CN110901093B - Intelligent flexible mechanical arm - Google Patents
Intelligent flexible mechanical armInfo
- Publication number
- CN110901093B CN110901093B CN201911104112.0A CN201911104112A CN110901093B CN 110901093 B CN110901093 B CN 110901093B CN 201911104112 A CN201911104112 A CN 201911104112A CN 110901093 B CN110901093 B CN 110901093B
- Authority
- CN
- China
- Prior art keywords
- base
- cylinder
- manipulator
- metal pipe
- movable frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Extrusion Moulding Of Plastics Or The Like (AREA)
Abstract
The invention relates to an intelligent flexible mechanical arm which 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, and is characterized by further comprising a first delivery mechanical arm, wherein the first delivery mechanical arm is arranged between the first fixed seat and an adhesive extruder, the first lifting mechanical arm is arranged on the base, and a first cutter assembly is arranged on the first movable frame; the second delivery manipulator is arranged on the base, between the second fixing seat and the plastic extruder, the second lifting manipulator is arranged on the base, the second cutter assembly is arranged on the second movable frame, the position sensor is arranged on the base, and the controller is respectively in signal connection with 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.
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 long-distance transportation of liquid and gas materials by using pipelines as transportation means, and has the advantages of large transportation capacity, 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 is used as one of the steel-plastic composite pipes, and the outer layer of the metal pipe is sequentially provided with a plastic powder layer, an adhesive layer and an anti-corrosion layer from inside to outside. In the process of winding the adhesive layer and the anti-corrosion layer, the adhesive tape and the anti-corrosion tape are softer after being extruded from the extruder and have certain heat, and due to the softer characteristic, the adhesive tape cannot directly enter between the metal pipe and the carrier roller, the adhesive tape is required to be delivered manually, the adhesive tape and the anti-corrosion tape are manually placed into a gap between the metal pipe and the carrier roller, then the adhesive tape and the anti-corrosion tape are driven to be attached to the outer wall of the pipe by the rotation of the metal pipe, after the adhesive tape and the anti-corrosion tape pass through the gap between the metal pipe and the carrier roller, upward winding cannot be realized, and the adhesive tape and the anti-corrosion tape which pass through the gap between the metal pipe and the carrier roller are required to be lifted and pressed manually until the adhesive tape and the anti-corrosion tape bypass the highest point of the metal pipe, and then the 3PE pipe can be manufactured. When the whole metal pipe is completely wrapped and wound with the adhesive tape and the anti-corrosion tape, the materials at the outlets of the extruder of the adhesive tape and the anti-corrosion tape are required to be cut off manually, and the three actions have certain relevance, so that one worker can hardly complete the three actions at the same time in the actual production process. The intelligent flexible mechanical arm in the prior art can only solve the problem of single and normal-temperature working conditions, and can not be used under the working conditions of high-temperature and rapid continuous operation, so that the prior art can not meet the processing requirement for processing the 3PE composite pipe which requires a thermal processing procedure and rapid continuous operation.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the defects of the prior art and providing an intelligent flexible mechanical arm.
The invention solves the technical problems by adopting the scheme that the intelligent flexible mechanical arm comprises a base, a first fixed seat, a first movable frame, a first carrier roller, a first cylinder, a second fixed seat, a second movable frame, a second carrier roller and a second cylinder, wherein the base is positioned behind a metal pipe spraying station, one end of the base, which is close to the spraying station, 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, the first carrier roller is arranged on the first movable frame and hinged, the first cylinder is arranged between the first fixed seat and the first movable frame, the lower end of the first cylinder is fixedly connected with the first fixed seat, and the upper end of the first cylinder is hinged with the first movable frame; the second fixed seat is arranged on the base, between the first fixed seat and the metal tube outlet, the second movable frame is arranged on the second fixed seat and hinged, the second carrier roller is arranged on the second movable frame and hinged, the second air cylinder is arranged between the second fixed seat and the second movable frame, the lower end of the second air cylinder is fixedly connected with the second fixed seat, the upper end of the second air cylinder is hinged with the second movable frame, the device is characterized by further comprising a first delivery manipulator, a first lifting manipulator, a first cutter assembly, a second delivery manipulator, a second lifting manipulator, a second cutter assembly, a position sensor and a controller, wherein the first delivery manipulator is arranged on one side of the metal tube between the base, the first fixed seat and the adhesive extruder and used for delivering the adhesive tape between the first carrier roller and the metal tube, the first lifting manipulator is arranged on the base and the other side of the metal tube and used for lifting the adhesive tape delivered between the first carrier roller and the metal tube upwards to the highest point bypassing the metal tube, the first cutter assembly is arranged on the first movable frame, between the first delivery manipulator 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 the anti-corrosion tape 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 anti-corrosion tape delivered between the second carrier roller and the metal pipe upwards to the highest point of bypassing the metal pipe, the second cutter assembly is arranged on the second movable frame, between the second delivery manipulator and the metal pipe and used for cutting off the anti-corrosion tape, the position sensors are arranged on the base and at the outlet of the metal pipe and used for feeding back the initial position and the end position of the metal pipe, the signal output ends of the controller are respectively connected with the first cylinder, the second cylinder, the first lifting manipulator, the first cutter assembly, the second lifting manipulator and the second cutter assembly, the second lifting manipulator are respectively in signal connection with the position sensors, and the two-way signal connection between the signal input end of the controller and the position sensors are respectively connected with the plastic extruder and the two-way signal extruder.
The first delivery manipulator and the second delivery manipulator are identical in structure and comprise a base, a connecting arm, a base rotating disc, a big arm, a base motor, a big arm cylinder, a rotating disc motor, a big joint, clamping jaws, a clamping jaw cylinder and clamping jaw joints, wherein the base is arranged on one side of a metal tube between the base, the first fixing seat and the adhesive extruder, the lower end of the connecting arm is fixedly connected with the base through the base rotating disc, the upper end of the connecting arm is fixedly connected with the big arm through the big arm rotating disc, the base rotating disc is driven to rotate through the base motor, the big arm rotating disc is driven to rotate through the big arm motor, a cylinder body of the big arm cylinder is arranged on the connecting arm or the base rotating disc and hinged with the big arm, a piston rod is used for driving the big arm to swing, the upper end of the big arm is fixedly connected with the big joint through the rotating disc, the clamping jaw and the clamping jaw cylinder are fixedly connected through the clamping jaw, the clamping jaws are used for clamping the telescopic joint, the clamping jaw is arranged at the front end of the joint, the clamping jaw is used for clamping adhesive tape or the anti-corrosion motor, and the base, the big arm, the clamping jaw cylinder, the clamping jaw and the clamping jaw cylinder are respectively connected with the signal output end of the big arm and the rotating disc respectively.
The first lifting manipulator and the second lifting manipulator are identical in structure and comprise a bottom plate, a fixed plate, a lifting part, a swinging part, a pitching part, a clamping part and an electromagnetic valve, wherein the bottom plate is arranged on the other side of the base and the metal tube, the fixed plate is arranged above the bottom plate, the lifting part is arranged between the bottom plate and the fixed plate, the lower end of the lifting part is fixedly connected with the bottom plate, the upper end of the lifting part is fixedly connected with the fixed plate, the rear end and the middle of the swinging part are respectively hinged with the fixed plate, the front end of the swinging part extends out of the fixed plate, the rear end of the pitching part is hinged with the middle of the swinging part, the middle of the pitching part is hinged with the front end of the swinging part, the clamping part is arranged at the front end of the pitching part and fixedly connected with the same, and the electromagnetic valve is arranged on the bottom plate and fixedly connected with the same, and the electromagnetic valve is used for controlling the air paths of the lifting part, the swinging part, the pitching part and the clamping part.
The lifting part 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 fixing plate.
The swing part comprises a connecting rod, a swing arm and a swing cylinder, wherein the rear end of the connecting rod is hinged with the fixed plate, the swing arm is arranged on the fixed plate and hinged with 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 with the front end of the connecting rod, the hinge point is positioned between the hinge point of the rear end of the connecting rod and the fixed plate and the hinge point of the swing arm and the fixed plate, the swing cylinder is arranged on the side face of the connecting rod, and the cylinder body of the swing cylinder is hinged with the fixed plate and the middle of the piston rod and the connecting rod.
The pitching component comprises a connecting block and a pitching cylinder, the middle of the connecting block is hinged with the front end of the swing arm of the swinging component, the pitching cylinder is arranged on the side surface of the swing arm of the swinging component, the cylinder body of the pitching cylinder is hinged with the swing arm of the swinging component, and the piston rod is hinged with the lower end of the connecting block.
The clamping component comprises a pneumatic finger, an upper clamping block and a lower clamping block, wherein the pneumatic finger is arranged in front of the pitching component and above a hinge point of the connecting block and the swinging arm of the swinging component and is fixedly connected, the upper clamping block is positioned in front of the pneumatic finger and is fixedly connected, and the lower clamping block is positioned in front of the pneumatic finger and below the upper clamping block and is fixedly connected.
The first cutter component and the second cutter component are identical in structure and comprise a sliding table, a cutter seat and a cutter, wherein the sliding table is arranged on the first movable frame or the second movable frame, between the first delivery manipulator or the second delivery manipulator and the metal pipe, the cutter seat is arranged on the sliding table, the cutter seat is fixedly connected with a sliding block of the sliding table, and the cutter is arranged on the cutter seat and fixedly connected with the cutter seat.
When a metal pipe is about to enter an adhesive tape winding station from a metal pipe inlet, a signal is input into a controller by a position sensor of the intelligent flexible mechanical arm, and the controller outputs the signal to a first cutter assembly and a second cutter assembly to clean waste materials in front of extrusion outlets of an adhesive extruder and a plastic extruder; when a metal pipe enters an adhesive tape winding station from an inlet of the metal pipe, a signal is input into a controller by a position sensor of the intelligent flexible mechanical arm, the controller outputs the signal to an adhesive extruder and a plastic extruder to sequentially start extruding the adhesive tape and the corrosion-resistant tape, when the adhesive tape and the corrosion-resistant tape are extruded from the outlet of the extruder respectively, a first cutter component and a second cutter component receive the signal transmitted by the controller and respectively cut the ends of the adhesive tape and the corrosion-resistant tape, a first delivery mechanical arm and a second delivery mechanical arm respectively receive the signal transmitted by the controller and respectively clamp the adhesive tape and the corrosion-resistant tape to the direction of the metal pipe, the adhesive tape enters a gap between a first carrier roller and the metal pipe, the corrosion-resistant tape enters a gap between a second carrier roller and the metal pipe, the adhesive tape is firstly driven to be adhered on a spray coating of the metal pipe wall under the rotation of the metal pipe, and then the corrosion-resistant tape is driven to be adhered on the outer surface of the adhesive tape of the metal pipe, after the adhesive tape passes through the gap between the first carrier roller and the metal pipe, the adhesive tape is extruded due to the adhesive tape, the adhesive tape with a certain degree is driven to move forward until the adhesive tape is still stressed by a rigid cantilever, the adhesive tape is still not stressed forward, and is not stressed by the cantilever, the adhesive tape is formed forward, the gap is still is formed, and the adhesive is not stressed forward, and the adhesive is still is deformed, and the structure is always is stressed forward, 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, meanwhile, the adhesive tape is delivered to the upper side of the metal pipe, the clamping jaw is released after the adhesive tape exceeds the highest point of the metal pipe, the adhesive tape exceeding the highest point of the metal pipe is adhered to the spray coating of the pipe wall of the metal pipe under the driving of the rotating metal pipe to realize the winding of the adhesive tape, the anti-corrosion tape between gaps continuously moves forwards until the anti-corrosion tape at the front end forms a section of cantilever structure due to the rotating force, the second lifting mechanical arm receives the signal output by the controller, the clamping part of the second lifting mechanical arm clamps the anti-corrosion tape to lift upwards, meanwhile, the clamping jaw is released after the anti-corrosion tape exceeds the highest point of the metal pipe, and the anti-corrosion tape exceeding the highest point of the metal pipe is adhered to the adhesive tape of the metal pipe under the driving of the rotating metal pipe to realize the winding of the anti-corrosion tape. After the winding of the metal pipe is completed, the controller outputs signals to the first cutter component and the second cutter component respectively, the first cutter component cuts off the adhesive tape, and the second cutter component cuts off the anti-corrosion tape, so that the winding of the adhesive tape and the anti-corrosion tape of the 3PE pipe can be completed.
The adhesive tape winding machine has the advantages that the first delivery manipulator can effectively replace workers to pull and deliver the adhesive tape from the extrusion opening of the extruder to the position between the metal pipe and the first carrier roller, the first lifting manipulator and the first carrier roller can effectively replace workers to lift and deliver the adhesive tape from the gap to the highest point of the metal pipe, the first cutter assembly can clean the extrusion opening of the extruder and cut off the adhesive tape so as to realize winding mechanization of the adhesive tape, the second delivery manipulator can effectively replace workers to pull and deliver the adhesive tape from the extrusion opening of the extruder to the position between the metal pipe and the second carrier roller, the second lifting manipulator and the second cutter assembly can effectively replace workers to lift and deliver the adhesive tape from the gap to the highest point of the metal pipe, and accordingly winding mechanization of the adhesive tape is realized, and the controller, the position sensor, the controller, the second cylinder, the first delivery manipulator, the second cutter assembly and the winding machine can realize winding mechanization of the adhesive tape, and the winding machine. Has the advantages of no humanization, intelligence, reasonable structure and high efficiency.
Drawings
FIG. 1 is a schematic diagram of an intelligent flexible mechanical arm;
FIG. 2 is a schematic front view of a first delivery robot of the smart flexible robot of the present invention;
FIG. 3 is a left side schematic view of FIG. 2;
FIG. 4 is a schematic structural diagram of a first lifting manipulator of the intelligent flexible manipulator of the present invention;
Fig. 5 is a schematic structural view of a first cutter assembly of the intelligent flexible mechanical arm of the present invention.
In the figure: 1 screw steel pipe inlet, 2 first movable frame, 3 first carrier roller, 4 first cutter assembly, 5 first delivery manipulator, 6 second drive assembly, 7 second carrier roller, 8 second delivery manipulator, 9 screw steel pipe outlet, 10 second movable frame, 11 second lifting manipulator, 12 second fixed seat, 13 first fixed seat, 14 first lifting manipulator, 15 base, 16 big joints, 17 rotary disk, 18 big arm, 19 big arm motor, 20 base motor, 21 base, 22 base rotary disk, 23 big arm cylinder, 24 connecting arm, 25 big arm rotary disk, 26 clamping jaw, 27 clamping jaw joint, 28 clamping jaw cylinder, 29 bottom plate, 30 flange, 31 telescopic link, 32 adjusting sleeve, 33 limiting block, 34 bearing seat, 35 lower clamping block, 36 upper clamping block, 37 pneumatic finger, 38 connecting block, 39 swing arm, 40 pitch cylinder, 41 rotary shaft, 42 connecting rod, 43 fixed plate, 44 swing cylinder, 45 solenoid valve, 46, 47 tool apron, 48 slipway.
Detailed Description
The invention will be further described with reference to the drawings and examples.
Referring to fig. 1-5, embodiment 1, an intelligent flexible mechanical arm of the present embodiment includes a base 15, a first fixed seat 13, a first movable frame 2, a first carrier roller 3, a first cylinder, a second fixed seat 12, a second movable frame 10, a second carrier roller 7 and a second cylinder, wherein after the base 15 is located at a threaded steel pipe spraying station, one end of the base 15, which is close to the spraying station, is a threaded steel pipe inlet 1, the other end is a threaded steel pipe outlet 9, the first fixed seat 13 is disposed on the base 15 and at the threaded steel pipe inlet 1, the first movable frame 2 is disposed on the first fixed seat 13 and hinged, the first carrier roller 3 is disposed on the first movable frame 2 and hinged, the first cylinder is disposed between the first fixed seat 13 and the first movable frame 2, the lower end of the first cylinder is fixedly connected with the first fixed seat 13, and the upper end of the first cylinder is hinged with the first movable frame 2; the second fixing seat 12 is arranged on the base 15 and between the first fixing seat 13 and the threaded steel pipe outlet 9, the second movable frame 10 is arranged on the second fixing 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 fixing seat 12 and the second movable frame 10, the lower end of the second cylinder is fixedly connected with the second fixing seat 12, the upper end of the second cylinder is hinged with the second movable frame 10, the device further comprises a first delivery manipulator 5, a first lifting manipulator 14, a first cutter assembly 4, a second delivery manipulator 8, a second lifting manipulator 11, a second cutter assembly 6, a position sensor and a controller, the first delivery manipulator 5 is arranged on one side of the threaded steel pipe between the base 15 and the first fixing seat 13 and the adhesive extruder and used for delivering an adhesive tape between the first carrier roller 3 and the threaded steel pipe, and 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, the first cutter component 4 is arranged on the first movable frame 2 and between the first delivery manipulator 5 and the threaded steel pipe and 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 the anti-corrosion 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 anti-corrosion tape delivered between the second carrier roller 7 and the threaded steel pipe upwards to the highest point of bypassing the threaded steel pipe, the second cutter component 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 anti-corrosion tape, the position sensors are arranged on the base 15 and at the threaded steel pipe outlet 9 and used for feeding back the initial position and the final position of the threaded steel pipe, and the signal output ends of the controller are respectively connected with the first cylinder, the second cylinder, the first delivery manipulator 5, the first delivery manipulator 4 and the second lifter manipulator and the signal controller and the two-way manipulator 11 respectively.
The first delivery manipulator 5 and the second delivery manipulator 8 have the same structure and comprise a base 21, a connecting arm 24, a base rotary disc 22, a big arm rotary disc 25, a big arm 18, a base motor 20, a big arm motor 19, a big arm cylinder 23, a rotary disc 17, a rotary disc motor, a big joint 16, a clamping jaw 26, a clamping jaw cylinder 28 and a clamping jaw joint 27, wherein the base 21 is arranged on the base 15, one side of a threaded steel pipe between the first fixing seat 13 and an adhesive extruder, the lower end of the connecting arm 24 is fixedly connected with the base 21 through the base rotary disc 22, the upper end of the connecting arm is fixedly connected with the big arm 18 through the big arm rotary disc 25, the base rotary disc 22 is driven to rotate through the big arm motor 20, the big arm rotary disc 25 is driven to rotate through the big arm motor 19, a cylinder body of the big arm cylinder 23 is arranged on the connecting arm 24 or the base rotary disc 22 and hinged, a piston rod is hinged with the big arm 18 and used for driving the big arm 18 to swing, the upper end of the big arm 18 is fixedly connected with the clamping jaw 16 through the rotary disc 17, the rotary disc 17 is used for driving the clamping jaw motor to rotate, the clamping jaw joint 16 is fixedly connected with the clamping jaw cylinder 28 and the clamping jaw cylinder 28 through the clamping jaw motor 27 and the clamping jaw cylinder 28 is arranged at the front end of the clamping jaw 20, the clamping jaw cylinder 28 is respectively, and the clamping jaw cylinder is used for controlling the clamping jaw cylinder and the clamping jaw cylinder is connected with the clamping jaw cylinder and the clamping jaw cylinder 28.
The first lifting manipulator 14 and the second lifting manipulator 11 have the same structure and 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, wherein the bottom plate 29 is arranged on the base 15 and on the other side of a threaded steel pipe, the fixed plate 43 is arranged above the bottom plate 29, the lifting part is arranged between the bottom plate 29 and the fixed plate 43, the lower end of the lifting part is fixedly connected with the bottom plate 29, the upper end of the lifting part is fixedly connected with the fixed plate 43, the rear end and the middle of the swinging part are respectively hinged with the fixed plate 43, the front end of the pitching part extends out of the fixed plate 43, the rear end of the pitching part is hinged with the middle of the swinging part, the middle of the pitching part is hinged with the front end of the swinging part, the clamping part is arranged at the front end of the pitching part and fixedly connected, 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 part, the swinging part, the pitching part and the clamping part.
The lifting part 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 is fixedly connected with a fixed plate 43 through an adjusting sleeve 32.
The swing part comprises a connecting rod 42, a swing arm 39 and a swing 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 swing arm 39 is arranged on the bearing on the fixed plate 43 and is fixedly connected with the fixed plate 43 through the bearing, the front end of the swing arm 39 extends out of the fixed plate 43, the rear end of the swing 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 swing arm 39 and the fixed plate 43, the swing cylinder 44 is arranged on the side surface of the connecting rod 42, the cylinder body of the swing cylinder 44 is hinged with the fixed plate 43, the piston rod is hinged with the middle of the connecting rod 42, and a limit block 33 is arranged on the side surface of the swing cylinder 44 and the same side.
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 swinging arm 39 of the swinging component, the pitching cylinder 40 is arranged on the side surface of the swinging arm 39 of the swinging component, the cylinder body of the pitching cylinder 40 is hinged with the swinging 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, wherein the pneumatic finger 37 is arranged in front of the pitching component and fixedly connected with the upper side of a hinge point of the connecting block 38 and the swinging component swinging arm 39, the upper clamping block 36 is arranged in front of the pneumatic finger 37 and fixedly connected with the lower clamping block 35, and the lower clamping block 35 is arranged in front of the pneumatic finger 37 and fixedly connected with the lower side of the upper clamping block 36.
The first cutter assembly 4 and the second cutter assembly 6 have the same structure and comprise a sliding table 48, a cutter seat 47 and a cutter 46, wherein the sliding table 48 is a pneumatic sliding table, the sliding table 48 is arranged on the first movable frame 2 or the second movable frame 10, the first delivery manipulator 5 or the second delivery manipulator 8 and a threaded steel pipe, the cutter seat 47 is arranged on the sliding table 48, the cutter seat 47 is fixedly connected with a sliding block of the sliding table 48, and the cutter 46 is arranged on the cutter seat 47 and fixedly connected.
The embodiment is manufactured by adopting the prior art, and the first cylinder, the second cylinder, the position sensor, the controller, the base motor 20, the large arm motor 19, the large arm cylinder 23, the turntable motor, the clamping jaw cylinder 28, the telescopic rod 31, the swinging cylinder 44, the pitching cylinder 40, the pneumatic finger 37, the sliding table 48 and the electromagnetic valve 45 are all commercial products in the prior art.
When the threaded steel pipe is about to enter an adhesive tape winding station from the threaded steel pipe inlet 1, a position sensor of the intelligent flexible mechanical arm of the embodiment inputs signals into a controller, and the controller outputs signals to the first cutter assembly 4 and the second cutter assembly 6 to clean waste materials in front of extrusion outlets of an adhesive extruder and a plastic extruder; 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 of the embodiment 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 extruding the adhesive tape and the corrosion-resistant tape successively, when the adhesive tape and the corrosion-resistant tape are extruded from the extruder outlet respectively, the first cutter component 4 and the second cutter component 6 receive signals transmitted by the controller, the adhesive tape and the corrosion-resistant tape end are cut in order respectively, the first delivery mechanical arm 5 and the second delivery mechanical arm 8 receive signals transmitted by the controller respectively, clamp the adhesive tape and the corrosion-resistant tape respectively and deliver the signals to the direction of the threaded steel pipe, the adhesive tape enters the gap between the first carrier roller 3 and the threaded steel pipe, the corrosion-resistant tape enters the gap between the second carrier roller 7 and the threaded steel pipe, the adhesive tape is firstly driven to adhere to the wall of the threaded steel pipe under the rotation of the threaded steel pipe, the adhesive tape is then driven to adhere to the outside of the threaded steel pipe after the carrier roller passes through the gap between the first carrier roller 3 and the threaded steel pipe, the adhesive tape is still driven to have a certain rigidity due to the fact that the adhesive tape is extruded forward and is still driven to have a certain rigidity, the adhesive tape between the gaps continuously moves forwards due to the rotating force until the adhesive tape at the front end forms a cantilever structure, the first lifting manipulator 14 receives a signal output by the controller, the clamping part of the first lifting manipulator 14 clamps the adhesive tape to lift upwards, and simultaneously delivers the adhesive tape above the threaded steel pipe, so that the clamping jaw 26 is released 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 adhered to the spray coating of the wall of the threaded steel pipe under the driving of the rotating threaded steel pipe to realize the winding of the adhesive tape, the corrosion-resistant tape between the gaps continuously moves forwards due to the rotating force until the corrosion-resistant tape at the front end forms a cantilever structure, the second lifting manipulator 11 receives the signal output by the controller, the clamping part of the second lifting manipulator 11 clamps the corrosion-resistant tape to lift upwards, and simultaneously delivers the corrosion-resistant tape above the threaded steel pipe, so that the corrosion-resistant tape exceeds the highest point of the threaded steel pipe, and the corrosion-resistant tape exceeding the highest point of the threaded steel pipe is adhered to the adhesive tape under the driving of the rotating threaded steel pipe to realize the winding of the corrosion-resistant tape. After the winding of one threaded steel pipe is completed, the controller outputs signals to the first cutter assembly 4 and the second cutter assembly 6 respectively, the first cutter assembly 4 cuts off the adhesive tape, and the second cutter assembly 6 cuts off the anti-corrosion tape, so that the winding of the adhesive tape and the anti-corrosion tape of one 3PE pipe can be completed.
The invention is not limited to the specific embodiments, but simple copies and modifications which do not undergo inventive work are intended to fall within the scope of the invention as claimed by the skilled person.
Claims (1)
1. The intelligent flexible mechanical arm is characterized by comprising 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 of the base, which is close to the spraying station, 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, the first carrier roller is arranged on the first movable frame and hinged, 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 with the first movable frame; the second fixed seat is arranged on the base, between the first fixed seat and the metal tube outlet, the second movable frame is arranged on the second fixed seat and hinged, the second carrier roller is arranged on the second movable frame and hinged, the second air cylinder is arranged between the second fixed seat and the second movable frame, the lower end of the second air cylinder is fixedly connected with the second fixed seat, the upper end of the second air cylinder is hinged with the second movable frame, the device is characterized by further comprising a first delivery manipulator, a first lifting manipulator, a first cutter assembly, a second delivery manipulator, a second lifting manipulator, a second cutter assembly, a position sensor and a controller, wherein the first delivery manipulator is arranged on one side of the metal tube between the base, the first fixed seat and the adhesive extruder and used for delivering the adhesive tape between the first carrier roller and the metal tube, the first lifting manipulator is arranged on the base and the other side of the metal tube and used for lifting the adhesive tape delivered between the first carrier roller and the metal tube upwards to the highest point bypassing the metal tube, the first cutter assembly is arranged on the first movable frame, between the first delivery manipulator 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 fixing seat and the plastic extruder and is used for delivering the anti-corrosion 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 is used for lifting the anti-corrosion belt between the second carrier roller and the metal pipe upwards to the highest point bypassing the metal pipe, the second cutter component is arranged on the second movable frame and between the second delivery manipulator and the metal pipe and is used for cutting off the anti-corrosion belt, the first cutter component and the second cutter component are identical in structure and respectively comprise a sliding table, a cutter seat and a cutter, the sliding table is arranged on the first movable frame or the second movable frame, between the first delivery manipulator or the second delivery manipulator and the metal pipe, the cutter seat is arranged on the sliding table, and the cutter seat is fixedly connected with the sliding block of the sliding table, and a position sensor is arranged on the cutter seat and is fixedly connected with the position of the base and at the outlet of the metal pipe and is used for feeding back the initial position and the tail position of the metal pipe, and the signal output end of the controller is respectively connected with the first cylinder, the second cylinder, the first delivery manipulator and the second delivery manipulator and the signal sensor are respectively;
The first delivery manipulator and the second delivery manipulator have the same structure and comprise a base, a connecting arm, a base rotating disc, a big arm, a base motor, a big arm cylinder, a rotating disc motor, a big joint, a clamping jaw cylinder and a clamping jaw joint, wherein the base of the first delivery manipulator is arranged on the base and on one side of a metal pipe between a first fixing seat and an adhesive extruder, the base of the second delivery manipulator is arranged on the base and on one side of the metal pipe between a second fixing seat and the plastic extruder, the lower end of the connecting arm is fixedly connected with the base through the base rotating disc, the upper end of the connecting arm is fixedly connected with the big arm through the big arm rotating disc, the base rotating disc is driven to rotate by a base motor, the big arm rotating disc is driven to rotate by a big arm motor, a cylinder body of a big arm cylinder is arranged on a connecting arm or the base rotating disc and hinged with the big arm, a piston rod is hinged with the big arm and used for driving the big arm to swing, the upper end of the big arm is fixedly connected with a big joint through the rotating disc, the rotating disc is driven to rotate by a rotating disc motor, the clamping jaw joints are fixedly connected with the big joint through the clamping jaw cylinder and used for stretching and retracting the clamping jaw and the clamping jaw joints, the front end of the clamping jaw joint is provided with a clamping jaw for clamping an adhesive tape or an anti-corrosion tape for delivery, and the base motor, the big arm motor, the rotating disc motor, the big arm cylinder and the clamping jaw cylinder are respectively connected with a signal output end of a controller through signals;
The first lifting manipulator and the second lifting manipulator are identical in structure and comprise a bottom plate, a fixed plate, a telescopic rod, a swinging component, a pitching component, a clamping component and an electromagnetic valve, wherein the bottom plate is arranged on the base and on the other side of a metal pipe, the fixed plate is arranged above the bottom plate, the telescopic rod is arranged between the bottom plate and the fixed plate, the lower end of the telescopic rod is fixedly connected with the bottom plate, the upper end of the telescopic rod is fixedly connected with the fixed plate, the swinging component comprises a connecting rod, a swinging arm and a swinging cylinder, the rear end of the connecting rod is hinged with the fixed plate, the front end of the swinging arm extends out of the fixed plate, the hinge point is located between the hinge point of the rear end of the connecting rod and the fixed plate and the hinge point of the swinging arm and the fixed plate, the swinging cylinder is arranged on the side of the connecting rod, the piston rod is hinged with the middle of the connecting rod, the pitching component comprises a connecting block and a pitching cylinder, the cylinder body of the pitching cylinder is arranged on the side of the swinging component, the swing block is hinged with the swing block, the lower end of the swing arm is hinged with the swing block, the swing block is fixedly connected with the pneumatic clamping component is arranged on the upper side of the clamping component, the pneumatic clamping component is arranged on the pneumatic clamping component is in front of the connecting block, and the pneumatic clamping component is located on the pneumatic clamping component, and the pneumatic clamping component is in front of the pneumatic clamping component.
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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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| CN211194991U (en) * | 2019-11-13 | 2020-08-07 | 吉林市铜祥管业有限公司 | Intelligent flexible mechanical arm |
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| CN211194991U (en) * | 2019-11-13 | 2020-08-07 | 吉林市铜祥管业有限公司 | Intelligent flexible mechanical arm |
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