Automatic gripper device for truss coil stock

Abstract

The invention discloses an automatic gripper device for truss coil stock, which is used for gripping the coil stock for transferring, and comprises a gripper platform connected with a truss for lifting, two gripper assemblies capable of moving in opposite directions are arranged below the gripper platform, a liftable first correlation detection piece is arranged on each gripper assembly, and a second correlation detection piece is arranged on each first correlation detection piece. The first correlation detection piece detects the thickness of a coil material through lifting to determine the position of a hollow pipe of the coil material and then enables the gripper platform to drive the gripper assemblies to descend to the position of the hollow pipe, and a translation driving assembly is further arranged on the gripper platform and used for driving the two gripper assemblies to move horizontally and draw close to grab the coil material after the gripper platform descends in place. The truss coil stock automatic gripper device has the advantages of being high in automation degree, stable in coil stock gripping, high in gripping precision, high in reliability, high in safety and the like.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical grippers, and in particular to an automatic gripper device for truss coils. Background Art

[0002] With the development of science and technology, more and more production processes are replaced by robots. The use of robots has greatly improved production efficiency. Mechanical grippers are one of the most commonly used mechanical tools in production work, especially in some production links in the manufacturing industry, where mechanical grippers are often used to move or clamp workpieces.

[0003] The existing technical solutions have the following deficiencies:

[0004] 1. The current method of manual lifting of coiled materials requires high skills of workers, high labor intensity and high risk.

[0005] 2. The current mechanical gripper needs to determine the position of the workpiece and set the corresponding coordinate position before working, and then the mechanical gripper can accurately grasp the workpiece. However, in the actual operation process, due to the center difference caused by the different diameters of the coils and the tilted state with one end higher than the other, the mechanical gripper grabs the empty workpiece, and even the mechanical gripper cannot hold the workpiece steadily and drops it midway, which not only seriously affects the handling or clamping speed of the workpiece, but may also threaten the personal safety of the operator. Summary of the invention

[0006] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a truss coil automatic gripper device with a simple structure, a high degree of automation, stable coil gripping and high reliability.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A truss coil automatic gripper device is used to grab the coil for transportation, including a gripper platform connected to the truss for lifting and lowering, two gripper assemblies that can move towards each other are arranged below the gripper platform, and the gripper assembly is provided with a liftable first pair of shooting detection parts, which detect the thickness of the coil by lifting and lowering to determine the hollow tube position of the coil, and then the gripper platform drives the gripper assembly to descend to the hollow tube. The gripper platform is also provided with a translation drive assembly for driving the two gripper assemblies to translate and approach to grab the coil when the gripper platform is lowered into place.

[0009] As a further improvement of the above technical solution:

[0010] The gripper assembly includes an upright gripper arm, the top of which is movably mounted on a gripper platform via a slide rail assembly, a protruding latch is provided at the bottom of the gripper arm, and the driving end of the translational drive assembly is connected to the top of the gripper arm to drive the latch to translate by driving the gripper arm so as to be inserted into a hollow tube to grab the coil.

[0011] The grab arm is also provided with a latch in place detection unit for detecting whether the latch is inserted into the hollow tube to avoid empty grabbing. The latch in place detection unit includes an elastic member and a sensing switch. The latch is movably inserted into the grab arm. The elastic member is arranged in the grab arm and abuts against the bottom of the latch. The sensing switch is arranged near the elastic member to sense the latch when the latch abuts against the coil and gradually squeezes the elastic member, so that the translation drive assembly stops the translation drive.

[0012] The latch is a hollow tube, and a second radiation detection component is provided on the gripping arm at the tail end of the latch. The second radiation detection component is provided at the hollow portion of the latch to detect whether there is an obstacle in the hollow tube.

[0013] The gripper assembly also includes a grasping position detection member arranged on the inner side of the gripper arm, which is used to stop the translational drive assembly from translational drive after detecting the end of the coil when the latch is gradually inserted into the hollow tube.

[0014] The translation drive assembly includes a screw body and a screw drive member, one end of the screw body is connected to the screw drive member, and the other end is transmission-connected to the top of the grab arm, and the screw drive member drives the screw body to rotate to drive the grab arm to slide along the screw body.

[0015] The slide rail assembly comprises a slide rail arranged on the gripping platform, a slider is provided on the top of the gripping arm, and the slider slides on the slide rail.

[0016] The first cross-radio detection component is connected to the lifting component, and the lifting component includes a lifting drive component and a lifting mounting frame. The lifting drive component is vertically installed on the gripper assembly through the lifting mounting frame. The first cross-radio detection component is installed on the downward lifting end of the lifting drive component, which is used to drive the first cross-radio detection component to lift and lower to detect the thickness of the coil.

[0017] A limit switch is provided at the bottom of the gripper platform, and the bottom of the limit switch is connected to an elastic part. When the gripper platform descends until the elastic part contacts the coil, the elastic part squeezes the limit switch to stop the gripper platform from descending.

[0018] A platform plate is provided on the lifting end of the lifting drive member for installing the first beam detection member, a vertical limit rod is fixed on the platform plate, and a limit hole for the limit rod to movably pass through is opened on the lifting mounting frame for lifting and limiting the platform plate.

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] 1. The present invention discloses an automatic gripper device for a truss coil, which has two gripper assemblies that can move toward each other under the gripper platform, so that the gripper assemblies can be reliably inserted into a hollow tube to firmly grip the coil. On the one hand, it avoids directly clamping the coil body to cause material damage, and avoids unstable clamping during transportation to cause it to fall off, which greatly improves production safety and also greatly improves production efficiency and quality. On the other hand, the two gripper assemblies are connected to the gripper platform and rise and fall at the same time, which avoids the two gripper assemblies grabbing the coil with one high and one low, greatly improving the gripping strength and the safety of the transportation process.

[0021] 1. The present invention discloses an automatic gripper device for truss coils, which sets a first escalable detection member on the gripper platform, detects the thickness of the coil by the first escalation detection member to determine the hollow tube position of the coil, and then drives the gripper platform to drive the gripper assembly down to the hollow tube, and further drives the two gripper assemblies to move together to grab the coil. It is suitable for coils of various diameters and lengths, greatly improving the adaptability of the device, and avoiding the center difference deviation between the gripper assembly and the hollow tube caused by the incompatibility between the degree of descent of the gripper assembly and the diameter of the coil, avoiding the gripper assembly grabbing the coil body or grabbing nothing, greatly improving the safety and reliability of grabbing, and further improving the efficiency and quality of coil transfer.

[0022] 3. The present invention discloses an automatic gripper device for truss coils, which can grip and transfer coils of various lengths and sizes by driving a protruding latch pin on a slide rail assembly of a gripper platform through an upright gripper arm, thereby further improving the applicability of the device.

[0023] 4. The present invention discloses an automatic gripper device for a truss coil, which arranges a latch in place detection unit on the gripping arm to detect whether the latch is inserted into the hollow tube to avoid empty gripping, and arranges an elastic member in the gripping arm to abut against the bottom of the latch. When the latch abuts against the coil and gradually squeezes the elastic member, the latch is sensed to stop the translational drive component, thereby avoiding the latch from grabbing empty and damaging the coil, and avoiding losses caused by empty gripping of the coil, thereby further improving the safety and reliability of the device.

[0024] 5. The present invention discloses an automatic gripper device for a truss coil, in which a latch is set as a hollow tube and a second matching detection component is arranged at the hollow portion corresponding to the latch. Before the gripping action of the gripper assembly starts, the second matching detection component is used to detect whether there is an obstacle in the hollow tube, thereby avoiding interference in the gripping of the gripper assembly caused by obstacles in the hollow tube and causing damage to the device, thereby greatly improving the service life and safety of the device.

[0025] 6. The present invention discloses an automatic gripper device for a truss coil, which detects the distance between the inner side of the gripper arm and the end of the coil by means of a gripping detection member arranged on the inner side of the gripper arm. When the inner side of the gripper arm contacts the end of the coil, the translation drive assembly stops the translation drive to avoid the gripper arm from clamping the coil due to excessive holding force, thereby ensuring appropriate clamping force and greatly improving the safety and reliability of the device.

[0026] 7. The present invention discloses an automatic gripper device for a truss coil, in which a lifting drive member is vertically mounted on a gripper assembly by setting a lifting installation frame, so that the lifting drive member drives a first radiation detection member connected to its downward lifting end to lift and lower to detect the thickness of the coil. The lifting installation frame is provided to improve the reliability and stability of the lifting movement of the first radiation detection member, thereby further improving the reliability and safety of the device.

[0027] 8. The present invention discloses an automatic gripper device for a truss coil, which ensures that the coil is not squeezed by the gripper platform by setting a limit switch at the bottom of the gripper platform. When the gripper platform descends to the point where the elastic part at the bottom of the limit switch contacts the coil, the elastic part squeezes the limit switch to stop the gripper platform from descending, thereby preventing the truss from descending too much and causing the gripper platform to descend and crush the coil, thereby further improving the safety and reliability of coil clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The present invention is a schematic diagram of the structural principle of an automatic gripper device for truss coils.

[0029] Figure 2 It is a three-dimensional principle schematic diagram of an automatic gripper device for truss coils of the present invention.

[0030] Figure 3 It is a schematic diagram of the side structural principle of the present invention.

[0031] Figure 4 It is a schematic diagram of the cross-sectional structural principle of the present invention.

[0032] Figure 5 for Figure 4 Schematic diagram of the enlarged structure principle at A.

[0033] The numbers in the figure represent: 1. coil; 11. hollow tube; 2. gripper platform; 21. slide rail; 22. limit switch; 23. elastic part; 3. gripper assembly; 31. latch in place detection unit; 311. elastic part; 312. induction switch; 32. gripper arm; 321. slider; 33. latch; 34. second pair-shooting detection part; 35. grasping in place detection part; 4. first pair-shooting detection part; 5. translation drive assembly; 51. screw body; 52. screw drive part; 6. lifting assembly; 61. lifting drive part; 62. lifting mounting frame. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0038] like Figures 1 to 5 As shown, the truss coil automatic gripper device of this embodiment is used for grabbing the coil 1 for transportation, including a gripper platform 2 connected to the truss for lifting and lowering, two gripper assemblies 3 that can move toward each other are provided under the gripper platform 2, and a first liftable pair of detection parts 4 is provided on the gripper assembly 3. The first pair of detection parts 4 detects the thickness of the coil 1 by lifting and lowering to determine the position of the hollow tube 11 of the coil 1, and then the gripper platform 2 drives the gripper assembly 3 to descend to the hollow tube 11. A translation drive assembly 5 is also provided on the gripper platform 2 for driving the two gripper assemblies 3 to translate and approach to grab the coil 1 after the gripper platform 2 is lowered into place.

[0039] The specific implementation principle of the truss coil automatic gripper device is as follows:

[0040] When the truss coil automatic gripper device is used, first, the truss drives the gripper platform 2 to move above the coil 1 to be transferred, and the truss drives the gripper platform 2 to descend to a certain position and then pause. Then, the first pair of shooting detection parts 4 of the gripper platform 2 are driven to descend to detect the thickness of the coil 1 and determine the position of the hollow tube 11 of the coil 1. The first pair of shooting detection parts 4 that can be lifted and lowered can accurately determine the descending value of the gripper platform 2 according to the coils 1 of different sizes, so as to avoid the gripper assembly 3 from grasping empty due to the center difference error caused by the different diameters of the coil 1. The first pair of shooting detection parts 4 transmit data to the truss and then rise back to the initial position, so as to avoid the first pair of shooting detection parts 4 from interfering with other parts and affecting the stability of the device operation. In this embodiment, the first pair of shooting detection parts 4 include a diffuse reflection switch detection component. Further, the truss drives the gripper platform 2 to descend to the position where the two gripper assemblies 3 are located at the hollow tube 11 below the gripper platform 2 according to the data transmitted by the first pair of shooting detection parts 4. Finally, the translation drive assembly 5 on the gripper platform 2 drives the two gripper assemblies 3 to translate and move together to grab the coil 1.

[0041] Through the above scientific special design, the truss coil automatic gripper device has the following advantages:

[0042] 1. By providing two gripper assemblies 3 that can move toward each other under the gripper platform 2, the gripper assemblies 3 can be reliably inserted into the hollow tube 11 to firmly and securely grip the coil 1. On the one hand, it avoids directly clamping the coil 1 body to cause material damage, and avoids unstable clamping during transportation to cause it to fall midway, which greatly improves production safety and also greatly improves production efficiency and quality. On the other hand, the two gripper assemblies 3 are connected to the gripper platform 2 and lifted at the same time, which avoids the two gripper assemblies 3 grabbing the coil 1 with one high and one low, greatly improving the gripping strength and the safety of the transportation process.

[0043] Second, by setting a first escalable detection member 4 on the gripper platform 2, the first escalation detection member 4 is lifted and lowered to detect the thickness of the coil 1 to determine the position of the hollow tube 11 of the coil 1, and then the gripper platform 2 is driven to drive the gripper assembly 3 to descend to the hollow tube 11, and the two gripper assemblies 3 are further driven to move together to grasp the coil 1. It is suitable for coils 1 of various diameters and lengths, greatly improving the adaptability of the device, and avoiding the center difference deviation between the gripper assembly 3 and the hollow tube 11 caused by the incompatibility between the degree of descent of the gripper assembly 3 and the diameter of the coil 1, avoiding the gripper assembly 3 from grasping the coil 1 body or grasping nothing, greatly improving the safety and reliability of grasping, and further improving the efficiency and quality of the transfer of the coil 1.

[0044] like Figures 1 to 5As shown, in this embodiment, the gripper assembly 3 includes an upright gripper arm 32, the top of which is movably mounted on the gripper platform 2 through a slide rail assembly, a protruding latch 33 is provided at the bottom of the gripper arm 32, and the driving end of the translation drive assembly 5 is connected to the top of the gripper arm 32 for driving the latch 33 to translate by driving the gripper arm 32 to insert into the hollow tube 11 to grasp the coil 1. When the gripper platform 2 drives the gripper assembly 3 to move until the latch 33 is aligned with the axis of the hollow tube 11, the translation drive assembly 5 drives the gripper arm 32 to translate and move the latch 33 closer to insert into the hollow tube 11 to grasp the coil 1. After the gripper platform 2 transports the coil 1 to the designated position, the translation drive assembly 5 drives the gripper arm 32 to translate the latch 33 until the latch 33 exits the hollow tube 11 to release the gripper 1. By driving the protruding latch 33 to slide on the slide rail assembly of the gripper platform 2 through the erected gripping arm 32, the coils 1 of various lengths and sizes can be clamped and transported, further improving the applicability of the device.

[0045] like Figures 1 to 5 As shown, in this embodiment, a latch in place detection unit 31 is also provided on the grasping arm 32 for detecting whether the latch 33 is inserted into the hollow tube 11 to avoid empty grasping. The latch in place detection unit 31 includes an elastic member 311 and a sensing switch 312. The latch 33 is movably inserted into the grasping arm 32. The elastic member 311 is arranged in the grasping arm 32 and abuts against the bottom of the latch 33. The sensing switch 312 is arranged near the elastic member 311 and is used to sense the latch 33 when the latch 33 abuts against the coil 1 and gradually squeezes the elastic member 311, so that the translation drive component 5 stops the translation drive. By providing a latch in place detection unit 31 on the gripping arm 32 to detect whether the latch 33 is inserted into the hollow tube 11 to avoid empty gripping, an elastic member 311 is provided in the gripping arm 32 to press against the bottom of the latch 33. When the latch 33 presses against the coil 1 and gradually squeezes the elastic member 311, the latch 33 is sensed to stop the translation drive assembly 5 from stopping the translation drive, thereby preventing the latch 33 from empty gripping to damage the coil 1, and avoiding losses caused by empty gripping of the coil 1, thereby further improving the safety and reliability of the device.

[0046] like Figures 1 to 5 As shown, in this embodiment, the latch 33 is a hollow tube, and a second beam detection member 34 is provided at the tail end of the latch 33 on the gripping arm 32. The second beam detection member 34 is provided at the hollow portion corresponding to the latch 33 to detect whether there is an obstacle in the hollow tube 11. By setting the latch 33 as a hollow tube and providing the second beam detection member 34 at the hollow portion corresponding to the latch 33, before the gripping action of the gripping assembly 3 begins, the second beam detection member 34 is used to detect whether there is an obstacle in the hollow tube 11 again, thereby avoiding interference in the gripping of the gripping assembly 3 due to obstacles in the hollow tube 11 and causing damage to the device, thereby greatly improving the service life and safety of the device.

[0047] like Figures 1 to 5As shown, in this embodiment, the gripper assembly 3 further includes a grasping position detection member 35 disposed on the inner side of the grasping arm 32, which is used to stop the translational driving of the translational driving assembly 5 after detecting the end of the coil 1 when the latch 33 is gradually inserted into the hollow tube 11. The grasping position detection member 35 disposed on the inner side of the grasping arm 32 detects the distance between the inner side of the grasping arm 32 and the end of the coil 1, and stops the translational driving of the translational driving assembly 5 when the inner side of the grasping arm 32 contacts the end of the coil 1, thereby avoiding excessive holding force that causes the grasping arm 32 to clamp the coil 1, ensuring appropriate clamping force, and greatly improving the safety and reliability of the device.

[0048] like Figures 1 to 5 As shown, in this embodiment, the translation drive assembly 5 includes a screw body 51 and a screw drive 52 (such as a motor, a cylinder, etc.), one end of the screw body 51 is connected to the screw drive 52, and the other end is connected to the top of the gripping arm 32, and the screw drive 52 drives the screw body 51 to rotate to drive the gripping arm 32 to slide along the screw body 51. By setting the screw drive 52 to drive the screw body 51 to rotate to drive the gripping arm 32 to slide along the screw body 51, the screw drive structure has strong reliability and high precision, and is suitable for the gripping assembly 3 with high movement precision requirements.

[0049] like Figures 1 to 5 As shown, in this embodiment, the slide rail assembly includes a slide rail 21 arranged on the gripping platform 2, and a slider 321 is provided on the top of the gripping arm 32, and the slider 321 slides on the slide rail 21. By providing the slide rail 21 on the gripping platform 2 to cooperate with the slider 321 provided on the top of the gripping arm 32, the sliding safety and reliability of the gripping assembly 3 on the gripping platform 2 are further improved.

[0050] like Figures 1 to 5 As shown, in this embodiment, the first cross-beam detection member 4 is connected to the lifting assembly 6, and the lifting assembly 6 includes a lifting drive member 61 and a lifting mounting frame 62. The lifting drive member 61 is vertically mounted on the gripper assembly 3 through the lifting mounting frame 62. The first cross-beam detection member 4 is mounted on the downward lifting end of the lifting drive member 61, and is used to drive the first cross-beam detection member 4 to rise and fall to detect the thickness of the coil 1. By setting the lifting mounting frame 62, the lifting drive member 61 is vertically mounted on the gripper assembly 3, so that the lifting drive member 61 drives the first cross-beam detection member 4 connected to its downward lifting end to rise and fall to detect the thickness of the coil 1. By setting the lifting mounting frame 62, the reliability and stability of the lifting movement of the first cross-beam detection member 4 are improved, and the reliability and safety of the device are further improved.

[0051] like Figures 1 to 5As shown, in this embodiment, a limit switch 22 is provided at the bottom of the gripping platform 2, and an elastic part 23 is connected to the bottom of the limit switch 22. When the gripping platform 2 is lowered to the point where the elastic part 23 contacts the coil 1, the elastic part 23 squeezes the limit switch 22 to stop the gripping platform 2 from descending. By providing the limit switch 22 at the bottom of the gripping platform 2, it is ensured that the coil 1 is not squeezed by the gripping platform 2. When the gripping platform 2 is lowered to the point where the elastic part 23 at the bottom of the limit switch 22 contacts the coil 1, the elastic part 23 squeezes the limit switch 22 to stop the gripping platform 2 from descending, thereby preventing the gripping platform 2 from descending and crushing the coil 1 due to excessive descent of the truss, and further improving the safety and reliability of the coil 1 clamping.

[0052] like Figures 1 to 5 As shown, in this embodiment, a platform plate is provided on the lifting end of the lifting drive member 61 for mounting the first cross-beam detection member 4, a vertical limit rod is fixed on the platform plate, and a limit hole for the limit rod to movably pass through is provided on the lifting mounting frame 62 for limiting the lifting and lowering of the platform plate. By providing a platform plate on the lifting end of the lifting drive member 61 to carry the first cross-beam detection member 4, and fixing a vertical limit rod on the platform plate to pass through the limit hole provided on the lifting mounting frame 62 for limiting the lifting and lowering of the platform plate, the safety and reliability of the lifting and lowering of the first cross-beam detection member 4 are greatly improved.

[0053] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. An automatic gripper device for truss coils, used for grabbing coils (1) for transport, characterized in that: The invention comprises a gripping platform (2) connected to a truss for lifting and lowering, two gripping assemblies (3) movable towards each other are arranged below the gripping platform (2), a first cross-beam detection component (4) movable and retractable is arranged on the gripping component (3), the first cross-beam detection component (4) detects the thickness of the coil (1) by lifting and lowering to determine the position of the hollow tube (11) of the coil (1), and then the gripping platform (2) drives the gripping assembly (3) to descend to the hollow tube (11), and the gripping platform (2) is also provided with a translation drive component (5) for driving the two gripping assemblies (3) to translate and move together to grasp the coil (1) when the gripping platform (2) is lowered into position.

2. The automatic gripper device for truss coils according to claim 1 is characterized in that: The gripper assembly (3) comprises an upright gripper arm (32), the top of which is movably mounted on the gripper platform (2) via a slide rail assembly, the bottom of which is provided with a protruding latch (33), and the driving end of the translation drive assembly (5) is connected to the top of the gripper arm (32) for driving the gripper arm (32) to translate the latch (33) so as to be inserted into the hollow tube (11) to grasp the coil (1).

3. The automatic gripper device for truss coils according to claim 2 is characterized in that: The gripping arm (32) is also provided with a latch in place detection unit (31) for detecting whether the latch (33) is inserted into the hollow tube (11) to avoid empty gripping. The latch in place detection unit (31) comprises an elastic member (311) and a sensing switch (312). The latch (33) is movably arranged on the gripping arm (32). The elastic member (311) is arranged in the gripping arm (32) and abuts against the bottom of the latch (33). The sensing switch (312) is arranged near the elastic member (311) and is used to sense the latch (33) when the latch (33) abuts against the coil (1) and gradually squeezes the elastic member (311), so as to stop the translation drive component (5) from translation drive.

4. The automatic gripper device for truss coils according to claim 2 is characterized in that: The latch (33) is a hollow tube. A second beam detection component (34) is provided on the gripping arm (32) at the tail end of the latch (33). The second beam detection component (34) is provided at the hollow portion of the latch (33) to detect whether there is an obstacle in the hollow tube (11).

5. The automatic gripper device for truss coils according to claim 2 is characterized in that: The gripper assembly (3) further comprises a grasping position detection member (35) arranged on the inner side of the gripper arm (32) and used for stopping the translational drive assembly (5) after detecting the end of the coil (1) when the latch (33) is gradually inserted into the hollow tube (11).

6. The automatic gripper device for truss coils according to claim 2 is characterized in that: The translation drive assembly (5) comprises a screw body (51) and a screw drive member (52); one end of the screw body (51) is connected to the screw drive member (52), and the other end is transmission-connected to the top of the grab arm (32); the screw drive member (52) drives the screw body (51) to rotate so as to drive the grab arm (32) to slide along the screw body (51).

7. The automatic gripper device for truss coils according to claim 2 is characterized in that: The slide rail assembly comprises a slide rail (21) arranged on the gripping platform (2), a sliding block (321) is provided on the top of the gripping arm (32), and the sliding block (321) slides on the slide rail (21).

8. The automatic gripper device for truss coils according to claim 1 is characterized in that: The first beam detecting member (4) is connected to a lifting assembly (6), the lifting assembly (6) comprising a lifting driving member (61) and a lifting mounting frame (62), the lifting driving member (61) being vertically mounted on the gripper assembly (3) via the lifting mounting frame (62), the first beam detecting member (4) being mounted on the lifting end facing downwards of the lifting driving member (61) for driving the first beam detecting member (4) to lift and lower so as to detect the thickness of the coil (1).

9. The automatic gripper device for truss coils according to any one of claims 1 to 8, characterized in that: A limit switch (22) is provided at the bottom of the gripper platform (2), and the bottom of the limit switch (22) is connected to an elastic part (23). When the gripper platform (2) descends until the elastic part (23) contacts the coil (1), the elastic part (23) squeezes the limit switch (22) to stop the gripper platform (2) from descending.

10. The automatic gripper device for truss coils according to claim 8, characterized in that: A platform plate is provided on the lifting end of the lifting drive member (61) for mounting the first beam detection member (4), a vertical limit rod is fixed on the platform plate, and a limit hole is provided on the lifting mounting frame (62) for the limit rod to movably pass through, so as to limit the lifting of the platform plate.

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