controller to cut the ends of the adhesive tape and the anticorrosive tape respectively, a first delivery manipulator and a second delivery manipulator receive the signals sent by the controller respectively to clamp the adhesive tape and the anticorrosive tape to deliver towards the direction of the metal pipe, so that the adhesive tape enters a gap between a first carrier roller and the metal pipe, the anticorrosive tape enters a gap between a second carrier roller and the metal pipe, and under the rotation of the metal pipe, the adhesive tape is driven to be attached to a spraying layer on the wall of the metal pipe firstly, Then the anti-corrosion belt is driven to be attached to the outer surface of the adhesive belt of the metal pipe; after the adhesive tape passes through a gap between the first carrier roller and the metal pipe, the adhesive tape with heat begins to become hard and has certain rigidity strength because the adhesive tape is extruded, the adhesive tape between the gaps continuously moves forwards because of the rotating force until the adhesive tape at the front end forms a section of cantilever structure, the first lifting mechanical arm receives a signal output by the controller, the clamping part of the first lifting mechanical arm clamps the adhesive tape to lift upwards and simultaneously delivers the adhesive tape to the upper part of the metal pipe, so that the clamping jaw is loosened after the adhesive tape exceeds the highest point of the metal pipe, the adhesive tape exceeding the highest point of the metal pipe is attached to the spraying layer on the wall of the metal pipe under the driving of the rotating metal pipe to realize the winding of the adhesive tape, and the anticorrosive tape between the gaps continuously moves forwards because of the rotating force, until the corrosion-resistant belt at the front end forms a section of cantilever structure, the second lifting mechanical arm receives a signal output by the controller, the clamping part of the second lifting mechanical arm clamps the corrosion-resistant belt to lift upwards and simultaneously delivers the corrosion-resistant belt to the upper part of the metal pipe, so that the clamping jaw is loosened after the corrosion-resistant belt exceeds the highest point of the metal pipe, and the corrosion-resistant belt exceeding the highest point of the metal pipe is attached to the adhesive belt of the metal pipe under the driving of the rotating metal pipe to realize the winding of the corrosion-resistant belt. After the metal pipe is wound, the controller respectively outputs signals to the first cutter assembly and the second cutter assembly, the first cutter assembly cuts off the adhesive tape, the second cutter assembly cuts off the anticorrosive tape, and winding of the adhesive tape and the anticorrosive tape of the 3PE pipe can be completed.
The invention has the beneficial effects that: the first delivery mechanical arm can effectively replace a worker to pull the adhesive tape from the extrusion opening of the extruder to the position between the metal pipe and the first carrier roller for delivery, the first lifting mechanical arm can effectively replace the worker to lift and deliver the adhesive tape from the gap to the highest point of the metal pipe, and the first cutter assembly can clean the extrusion opening and cut off the adhesive tape, so that the winding mechanization of the adhesive tape is realized; the second delivery manipulator can effectively replace workers to pull the anticorrosive tape from the extrusion port of the extruder to the position between the metal pipe and the second carrier roller for traction delivery, the second lifting manipulator can effectively replace workers to lift and deliver the anticorrosive tape from the gap to the highest point of the metal pipe, and the second cutter assembly can clean the extrusion port and cut off the anticorrosive tape, so that the winding mechanization of the anticorrosive tape is realized; the intelligent winding of the adhesive tape and the intelligent winding of the anti-corrosion tape can be realized by the controller, the position sensor, and the signal connection of the controller, the first cylinder, the second cylinder, the first delivery manipulator, the first lifting manipulator, the first cutter assembly, the second delivery manipulator, the second lifting manipulator, the second cutter assembly, the position sensor, the adhesive extruder and the plastic extruder. The intelligent robot has the advantages of no humanization, intelligence, reasonable structure and high efficiency.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent flexible robot arm according to the present invention;
FIG. 2 is a schematic front view of a first delivery robot of the intelligent flexible robot of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a schematic structural diagram of a first lift robot of the smart flexible robot of the present invention;
fig. 5 is a schematic structural diagram of a first cutter assembly of the intelligent flexible robot arm according to the present invention.
In the figure: 1 inlet of a threaded steel pipe, 2 first movable frame, 3 first carrier roller, 4 first cutter assembly, 5 first delivery mechanical arm, 6 second driving assembly, 7 second carrier roller, 8 second delivery mechanical arm, 9 outlet of the threaded steel pipe, 10 second movable frame, 11 second lifting mechanical arm, 12 second fixed seat, 13 first fixed seat, 14 first lifting mechanical arm, 15 base, 16 large joint, 17 rotating disk, 18 large arm, 19 large arm motor, 20 base motor, 21 base, 22 base rotating disk, 23 large arm cylinder, 24 connecting arm, 25 large arm rotating disk, 26 clamping jaw, 27 clamping jaw joint, 28 clamping jaw cylinder, 29 bottom plate, 30 flange plate, 31 telescopic rod and 32 adjusting sleeve, 33 limiting blocks, 34 bearing blocks, 35 lower clamping blocks, 36 upper clamping blocks, 37 pneumatic fingers, 38 connecting blocks, 39 swing arms, 40 pitching cylinders, 41 rotating shafts, 42 connecting rods, 43 fixing plates, 44 swing cylinders, 45 electromagnetic valves, 46 cutters, 47 cutter holders and 48 sliding tables.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Referring to fig. 1 to 5, in embodiment 1, the intelligent flexible mechanical arm in this embodiment includes a base 15, a first fixed seat 13, a first movable frame 2, a first carrier roller 3, a first air cylinder, a second fixed seat 12, a second movable frame 10, a second carrier roller 7, and a second air cylinder, where the base 15 is located behind a spraying station of a threaded steel pipe, one end of the base 15 close to the spraying station is a threaded steel pipe inlet 1, and the other end is a threaded steel pipe outlet 9, the first fixed seat 13 is located on the base 15 and at the threaded steel pipe inlet 1, the first movable frame 2 is located on the first fixed seat 13 and is hinged to the first fixed seat 13, the first carrier roller 3 is located on the first movable frame 2 and is hinged to the first air cylinder, the first air cylinder is located between the first fixed seat 13 and the first movable frame 2, the lower end of the first air cylinder is fixedly connected to the first fixed seat 13, and the upper end of the first; the second fixed seat 12 is arranged on the base 15 and between the first fixed seat 13 and the threaded steel pipe outlet 9, the second movable frame 10 is arranged on the second fixed seat 12 and hinged, the second carrier roller 7 is arranged on the second movable frame 10 and hinged, the second cylinder is arranged between the second fixed seat 12 and the second movable frame 10, the lower end of the second cylinder is fixedly connected with the second fixed seat 12, and the upper end of the second cylinder is hinged with the second movable frame 10, the device also comprises a first delivery manipulator 5, a first lifting manipulator 14, a first cutter component 4, a second delivery manipulator 8, a second lifting manipulator 11, a second cutter component 6, a position sensor and a controller, the first delivery manipulator 5 is arranged on one side of the threaded steel pipe between the first fixed seat 13 and the adhesive extruder and used for delivering the adhesive tape between the first carrier roller 3 and the threaded steel pipe, the first lifting manipulator 14 is arranged on the base 15, The other side of the threaded steel pipe is used for lifting the adhesive tape delivered between the first carrier roller 3 and the threaded steel pipe upwards to the highest point of bypassing the threaded steel pipe, and the first cutter assembly 4 is arranged on the first movable frame 2 and between the first delivery manipulator 5 and the threaded steel pipe and is used for cutting off the adhesive tape; the second delivery manipulator 8 is arranged on the base 15 and on one side of the threaded steel pipe between the second fixed seat 12 and the plastic extruder and used for delivering an anticorrosive tape between the second carrier roller 7 and the threaded steel pipe, the second lifting manipulator 11 is arranged on the base 15 and on the other side of the threaded steel pipe and used for lifting the anticorrosive tape delivered between the second carrier roller 7 and the threaded steel pipe upwards to the highest point of bypassing the threaded steel pipe, and the second cutter assembly 6 is arranged on the second movable frame 10 and between the second delivery manipulator 8 and the threaded steel pipe and used for cutting off the anticorrosive tape; on base 15, threaded steel pipe export 9 departments set up position sensor for the initial position and the end position of feedback threaded steel pipe, the signal output part of controller is equallyd divide respectively with first cylinder, second cylinder, first delivery manipulator 5, first lifting manipulator 14, first cutter unit spare 4, second delivery manipulator 8, second lifting manipulator 11 and second cutter unit spare 6 signal connection, the signal input part and the position sensor signal connection of controller, the controller is equallyd divide respectively with two-way signal connection of adhesive extruder and plastics extruder.
The first delivery manipulator 5 and the second delivery manipulator 8 have the same structure and respectively comprise a base 21, a connecting arm 24, a base rotating disk 22, a large arm rotating disk 25, a large arm 18, a base motor 20, a large arm motor 19, a large arm cylinder 23, a rotating disk 17, a turntable motor, a large joint 16, a clamping jaw 26, a clamping jaw cylinder 28 and a clamping jaw joint 27, wherein the base 21 is arranged on one side of a threaded steel pipe between the base 15 and the adhesive extruder, the lower end of the connecting arm 24 is fixedly connected with the base 21 through the base rotating disk 22, the upper end of the connecting arm is fixedly connected with the large arm 18 through the large arm rotating disk 25, the base rotating disk 22 is driven to rotate through the base motor 20, the large arm rotating disk 25 is driven to rotate through the large arm motor 19, the cylinder body of the large arm cylinder 23 is arranged on the connecting arm 24 or the base rotating disk 22 and is hinged, and the piston rod is, the clamping jaw mechanism is used for driving the large arm 18 to swing, the upper end of the large arm 18 is fixedly connected with the large joint 16 through the rotating disc 17, the rotating disc 17 is driven to rotate through a turntable motor, the clamping jaw joint 27 is fixedly connected with the large joint 16 through a clamping jaw air cylinder 28 and used for stretching the clamping jaw air cylinder 28 and the clamping jaw joint 27, a clamping jaw 26 is arranged at the front end of the clamping jaw joint 27 and used for clamping an adhesive tape or an anti-corrosion tape to deliver, and the base motor 20, the large arm motor 19, the turntable motor, the large arm air cylinder 23 and the clamping jaw air cylinder 28 are connected with a signal output end of a controller through signals.
The first lifting manipulator 14 and the second lifting manipulator 11 have the same structure and respectively comprise a bottom plate 29, a fixed plate 43, a lifting part, a swinging part, a pitching part, a clamping part and an electromagnetic valve 45, the bottom plate 29 is arranged on the base 15 and at the other side of the threaded steel pipe, the fixing plate 43 is arranged above the bottom plate 29, the lifting component is arranged between the bottom plate 29 and the fixed plate 43, the lower end of the lifting component is fixedly connected with the bottom plate 29, the upper end of the lifting component is fixedly connected with the fixed plate 43, the rear end and the middle of the swinging component are respectively hinged with the fixed plate 43, the front end extends out of the fixed plate 43, the back end of the pitching component is hinged with the middle part of the swinging component, the middle part of the pitching component is hinged with the front end of the swinging component, the clamping component is arranged at the front end of the pitching component and is fixedly connected with the front end of the swinging component, the electromagnetic valve 45 is arranged on the bottom plate 29 and fixedly connected, and the electromagnetic valve 45 is used for controlling the air paths of the lifting component, the swinging component, the pitching component and the clamping component.
The lifting component is a telescopic rod 31, the lower end of the telescopic rod 31 is fixedly connected with the bottom plate 29 through a flange plate 30, and the upper end of the telescopic rod 31 is fixedly connected with the fixing plate 43 through an adjusting sleeve 32.
The swinging component comprises a connecting rod 42, a swinging arm 39 and a swinging cylinder 44, wherein the rear end of the connecting rod 42 is hinged with a fixed plate 43, a bearing seat 34 is arranged on the fixed plate 43, a bearing is arranged in the bearing seat 34, the swinging arm 39 is arranged on the bearing on the fixed plate 43 and is fixedly connected with the fixed plate 43 through a bearing, the front end of the swinging arm 39 extends out of the fixed plate 43, the rear end of the swinging arm 39 is eccentrically hinged with the front end of the connecting rod 42 through a rotating shaft 41, the hinge point is positioned between the hinge point of the rear end of the connecting rod 42 and the fixed plate 43 and the hinge point of the swinging arm 39 and the fixed plate 43, the swinging cylinder 44 is arranged on the side surface of the connecting rod 42, the cylinder body of the swinging cylinder 44 is hinged with.
The pitching component comprises a connecting block 38 and a pitching cylinder 40, the middle part of the connecting block 38 is hinged with the front end of a swing arm 39 of the swinging component, the pitching cylinder 40 is arranged on the side surface of the swing arm 39 of the swinging component, the cylinder body of the pitching cylinder 40 is hinged with the swing arm 39 of the swinging component, and the piston rod is hinged with the lower end of the connecting block 38.
The clamping component comprises a pneumatic finger 37, an upper clamping block 36 and a lower clamping block 35, the pneumatic finger 37 is arranged in front of the pitching component, the upper part of a hinged point of the connecting block 38 and the swinging arm 39 of the swinging component is fixedly connected, the upper clamping block 36 is arranged in front of the pneumatic finger 37 and fixedly connected, and the lower clamping block 35 is arranged in front of the pneumatic finger 37 and below the upper clamping block 36 and fixedly connected.
First cutter unit spare 4 is the same with 6 structures of second cutter unit spare, all includes slip table 48, blade holder 47 and cutter 46, slip table 48 is pneumatic slip table, and on first adjustable shelf 2 or second adjustable shelf 10 was arranged in to slip table 48, first delivery manipulator 5 or second delivered between manipulator 8 and the threaded steel pipe, on slip table 48 was arranged in to blade holder 47, blade holder 47 linked firmly with slip table 48's slider, cutter 46 was arranged in on blade holder 47 and linked firmly.
This embodiment adopts prior art manufacturing, first cylinder, second cylinder, position sensor, controller, base motor 20, big arm motor 19, big arm cylinder 23, carousel motor, clamping jaw cylinder 28 cylinder, telescopic link 31, swing cylinder 44, every single move cylinder 40, pneumatic finger 37, slip table 48 and solenoid valve 45 are the commercial product of prior art.
The using process of the embodiment is as follows: when the threaded steel pipe is about to enter the adhesive tape winding station from the threaded steel pipe inlet 1, the position sensor of the intelligent flexible mechanical arm inputs signals into the controller, the controller outputs signals to the first cutter assembly 4 and the second cutter assembly 6, and waste materials in front of extrusion ports of the adhesive extruder and the plastic extruder are cleaned; when the threaded steel pipe enters the adhesive tape winding station from the threaded steel pipe inlet 1, the position sensor of the intelligent flexible mechanical arm inputs signals into the controller, the controller outputs signals to the adhesive extruder and the plastic extruder, the adhesive extruder and the plastic extruder start to extrude an adhesive tape and an anticorrosive tape in sequence, the adhesive tape and the anticorrosive tape are extruded from the extruder outlet respectively, the first cutter assembly 4 and the second cutter assembly 6 receive the signals transmitted by the controller and cut the adhesive tape and the anticorrosive tape end to be aligned respectively, the first delivery mechanical arm 5 and the second delivery mechanical arm 8 receive the signals sent by the controller respectively and clamp the adhesive tape and the anticorrosive tape to deliver to the threaded steel pipe respectively, so that the adhesive tape enters a gap between the first carrier roller 3 and the threaded steel pipe, and the anticorrosive tape enters a gap between the second carrier roller 7 and the threaded steel pipe, under the rotation of the threaded steel pipe, firstly driving the adhesive tape to be attached to the spraying layer on the pipe wall of the threaded steel pipe, and then driving the anti-corrosion tape to be attached to the outer surface of the adhesive tape of the threaded steel pipe; after the adhesive tape passes through the gap between the first carrier roller 3 and the threaded steel pipe, the adhesive tape with heat begins to become hard and has certain rigidity strength because the adhesive tape is extruded, the adhesive tape between the gaps continuously moves forwards because of the rotating force until the adhesive tape at the front end forms a section of cantilever structure, the first lifting mechanical arm 14 receives a signal output by the controller, the clamping part of the first lifting mechanical arm 14 clamps the adhesive tape upwards and simultaneously delivers the adhesive tape to the upper part of the threaded steel pipe, the clamping jaw 26 is loosened after the adhesive tape exceeds the highest point of the threaded steel pipe, the adhesive tape exceeding the highest point of the threaded steel pipe is attached to the spraying layer on the pipe wall of the threaded steel pipe under the driving of the rotating threaded steel pipe to realize the winding of the adhesive tape, and the anticorrosive tape between the gaps continuously moves forwards because of the rotating force, until the corrosion-resistant belt at the front end forms a section of cantilever structure, the second lifting mechanical arm 11 receives a signal output by the controller, the clamping part of the second lifting mechanical arm 11 clamps the corrosion-resistant belt and lifts the corrosion-resistant belt upwards, meanwhile, the corrosion-resistant belt is delivered to the upper part of the threaded steel pipe, the clamping jaw 26 is loosened after the corrosion-resistant belt exceeds the highest point of the threaded steel pipe, and the corrosion-resistant belt exceeding the highest point of the threaded steel pipe is attached to the adhesive tape of the threaded steel pipe under the driving of the rotating threaded steel pipe to realize the winding of the corrosion-. After a threaded steel pipe is wound, the controller respectively outputs signals to the first cutter assembly 4 and the second cutter assembly 6, the first cutter assembly 4 firstly cuts off the adhesive tape, and the second cutter assembly 6 then cuts off the anticorrosive tape, so that the winding of the adhesive tape and the anticorrosive tape of the 3PE pipe can be completed.
The present invention is not limited to the present embodiment, and it is possible for those skilled in the art to easily reproduce and modify the present invention without inventive efforts within the scope of the present invention claimed.
Claims (8)
1. An intelligent flexible mechanical arm comprises a base, a first fixed seat, a first movable frame, a first carrier roller, a first air cylinder, a second fixed seat, a second movable frame, a second carrier roller and a second air cylinder, wherein the base is positioned behind a metal pipe spraying station, one end, close to the spraying station, of the base is a metal pipe inlet, the other end of the base is a metal pipe outlet, the first fixed seat is arranged on the base and at the metal pipe inlet, the first movable frame is arranged on the first fixed seat and hinged to the first fixed seat, the first carrier roller is arranged on the first movable frame and hinged to the first movable frame, the first air cylinder is arranged between the first fixed seat and the first movable frame, the lower end of the first air cylinder is fixedly connected with the first fixed seat, and the upper end of the first air cylinder is hinged to the first movable frame; the second fixing base is arranged on the base and between the first fixing base and the metal pipe outlet, the second movable frame is arranged on the second fixing base and hinged, the second carrier roller is arranged on the second movable frame and hinged, the second cylinder is arranged between the second fixing base and the second movable frame, the lower end of the second cylinder is fixedly connected with the second fixing base, and the upper end of the second cylinder is hinged to the second movable frame, and the second movable frame is characterized in that: the adhesive tape cutting machine further comprises a first delivery mechanical arm, a first lifting mechanical arm, a first cutter assembly, a second delivery mechanical arm, a second lifting mechanical arm, a second cutter assembly, a position sensor and a controller, wherein the first delivery mechanical arm is arranged on the base and on one side of the metal pipe between the first fixing seat and the adhesive extruder and used for delivering an adhesive tape between the first carrier roller and the metal pipe, the first lifting mechanical arm is arranged on the base and on the other side of the metal pipe and used for lifting the adhesive tape delivered between the first carrier roller and the metal pipe upwards to a position bypassing the highest point of the metal pipe, and the first cutter assembly is arranged on the first movable frame and between the first delivery mechanical arm and the metal pipe and used for cutting off the adhesive tape; the second delivery manipulator is arranged on the base and on one side of the metal pipe between the second fixed seat and the plastic extruder and used for delivering an anticorrosive belt between the second carrier roller and the metal pipe, the second lifting manipulator is arranged on the base and on the other side of the metal pipe and used for lifting the anticorrosive belt delivered between the second carrier roller and the metal pipe upwards to a position of bypassing the highest point of the metal pipe, and the second cutter assembly is arranged on the second movable frame and between the second delivery manipulator and the metal pipe and used for cutting off the anticorrosive belt; the automatic adhesive extruding machine is characterized in that position sensors are arranged at the position of an outlet of the metal pipe on the base and used for feeding back the initial position and the tail position of the metal pipe, the signal output end of the controller is in signal connection with the first cylinder, the second cylinder, the first delivery mechanical arm, the first lifting mechanical arm, the first cutter assembly, the second delivery mechanical arm, the second lifting mechanical arm and the second cutter assembly, the signal input end of the controller is in signal connection with the position sensors, and the controller is in two-way signal connection with the adhesive extruding machine and the plastic extruding machine.
2. The intelligent flexible robot of claim 1, wherein: the first delivery manipulator and the second delivery manipulator are identical in structure and respectively comprise a base, a connecting arm, a base rotating disk, a large arm, a base motor, a large arm cylinder, a rotating disk motor, a large joint, a clamping jaw cylinder and a clamping jaw joint, the base is arranged on the base and on one side of a metal pipe between a first fixing seat and an adhesive extruder, the lower end of the connecting arm is fixedly connected with the base through the base rotating disk, the upper end of the connecting arm is fixedly connected with the large arm through the large arm rotating disk, the base rotating disk is driven to rotate through the base motor, the large arm rotating disk is driven to rotate through the large arm motor, a cylinder body of the large arm cylinder is arranged on the connecting arm or the base rotating disk and is hinged, a piston rod is hinged with the large arm and is used for driving the, the rotary plate is driven to rotate by a rotary plate motor, the clamping jaw joint is fixedly connected with the large joint through a clamping jaw air cylinder and used for stretching the clamping jaw and the clamping jaw joint, the clamping jaw is arranged at the front end of the clamping jaw joint and used for clamping an adhesive tape or an anti-corrosion tape to deliver, and the base motor, the large arm motor, the rotary plate motor, the large arm air cylinder and the clamping jaw air cylinder are equally divided into a plurality of parts and are respectively connected with a signal output end of a controller through signals.
3. The intelligent flexible robot of claim 1, wherein: first lifting manipulator and second lifting manipulator structure are the same, all include bottom plate, fixed plate, lifting unit, swing part, every single move part, clamping part and solenoid valve, the bottom plate is arranged in on the base, the opposite side of tubular metal resonator, the top of bottom plate is arranged in to the fixed plate, lifting unit arranges in between bottom plate and the fixed plate, and lifting unit's lower extreme links firmly with the bottom plate, the upper end links firmly with the fixed plate, swing part rear end and middle are equallyd divide do not articulated with the fixed plate, the front end stretches out outside the fixed plate, every single move part rear end and swing part middle part are articulated, middle and swing part front end are articulated, clamping part arranges in every single move part front end and links firmly, the solenoid valve is arranged in on the bottom plate and links firmly, and the solenoid valve is used for controlling lifting unit, swing part, every single.
4. The intelligent flexible robot of claim 3, wherein: the lifting component is a telescopic rod, the lower end of the telescopic rod is fixedly connected with the bottom plate, and the upper end of the telescopic rod is fixedly connected with the fixed plate.
5. The intelligent flexible robot of claim 3, wherein: the swing part comprises a connecting rod, a swing arm and a swing cylinder, the rear end of the connecting rod is hinged to the fixed plate, the swing arm is arranged on the fixed plate and hinged to the fixed plate, the front end of the swing arm extends out of the fixed plate, the rear end of the swing arm is hinged to the front end of the connecting rod, the hinge point is located between the hinge point of the rear end of the connecting rod and the fixed plate and between the hinge point of the swing arm and the fixed plate, the swing cylinder is arranged on the side face of the connecting rod, the cylinder body of the swing.
6. The intelligent flexible robot of claim 3, wherein: the pitching component comprises a connecting block and a pitching cylinder, the middle of the connecting block is hinged to the front end of a swing arm of the swinging component, the pitching cylinder is arranged on the side face of the swing arm of the swinging component, a cylinder body of the pitching cylinder is hinged to the swing arm of the swinging component, and a piston rod is hinged to the lower end of the connecting block.
7. The intelligent flexible robot of claim 3, wherein: the clamping component comprises a pneumatic finger, an upper clamping block and a lower clamping block, the pneumatic finger is arranged in front of the pitching component, the connecting block is fixedly connected with the upper side of a hinged point of the swing arm of the swinging component, the upper clamping block is positioned in front of the pneumatic finger and fixedly connected with the front side of the pneumatic finger, and the lower clamping block is positioned in front of the pneumatic finger and below the upper clamping block and fixedly connected with the front side of the pneumatic finger and the lower side of the upper clamping block.
8. The intelligent flexible robot of claim 1, wherein: the first cutter assembly and the second cutter assembly are identical in structure and comprise a sliding table, a cutter holder and a cutter, the sliding table is arranged on the first movable frame or the second movable frame, the first delivery mechanical arm or the second delivery mechanical arm and the metal pipe are arranged between the first delivery mechanical arm and the metal pipe, the cutter holder is arranged on the sliding table, the cutter holder is fixedly connected with a sliding block of the sliding table, and the cutter is arranged on the cutter holder and fixedly connected with the cutter holder.
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| CN201911104112.0A CN110901093B (en) | 2019-11-13 | 2019-11-13 | Intelligent flexible mechanical arm |
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| CN201911104112.0A CN110901093B (en) | 2019-11-13 | 2019-11-13 | Intelligent flexible mechanical arm |
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