Clamp and robot

Abstract

A clamp and a robot are used for clamping a steel coil sleeve, the clamp comprises a support, the support extends in the first direction, and a connecting part is arranged at one end of the support; the clamping rods extend in the first direction, the multiple clamping rods are arranged in the second direction, and the second direction is the circumferential direction of the support; one end of the pose connecting rod is hinged to the support, and the other end of the pose connecting rod is hinged to the clamping rod; and the driving cylinder is arranged on the bracket, is in transmission connection with the pose connecting rod, and drives the pose connecting rod to rotate on the bracket, so that the other end of the pose connecting rod is far away from / close to the bracket, and the plurality of clamping rods are far away from / close to each other. After the clamp extends into the steel coil sleeve, the posture connecting rod is driven by the driving cylinder to rotate, the other end of the posture connecting rod is made to be far away from the support, and therefore the clamping rods are made to be far away from the support, the multiple clamping rods are expanded, clamping and fixing of the steel coil sleeve are achieved, and loading, unloading and logistics carrying of the steel coil sleeve in the whole steel coil production process can be achieved in cooperation with a robot.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil production equipment, and particularly to a fixture and a robot. Background Art

[0002] A steel coil sleeve is a tubular device used for coiling and supporting steel coils in the steel industry. Generally, it is cylindrical. Its functions mainly include providing coiling support, precise positioning and power transmission during the steel coil production process, and providing protection and handling and hoisting during transportation. The inner diameter of the steel coil sleeve is determined according to the steel coil specifications to which it is adapted, and generally has various sizes such as 508 mm, 610 mm, 762 mm, etc. The material of the steel coil sleeve is also determined according to the steel coil production process, and there are various materials such as steel sleeves, rubber sleeves, and paper sleeves.

[0003] In the technological process of steel coil production in the metallurgical industry, in order to prevent the inner ring of the steel coil from collapsing and deforming, sleeves of different models and different materials are required. The rapid loading, unloading and handling of the sleeves are important links in steel coil production. With the continuous popularization of automated equipment in steel coil production, due to the flexibility and flexibility of robots, the rapid loading, unloading and handling of sleeves by robots have become the choice of many steel plants.

[0004] In the technological process of the rapid loading, unloading and handling of sleeves by robots, the robot fixture is the key factor determining the overall working performance. The steel coil sleeve is heavy, and there are many size specifications and material specifications. Designing a rapid loading, unloading and handling robot fixture applicable to multiple specifications of sleeves is of great significance to the entire steel coil production process. Summary of the Invention

[0005] In view of the above problems in the prior art, the present application provides a fixture and a robot, which can adapt to different specifications of steel coil sleeves and realize the rapid handling of different specifications of steel coil sleeves.

[0006] To achieve the above object, the first aspect of the present application provides a fixture for clamping a steel coil sleeve, including: a bracket, the bracket extends along a first direction, and a connecting portion is provided at one end of the bracket for connecting with the robotic arm of the robot; a clamping rod, the clamping rod extends along the first direction, and a plurality of clamping rods are provided and arranged along a second direction, the second direction being the circumferential direction of the bracket; a driving cylinder, the driving cylinder is provided on the bracket at a position in the middle of the plurality of clamping rods, and has a driving rod extending along the first direction; a pose connecting rod, one end of the pose connecting rod is hinged to the bracket, and the other end is hinged to the clamping rod; the pose connecting rod rotates on the bracket, so that the other end of the pose connecting rod moves along the first direction while moving away from / approaching the bracket, so that the plurality of clamping rods move away from / approach each other; a transmission connecting rod, one end of the transmission connecting rod is hinged to the driving rod, and the other end is hinged to the clamping rod.

[0007] As described above, after adjusting the first direction of the fixture to extend along the axial direction of the steel coil sleeve, the fixture is inserted into the steel coil sleeve. The driving cylinder drives the clamping rod to move through the transmission connecting rod. Combining with the function of the pose connecting rod, the clamping rod can be stably moved away from the bracket. By moving multiple clamping rods away from each other, the multiple clamping rods can be expanded. After abutting against the inner peripheral surface of the steel coil sleeve, clamping and fixing of the steel coil sleeve can be achieved from the inside of the steel coil sleeve, and the robot can cooperate to meet the loading, unloading and logistics handling of the steel coil sleeve in the entire production process of the steel coil.

[0008] In addition, the driving cylinder can drive the pose connecting rod to rotate to different angles, so that the distance between the pose connecting rod and the bracket can be adjusted, and further the size of the multiple clamping rods moving away from each other and expanding can be adjusted. Thus, the fixture can be adapted to steel coil sleeves of different sizes and specifications, realizing the rapid handling of steel coil sleeves of different specifications, and having the characteristic of a large clamping range.

[0009] As a possible implementation manner of the first aspect, the fixture further includes: a first sensor, and the first sensor is used to identify the position information of the steel coil sleeve, and the robot corrects the clamping pose of the fixture according to the position information.

[0010] As described above, after obtaining the position information of the steel coil sleeve through the first sensor, the robot can correct the clamping pose of the fixture according to the position information, so that when the fixture is inserted into the steel coil sleeve, the position accuracy of the fixture can be improved, and the fixture can smoothly enter the steel coil sleeve.

[0011] As a possible implementation manner of the first aspect, the first sensor is further used to identify the diameter information of the steel coil sleeve, and the diameter information is used to compare with the pre-stored diameter of the steel coil sleeve. When the comparison result is inconsistent, the robot controls the fixture to stop.

[0012] As described above, the diameter information of the steel coil sleeve obtained through the first sensor can be compared with the pre-stored diameter of the steel coil sleeve. When the comparison result is consistent, that is, when the diameter information identified by the first sensor is the same as the pre-stored diameter information, it can be confirmed that the steel coil sleeve is accurate and error-free, and the fixture can clamp the steel coil sleeve. When the comparison result is inconsistent, that is, when the diameter information identified by the first sensor is different from the pre-stored diameter information, it can be confirmed that there is an error in the steel coil sleeve, and the steel coil sleeve is not the steel coil sleeve that the fixture needs to clamp. Thus, by controlling the fixture to stop, it is convenient for the operator to confirm and process in time, avoiding errors and affecting the production process.

[0013] As a possible implementation of the first aspect, the driving rod extends from the other end of the bracket; the fixture further includes: a connecting member, the connecting member is installed at the end of the driving rod, the first sensor is installed on the connecting member, at a position away from one end of the driving rod, and one end of the transmission link is hinged to the connecting member.

[0014] As above, by providing the connecting member, the transmission link can be conveniently hinged to the driving rod through the connecting member. In addition, by installing the first sensor on the connecting member, the first sensor is located at a position away from one end of the driving rod, so that the first sensor can be at the corresponding position of the other end of the bracket. Thus, when the driving fixture extends into the steel coil sleeve to clamp the steel coil sleeve, the first sensor can be located at one end facing the steel coil sleeve, which is convenient for the first sensor to identify the steel coil sleeve. In addition, using the connecting member for installing the transmission link to install the first sensor, there is no need to separately provide a component for installing the first sensor, which can make the structure of the fixture compact and reduce the manufacturing cost.

[0015] As a possible implementation of the first aspect, the fixture further includes: a second sensor, the second sensor is arranged on the clamping rod to detect whether the clamping rod abuts against the inner peripheral surface of the steel coil sleeve, and when it is detected that the clamping rod abuts against the inner peripheral surface of the steel coil sleeve, the driving cylinder is controlled to stop.

[0016] As above, by detecting whether the clamping rod abuts against the steel coil sleeve through the second sensor, it can be judged whether the fixture has completed the clamping and fixing of the steel coil sleeve. Thus, the control difficulty of the fixture can be reduced, and the steel coil sleeve can be effectively prevented from being damaged due to excessive expansion and extraction force of the fixture.

[0017] As a possible implementation of the first aspect, when viewed along the first direction, a plurality of the clamping rods are located on the same working circle (when the clamping rods abut against the inner peripheral surface of the steel coil sleeve to clamp the steel coil sleeve, the clamping rods are arranged in a circle, and this circle is the working circle); the second sensor is a position detection switch, and the second sensor is exposed from the outside of the working circle.

[0018] As above, by making the second sensor exposed from the outside of the working circle, when the clamping rod abuts against the inner peripheral surface of the steel coil sleeve, the triggering of the second sensor (position detection switch) can be realized, thereby improving the success rate of detection.

[0019] As a possible implementation of the first aspect, the posture link and the other end of the transmission link are inclined in a direction opposite to the first direction.

[0020] As a possible implementation of the first aspect, at least one of the clamping rods is correspondingly provided with a plurality of the posture links.

[0021] As described above, by connecting the clamping rod to the bracket through multiple pose linkages, the stability of the clamping rod can be improved, and further the stability of the fixture when clamping and transporting the steel coil sleeve can be improved.

[0022] As a possible implementation of the first aspect, the lengths of the multiple pose linkages corresponding to the clamping rod are equal and they are arranged in parallel.

[0023] As described above, by making the lengths of the multiple pose linkages corresponding to the clamping rod equal and arranging them in parallel, a parallelogram structure can be formed between the clamping rod and the pose linkages. Thus, when the driving cylinder drives the pose linkages to rotate, the clamping rod can always be kept parallel to the first direction. Therefore, when clamping and fixing the steel coil sleeve, the contact area between the clamping rod and the inner circumferential surface of the steel coil sleeve can be increased, and further the stability of the fixture when clamping and transporting the steel coil sleeve can be improved.

[0024] As a possible implementation of the first aspect, the acute angle formed between the transmission linkage and the clamping rod is greater than the acute angle formed between the pose linkage and the clamping rod.

[0025] As described above, in this application, the transmission linkage connects the clamping rod and the driving rod of the driving cylinder to drive the clamping rod to move along the first direction, thereby driving the pose linkages to rotate (that is, the transmission linkage is the driving rod and the pose linkage is the driven rod), and making the clamping rod move away from / close to the bracket. By making the acute angle formed between the transmission linkage and the clamping rod (i.e., the transmission angle, the greater the transmission angle, the greater the force decomposed in the direction perpendicular to the clamping rod) greater than the acute angle formed between the pose linkage and the clamping rod, the transmission angle of the transmission linkage can be made greater than the transmission angle when the pose linkage is the driving rod. Thus, the force applied to the clamping rod in the direction perpendicular to the clamping rod can be increased, that is, the pressure between the clamping rod and the inner circumferential surface of the steel coil sleeve can be increased, so that the firmness and stability of the fixture clamping the steel coil sleeve can be improved.

[0026] As a possible implementation of the first aspect, three clamping rods are provided, and when viewed along the first direction, the three clamping rods are arranged in an acute triangle.

[0027] As described above, by arranging the three clamping rods in an acute triangle, when the three clamping rods expand, it can be ensured that all three clamping rods can be in contact with the inner circumferential surface of the steel coil sleeve, thereby improving the stability of the fixture clamping and fixing the steel coil sleeve.

[0028] As a possible implementation of the first aspect, when viewed along the first direction, the three clamping rods are arranged in an equilateral triangle.

[0029] As described above, by arranging the three clamping rods in a unilateral triangle, the clamping force applied by the three clamping rods to the steel coil sleeve can be made more uniform, thereby improving the stability of the fixture for clamping and fixing the steel coil sleeve.

[0030] As a possible implementation manner of the first aspect, a gasket is provided on the surface of the clamping rod on the side away from the bracket, and the gasket is made of a flexible material.

[0031] As described above, by providing a gasket made of a flexible material on the surface of the clamping rod on the side away from the bracket, damage to the steel coil sleeve can be reduced when the fixture clamps the steel coil sleeve.

[0032] The second aspect of the present application provides a robot for transporting a steel coil sleeve, including: a fixture, which is the fixture according to any one of the first aspects of the present application; a robotic arm, which is fixedly connected to the connecting portion of the bracket and drives the fixture to move.

[0033] As described above, after adjusting the first direction of the fixture to extend along the axial direction of the steel coil sleeve, the fixture is inserted into the steel coil sleeve. By driving the posture link to rotate through the driving cylinder, the other end of the posture link is moved away from the bracket, so that the clamping rod is moved away from the bracket. By moving the plurality of clamping rods away from each other, the plurality of clamping rods can be expanded, and after abutting against the inner peripheral surface of the steel coil sleeve, clamping and fixing of the steel coil sleeve can be achieved. In addition, the driving cylinder can be used to drive the posture link to rotate to different angles, so that the distance between the posture link and the bracket can be adjusted, and further the size of the plurality of clamping rods moving away from each other and expanding can be adjusted. Thus, the fixture can be adapted to steel coil sleeves of different sizes and specifications, and rapid transportation of steel coil sleeves of different specifications can be achieved.

[0034] These and other aspects of the present invention will become more apparent and understandable in the following description of the (multiple) embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The following further illustrates each feature of the present invention and the connection between each feature with reference to the drawings. The drawings are all exemplary, some features are not shown in actual proportion, and some conventional features in the field involved in the present application that are unnecessary for the present application may be omitted in some drawings, or some features that are unnecessary for the present application may be additionally shown. The combination of the features shown in the drawings does not limit the present application. In addition, throughout the present specification, the content referred to by the same reference numerals is also the same. The specific description of the drawings is as follows:

[0036] Figure 1 It is a schematic structural diagram of the fixture in the present application;

[0037] Figure 2 is Figure 1 a schematic structural diagram of the fixture in after being inserted into the steel coil sleeve;

[0038] Figure 3 For Figure 1 Schematic three-dimensional structure diagram of the main body part of the middle bracket;

[0039] Figure 4 For Figure 1 Schematic three-dimensional structure diagram of the middle clamping rod, pose connecting rod and transmission connecting rod;

[0040] Figure 5 For Figure 1 Schematic three-dimensional structure diagram of the connecting piece in

[0041] Explanation of reference numerals

[0042] 10 Fixture; 100 Bracket; 110 Main body part; 111 Hollow hole; 112 Through hole; 113 Ear plate; 120 First connecting part; 200 Clamping rod; 210 Gasket; 300 Pose connecting rod; 400 Transmission connecting rod; 500 Driving cylinder; 510 Driving rod; 600 Connecting piece; 610 Second connecting part; 620 Third connecting part; 630 Fourth connecting part; 631 Threaded ear plate; 700 First sensor; 800 Second sensor; 20 Steel coil sleeve. Detailed implementation manners

[0043] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc. in the description and claims are only used to distinguish similar objects and do not represent a specific order for the objects. Understandably, the specific order or sequence can be interchanged when allowed, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0044] The term "comprising" used in the description and claims should not be construed as being limited to the content listed thereafter; it does not exclude other elements. Therefore, it should be interpreted as specifying the presence of the described features, wholes or components, but does not exclude the presence or addition of one or more other features, wholes or components and their groups. Therefore, the expression "equipment including device A and B" should not be limited to the equipment consisting only of components A and B.

[0045] "An embodiment" or "embodiments" mentioned in this specification means that the specific features, structures or characteristics described in combination with the embodiment are included in at least one embodiment of the present invention. Therefore, the phrases "in an embodiment" or "in embodiments" that appear throughout this specification do not necessarily all refer to the same embodiment, but may refer to the same embodiment. In addition, in one or more embodiments, the various specific features, structures or characteristics can be combined in any appropriate manner, as will be apparent to those of ordinary skill in the art from this disclosure.

[0046] In order to facilitate the robot to clamp and fix the steel coil sleeve, one solution is to set a special clamp and a steel coil sleeve compatible with the clamp on the robot, so as to facilitate the robot to clamp and fix the steel coil sleeve. Specifically, the coil eye of the steel coil sleeve is facing upward, and a support block is set inside the steel coil sleeve. The clamp includes a cylinder, a rotary servo motor and a movable hanging plate. The cylinder body of the cylinder is connected to an external rotary servo motor. The bottom of the piston rod of the cylinder is connected to the movable hanging plate. The cylinder drives the movable hanging plate to extend and retract in the sleeve. The rotary servo motor controls the rotation of the cylinder and the movable hanging plate. The inner wall of the sleeve is provided with a support block for the rotary servo motor to control the movable hanging plate to leave or be supported on the bottom of the support block. A number of expansion and contraction devices are provided on the side of the piston rod of the cylinder, which are used to abut the expansion and contraction devices against the inner wall of the sleeve when the piston rod of the cylinder is raised.

[0047] When it is necessary to grab the steel coil sleeve, the mobile drive device drives the mechanism to enter the sleeve as a whole, and at this time the movable hanging plate is parallel to the support block. When it is extended to the specified position, the rotary servo motor drives the mechanism to rotate as a whole, so that the movable hanging plate and the support block become vertically supported, playing the role of supporting the sleeve. Then the cylinder drives the piston rod to move upward, lifts the connecting plate of the expansion and contraction device, and drives the fan-shaped plate to expand outward through the connecting strip to support the inner wall of the sleeve. Since the fan-shaped plate and the sleeve are coaxial, the sleeve is accurately positioned when it is grabbed, which is convenient for the subsequent placement to meet the precise requirements of the placement position. The movable hanging plate and the expansion and contraction device both have a strong supporting effect on the sleeve.

[0048] However, this solution has the following disadvantages when clamping and fixing the steel coil sleeve:

[0049] First, there are restrictions on the placement of the steel coil sleeve. When using a clamp to grab the steel coil sleeve, the coil eye of the steel coil sleeve needs to be facing upward.

[0050] Second, there are limitations on the structure of the steel coil sleeve. A support block that matches the movable hanging plate needs to be provided on the inner circumference of the steel coil sleeve, so that the movable hanging plate can pass over the support block and rotate to be located below the support block and supported on the bottom of the support block.

[0051] Third, the structure of the fixture is complex. The movable hanging plate is used to support the bottom of the support block, and the fan-shaped plate of the expansion and contraction device is used to expand outward to support the inner wall of the sleeve, so that the sleeve is accurately positioned when it is grabbed, which is convenient for subsequent placement to meet the precise requirements of the placement position.

[0052] Below, in conjunction with the accompanying drawings, possible embodiments of the clamp 10 in the present application are exemplarily described.

[0053] This application provides a fixture 10 for clamping a steel coil sleeve 20, which includes a bracket 100, clamping rods 200, a pose connecting rod 300, a transmission connecting rod 400, and a driving cylinder 500. Among them, the bracket 100 extends along the first direction A, and a first connecting portion 120 is provided at one end of the bracket 100 for connecting with the robotic arm of the robot. The clamping rods 200 extend along the first direction A, and a plurality of clamping rods 200 are provided and arranged along the second direction, and the second direction is the circumferential direction of the bracket 100. The driving cylinder 500 is arranged on the bracket 100 and is located at a position in the middle of the plurality of clamping rods 200, and has a driving rod 510 extending along the first direction A. One end of the pose connecting rod 300 is hinged to the bracket 100, and the other end is hinged to the clamping rod 200. The pose connecting rod 300 rotates on the bracket 100, so that the other end of the pose connecting rod 300 moves away from / close to the bracket 100, and the plurality of clamping rods 200 move away from / close to each other. One end of the transmission connecting rod 400 is hinged to the driving rod 510, and the other end is hinged to the clamping rod 200.

[0054] As described above, after adjusting the first direction A of the fixture 10 to extend along the axial direction of the steel coil sleeve 20, the fixture 10 is inserted into the steel coil sleeve 20. The driving cylinder 500 drives the clamping rods 200 to move through the transmission connecting rod 400. Combining with the action of the pose connecting rod 300, the clamping rods 200 can move away from the bracket 100 stably. By moving the plurality of clamping rods 200 away from each other, the plurality of clamping rods 200 can be expanded. After abutting against the inner circumferential surface of the steel coil sleeve 20, the clamping and fixing of the steel coil sleeve 20 can be realized from the inside of the steel coil sleeve 20, and the robot can cooperate to meet the loading, unloading and logistics handling of the steel coil sleeve 20 in the entire production process of the steel coil.

[0055] In addition, the driving cylinder 500 can be driven to rotate the pose connecting rod 300 to different angles, so that the distance between the pose connecting rod 300 and the bracket 100 can be adjusted, and further the size of the plurality of clamping rods 200 moving away from each other and expanding can be adjusted. Thus, the fixture 10 can be adapted to steel coil sleeves 20 of different sizes and specifications, realizing the rapid handling of steel coil sleeves 20 of different specifications, and having the characteristic of a large clamping range.

[0056] In some embodiments, the fixture 10 further includes a first sensor 700 for identifying the position information of the steel coil sleeve 20, and the robot corrects the clamping pose of the fixture 10 according to the position information. Thus, after obtaining the position information of the steel coil sleeve 20 through the first sensor 700, the robot can correct the clamping pose of the fixture 10 according to the position information, so that when the fixture 10 is inserted into the steel coil sleeve 20, the position accuracy of the fixture 10 can be improved, enabling the fixture 10 to smoothly extend into the steel coil sleeve 20.

[0057] In some embodiments, the first sensor 700 is further configured to identify the diameter information of the steel coil sleeve 20. The diameter information is used to compare with the pre-stored diameter of the steel coil sleeve 20. When the comparison result is inconsistent, the robot controls the clamp 10 to stop. Thus, the diameter information of the steel coil sleeve 20 obtained by the first sensor 700 can be compared with the pre-stored diameter of the steel coil sleeve 20. When the comparison result is consistent, that is, when the diameter information identified by the first sensor 700 is the same as the pre-stored diameter information, it can be confirmed that the steel coil sleeve 20 is correct, and the clamp 10 can clamp the steel coil sleeve 20. When the comparison result is inconsistent, that is, when the diameter information identified by the first sensor 700 is different from the pre-stored diameter information, it can be confirmed that there is an error in the steel coil sleeve 20, and this steel coil sleeve 20 is not the steel coil sleeve 20 that the clamp 10 needs to clamp. Thus, by controlling the clamp 10 to stop, it is convenient for the operator to confirm and process in time, avoiding errors and affecting the production process.

[0058] In some embodiments, the driving rod 510 extends from the other end of the bracket 100. The clamp 10 further includes a connecting member 600. The connecting member 600 is installed at the end of the driving rod 510. The first sensor 700 is installed on the connecting member 600, at a position away from one end of the driving rod 510. One end of the transmission connecting rod 400 is hinged to the connecting member 600. Thus, by providing the connecting member 600, it is convenient for the transmission connecting rod 400 to be hinged to the driving rod 510 through the connecting member 600. In addition, by installing the first sensor 700 on the connecting member 600, so that the first sensor 700 is at a position away from one end of the driving rod 510, the first sensor 700 can be at the corresponding position of the other end of the bracket 100. Thus, when the clamp 10 is driven to extend into the steel coil sleeve 20 to clamp the steel coil sleeve 20, the first sensor 700 can be located at one end facing the steel coil sleeve 20, which is convenient for the first sensor 700 to identify the steel coil sleeve 20. In addition, by using the connecting member 600 for installing the transmission connecting rod 400 to install the first sensor 700, there is no need to separately provide a component for installing the first sensor 700, which can make the structure of the clamp 10 compact and reduce the manufacturing cost.

[0059] In some embodiments, the clamp 10 further includes a second sensor 800. The second sensor 800 is arranged on the clamping rod 200 to detect whether the clamping rod 200 abuts against the inner circumferential surface of the steel coil sleeve 20. When it is detected that the clamping rod 200 abuts against the inner circumferential surface of the steel coil sleeve 20, the driving cylinder is controlled to stop. Thus, by detecting whether the clamping rod 200 abuts against the steel coil sleeve 20 through the second sensor 800, it can be judged whether the clamp 10 has completed the clamping and fixing of the steel coil sleeve 20. Thus, the control difficulty of the clamp 10 can be reduced, and the steel coil sleeve 20 can be effectively prevented from being damaged due to excessive expansion and taking force of the clamp.

[0060] In some embodiments, when viewed along the first direction A, a plurality of clamping rods 200 are located on the same working circle R (when the clamping rods 200 are in contact with the inner peripheral surface of the steel coil sleeve 20 and clamp the steel coil sleeve 20, the clamping rods 200 are arranged in a circular shape, and this circle is the working circle R). The second sensor 800 is a position detection switch, and the second sensor 800 is exposed from the outside of the working circle R. Thus, by exposing the second sensor 800 from the outside of the working circle R, it can be ensured that when the clamping rod 200 is in contact with the inner peripheral surface of the steel coil sleeve 20, the second sensor 800 (position detection switch) is triggered, thereby improving the success rate of detection.

[0061] In some embodiments, the other ends of the pose link 300 and the transmission link 400 are inclined in a direction opposite to the first direction A.

[0062] In some embodiments, the second sensor 800 is installed on the clamping rod 200, on the side surface of the surface where the clamping rod 200 is in contact with the inner peripheral surface of the steel coil sleeve 20. The second sensor 800 is slidably connected to the clamping rod 200 in the direction of approaching / leaving the bracket 100, so that the position of the sensor 800 can be adjusted. Thus, when it is not necessary to use the fixture 10 for operations such as transportation and maintenance, the position of the second sensor 800 can be adjusted to retract the second sensor 800 to a position within the working circle R, avoiding possible damage caused by the exposure of the second sensor 800. Before using the fixture 10 for operations, the position of the second sensor 800 can also be adjusted to extend the second sensor 800 to a position outside the working circle R, so that the second sensor 800 can detect and confirm the contact between the clamping rod 200 and the inner peripheral surface of the steel coil sleeve 20.

[0063] In some embodiments, at least one clamping rod 200 is correspondingly provided with a plurality of pose links 300. Thus, by connecting the clamping rod 200 to the bracket 100 through a plurality of pose links 300, the stability of the clamping rod 200 can be improved, and further the stability of the fixture 10 when clamping and transporting the steel coil sleeve 20 can be improved.

[0064] In some embodiments, the lengths of the plurality of pose links 300 correspondingly provided on the clamping rod 200 are equal and are arranged in parallel. Thus, by making the lengths of the plurality of pose links 300 correspondingly provided on the clamping rod 200 equal and arranged in parallel, a parallelogram structure can be formed between the clamping rod 200 and the pose links 300. Thus, when the driving cylinder 500 drives the pose link 300 to rotate, the clamping rod 200 can always be kept parallel to the first direction A. Thus, when clamping and fixing the steel coil sleeve 20, the contact area between the clamping rod 200 and the inner peripheral surface of the steel coil sleeve 20 can be increased, and further the stability of the fixture 10 when clamping and transporting the steel coil sleeve 20 can be improved.

[0065] In some embodiments, the acute angle formed between the transmission link 400 and the clamping rod 200 is greater than the acute angle formed between the pose link 300 and the clamping rod 200.

[0066] As described above, in this application, the transmission link 400 connects the clamping rod 200 and the driving rod 510 of the driving cylinder 500, driving the clamping rod 200 to move along the first direction A, thereby driving the pose link 300 to rotate (i.e., the transmission link 400 is the driving rod and the pose link 300 is the driven rod), causing the clamping rod 200 to move away from / approach the bracket. By making the acute angle formed between the transmission link 400 and the clamping rod 200 (i.e., the transmission angle, the greater the transmission angle, the greater the force decomposed in the direction perpendicular to the clamping rod 200) greater than the acute angle formed between the pose link 300 and the clamping rod 200, the transmission angle of the transmission link 400 can be made greater than the transmission angle when the pose link 300 is the driving rod. Thus, the force applied to the clamping rod 200 in the direction perpendicular to the clamping rod 200 can be increased, that is, the pressure between the clamping rod 200 and the inner circumferential surface of the steel coil sleeve 20 can be increased, thereby improving the firmness and stability of the clamping of the steel coil sleeve 20 by the fixture 10.

[0067] In some embodiments, the end of the driving rod 510 is hinged to the middle position of the pose link 300, directly driving the pose link 300 to rotate on the bracket 100.

[0068] In some embodiments, one end of the pose link 300 is hinged to the driving rod 510, the other end is hinged to the clamping rod 200, and the middle position is hinged to the bracket 100, and the driving cylinder 500 directly drives the pose link 300 to rotate on the bracket 100.

[0069] In some embodiments, three clamping rods 200 are provided. When viewed along the first direction A, the three clamping rods 200 are arranged in an acute triangle. Thus, by arranging the three clamping rods 200 in an acute triangle, it can be ensured that all three clamping rods 200 can be in contact with the inner circumferential surface of the steel coil sleeve 20 when the three clamping rods 200 expand, thereby improving the stability of the clamping and fixing of the steel coil sleeve 20 by the fixture 10.

[0070] In some embodiments, when viewed along the first direction A, the three clamping rods 200 are arranged in an equilateral triangle. Thus, by arranging the three clamping rods 200 in a unilateral triangle, the clamping force applied by the three clamping rods 200 to the steel coil sleeve 20 can be made more uniform, further improving the stability of the clamping and fixing of the steel coil sleeve 20 by the fixture 10.

[0071] In some embodiments, two clamping rods 200 are provided. Thus, when the two clamping rods 200 clamp and fix the steel coil sleeve 20 while moving away from each other, the two clamping rods 200 are located at both ends of the same radial line of the steel coil reel.

[0072] In some embodiments, four, five or multiple other numbers of clamping rods 200 are provided. When viewed along the first direction A, the multiple clamping rods 200 are arranged in a circular pattern.

[0073] In some embodiments, a gasket 210 is provided on the surface of the clamping rod 200 on the side away from the bracket 100, and the gasket 210 is made of a flexible material. Thus, by providing the gasket 210 made of a flexible material on the surface of the clamping rod 200 on the side away from the bracket 100, the damage to the steel coil sleeve 20 can be reduced when the fixture 10 clamps the steel coil sleeve 20.

[0074] The above content has given an exemplary description of the possible embodiments of the fixture 10 in the present application. The present application also provides a robot for transporting the steel coil sleeve 20. The robot includes a fixture 10 and a robotic arm. The fixture 10 is installed on the robotic arm and moves under the drive of the robotic arm. The fixture 10 is any one of the possible implementation manners of the above-mentioned fixture 10. The robotic arm is fixedly connected to the first connection portion 120 of the bracket 100 of the fixture 10 to drive the fixture 10 to move. The specific structure of the fixture 10 will not be elaborated here.

[0075] Next, with reference to the drawings, the specific structure of the fixture 10 in the present application will be described in detail in specific embodiments.

[0076] Embodiment 1

[0077] Figure 1 is a schematic structural diagram of the fixture 10 in the present application; Figure 2 is Figure 1 the schematic structural diagram of the fixture 10 in Figure 1 after extending into the steel coil sleeve 20. As shown in

[0078] Figure 3 is Figure 1 the three-dimensional structural diagram of the main body portion 110 of the bracket 100 in Figures 1 - 3As shown, the bracket 100 includes a main body portion 110 and a first connecting portion 120. Among them, the main body portion 110 is a hollow cylindrical shell-like component. On the outer peripheral surface of the main body portion 110, a plurality of hollow holes 111 are provided to reduce the weight of the main body portion 110 and facilitate the user to disassemble and assemble the following driving cylinder 500 inside the main body portion 110 through the hollow holes 111. The axis of the main body portion 110 extends along the first direction A. The first connecting portion 120 is a connecting flange. The axis of the first connecting portion 120 coincides with the axis of the main body portion 110 and is fixedly installed at one end of the main body portion 110 for fixedly connecting with the robotic arm of the robot.

[0079] As Figure 1 , Figure 3 shown, the driving cylinder 500 is a pneumatic cylinder and is fixedly installed inside the main body portion 110 by screws, so that the fixture 10 can be made structurally compact. The driving rod 510 of the driving cylinder 500 is located at the axis position of the main body portion 110. A through hole 112 is provided at the axis position of the other end of the main body portion 110. After the driving cylinder 500 is installed, the driving rod 510 passes through the through hole 112 and extends out from the other end of the main body portion 110, and moves telescopically along the first direction A.

[0080] Figure 4 For Figure 1 the three-dimensional structural schematic diagram of the clamping rod 200, the pose link 300 and the transmission link 400 in Figure 1 , Figure 4 shown, the clamping rod 200, the pose link 300 and the transmission link 400 are strip-shaped plate-like components. Among them, there are three clamping rods 200. Looking along the first direction A, the three clamping rods 200 are evenly arranged along the circumferential direction of the main body portion 110, so that the three clamping rods 200 are on the same working circle R. Each clamping rod 200 is installed on the main body portion 110 of the bracket 100 through two pose links 300, and each clamping rod 200 is connected to the driving rod 510 of the driving cylinder 500 through a transmission link 400.

[0081] Specifically, one end of the pose link 300 is hinged to the ear plate 113 on the outer peripheral surface of the main body 110 through a pin shaft, enabling the pose link 300 to rotate on the plane where the axis of the main body 110 is located. The other end of the pose link 300 is hinged to the surface of the clamping rod 200 facing the bracket 100, enabling relative rotation between the pose link 300 and the clamping rod 200. Thus, the clamping rod 200 can form a four-bar mechanism with the main body 110 through two pose links 300. The pose link 300 rotates on the main body 110, causing the other end of the pose link 300 to approach / separate from the main body 110. Consequently, the clamping rod 200 can approach / separate from the main body 110, adjusting the position and attitude of the clamping rod 200, that is, adjusting the diameter of the working circle R where the three clamping rods 200 are located to adapt to the clamping requirements of steel coil sleeves 20 with different diameters.

[0082] The two pose links 300 corresponding to each clamping rod 200 have the same length, forming a parallelogram structure with the clamping rod 200. Thus, when the pose link 300 rotates, the clamping rod 200 can always be parallel to the axis of the main body 110.

[0083] Figure 5 For Figure 1 the three-dimensional structure schematic diagram of the connecting member 600 in Figure 1 、 Figure 5 As shown in

[0084] As Figure 1 、 Figure 2As shown, the three third connecting parts 620 are respectively connected to the corresponding clamping rods 200 through a transmission connecting rod 400. That is, one end of the transmission connecting rod 400 is hinged to the third connecting part 620, and the other end is hinged to the surface of the clamping rod 200 facing the bracket 100. Thus, the driving rod 510 can drive the clamping rod 200, the two pose connecting rods 300 and the main body part 110 to form a four-bar mechanism rotation through the transmission connecting rod 400, so as to form a six-bar mechanism, and make the six-bar mechanism form two closed loops (a closed loop is formed between the clamping rod 200, the two pose connecting rods 300 and the main body part 110, and a closed loop is formed between the driving rod 510, the transmission connecting rod 400, the clamping rod 200 and the pose connecting rod 300 close to the transmission connecting rod 400), that is, a multi-closed loop structure is formed to improve the stability of the transmission structure.

[0085] The length of the transmission connecting rod 400 is greater than that of the pose connecting rod 300. The other end of the transmission connecting rod 400 is inclined towards the first connecting part 120. When the connecting part 600 moves along the axis direction of the main body part 110 with the driving rod 510, it can drive the clamping rod 200 to move along the axis direction of the main body part 110 through the second connecting part 600, and then drive the pose connecting rod 300 to rotate, so that the clamping rod 200 approaches / leaves the bracket 100.

[0086] As Figures 1 - 3 shown, the lengths of the three transmission connecting rods 400 are equal, and the hinge positions of the other ends of the transmission connecting rods 400 and the clamping rod 200 are the same. Therefore, when the connecting part 600 moves along the axis direction of the main body part 110 with the driving rod 510, the distances that the connecting part 600 drives the clamping rod 200 to move along the axis direction of the main body part 110 through the second connecting part 600 are equal. In addition, the lengths of the six pose connecting rods 300 are equal, so that when the clamping rod 200 drives the pose connecting rod 300 to rotate, the distances that the clamping rod 200 approaches / leaves the bracket 100 are equal. Thus, the three clamping rods 200 can always form an equilateral triangle structure (viewed along the axial direction of the main body part 110), so that the center of the working circle R can always coincide with the axis of the main body part 110, thereby improving the stability of the clamping and fixing of the working circle R of the fixture 10 on steel coil sleeves 20 with different diameters such as 508 mm, 610 mm, 762 mm, etc.

[0087] As Figure 1 、 Figure 2 shown, the fixture 10 further includes a first sensor 700. The first sensor 700 is a visual recognition system, which is installed on the fourth connecting part 630 and is coaxial with the driving rod 510, and is used to identify the information of the steel coil sleeve 20. The information at least includes the position information and diameter information of the steel coil sleeve 20.

[0088] When the robot drives the fixture 10 to perform operations, the other end of the robotic arm-driven bracket 100 faces the end of the steel coil sleeve 20 so that the first sensor 700 can identify the diameter of the steel coil sleeve 20 and obtain the diameter information of the steel coil sleeve 20. The correctness of the information flow of the steel coil sleeve 20 can be verified through the diameter information of the steel coil sleeve 20 obtained by the first sensor 700. Specifically, the diameter information of the steel coil sleeve 20 to be clamped is pre-stored in the controller of the robot. After the first sensor 700 identifies the diameter of the steel coil sleeve 20 and obtains the diameter information, the controller compares the obtained diameter information with the pre-stored diameter information. If the comparison result shows that the obtained diameter information is the same as the pre-stored diameter information, that is, the comparison result is consistent, it can be confirmed that the steel coil sleeve 20 is the target steel coil sleeve 20 that the fixture 10 needs to clamp, and the robot controls the fixture 10 to clamp the steel coil sleeve 20. If the comparison result shows that the obtained diameter information is different from the pre-stored diameter information, that is, the comparison result is inconsistent, it can be confirmed that the steel coil sleeve 20 is not the target steel coil sleeve 20 that the fixture 10 needs to clamp. The robot controls the fixture 10 to stop clamping the steel coil sleeve 20, and the staff will confirm and process it.

[0089] The position information of the steel coil sleeve 20 obtained by the first sensor 700 can also be used to facilitate the robot to correct and adjust the position and attitude of the fixture 10 when the fixture 10 extends into the steel coil sleeve 20, so that the fixture 10 can smoothly extend into the steel coil sleeve 20. Thus, the control difficulty when the robot controls the fixture 10 to clamp the steel coil sleeve 20 can be reduced, and the success rate of the fixture 10 extending into the steel coil sleeve 20 can be improved.

[0090] Such as Figures 1 - 3As shown, the fixture 10 further includes a second sensor 800. The second sensor 800 is a position detection switch, which is installed on the clamping rod 200 by screws and is located on the side surface of the clamping rod 200 adjacent to and radially extending along the main body 110 on the side away from the main body 110. The second sensor 800 is slidably connected to the clamping rod 200 along the radial direction of the main body 110, so that the second sensor 800 can slide outwards and be exposed from the outside of the working circle R, or slide inwards and retract to the inside of the working circle R. Thus, before the fixture 10 operates, the position of the second sensor 800 is adjusted so that the second sensor is exposed from the outside of the working circle R. Thus, during the operation process, when the clamping rod 200 abuts against the inner peripheral surface of the steel coil sleeve 20 within the steel coil sleeve 20, the second sensor 800 can touch the inner peripheral surface of the steel coil sleeve 20, thereby giving a in-place signal to inform the robot that the clamping is in place. Thus, the expansion and extraction position of the fixture 10 can be judged by the second sensor 800. While obtaining the clamping in-place signal, it can be fed back to the pneumatic system (i.e., the system controlling the driving cylinder 500). Through cooperation with the pneumatic system, it can be ensured that the paper sleeve and the rubber sleeve are not damaged, and there is no need to modify the steel coil sleeve 20 additionally. It is also possible to adjust the position of the second sensor 800 when the fixture 10 stops operating, so that the second sensor retracts from the outside of the working circle R to the inside position. Thus, the probability of damage such as collision during the transfer or storage of the fixture 10 can be reduced.

[0091] As Figures 1 - 3 shown, a gasket 210 is provided on the side surface of the clamping rod 200 away from the bracket 100. The gasket 210 is made of a flexible material, so that when the fixture 10 clamps the steel coil sleeve 20, the damage to the steel coil sleeve 20 can be reduced.

[0092] In summary, the specific steps of using the fixture 10 in this embodiment to transfer the steel coil sleeve include:

[0093] Step S901: Fix the first connecting portion 120 of the bracket 100 to the robotic arm of the robot through bolts, so that the robot can drive the fixture 10 to move.

[0094] Step S902: Adjust the position of the second sensor 800 so that the second sensor 800 is exposed from the outside of the working circle R formed by the clamping rod 200.

[0095] Step S903: The robot drives the fixture 10 to move through the robotic arm, so that the other end of the main body 110 faces the end of the steel coil sleeve 20. The first sensor 700 located on the connecting member 600 takes a picture of the steel coil sleeve, and the diameter information and position information of the steel coil sleeve are recognized through the visual recognition system.

[0096] Step S904: The controller of the robot compares the diameter information obtained by the first sensor 700 with the pre-stored diameter information to verify the correctness of the information flow of the steel coil sleeve 20. If the comparison result shows that the obtained diameter information is the same as the pre-stored diameter information, that is, the comparison result is in line, it can be confirmed that the steel coil sleeve 20 is the target steel coil sleeve 20 that the fixture 10 needs to grip, and step S905 is entered. If the comparison result shows that the obtained diameter information is different from the pre-stored diameter information, that is, the comparison result is not in line, it can be confirmed that the steel coil sleeve 20 is not the target steel coil sleeve 20 that the fixture 10 needs to grip. The robot controls the fixture 10 to stop gripping the steel coil sleeve 20, and the staff will confirm and process it.

[0097] Step S905: The robot controls the manipulator to adjust the position, orientation, etc. of the fixture according to the position information, so that the axis of the main body 110 coincides with the axis of the steel coil sleeve 20.

[0098] Step S906: The robot controls the manipulator to drive the fixture to extend into the steel coil sleeve 20 along the axis of the steel coil sleeve 20.

[0099] Step S907: While keeping the bracket 100 stationary, the controller of the robot controls the driving rod 510 of the driving cylinder 500 to perform an outward extending action along the first direction A through the pneumatic system. Thus, the three clamping rods 200 can be driven to move respectively by the three transmission linkages 400. Combining with the pose linkage 300, the clamping rods 200 are stably moved in the direction away from the bracket 100, and the diameter of the working circle R formed by the three clamping rods 200 gradually increases.

[0100] Step S908: When the three clamping rods 200 are in contact with the inner peripheral surface of the steel coil sleeve 20, the second sensor 800 is triggered to act and send a in-place signal to inform the robot that the clamping is in place. After receiving the in-place signal sent by the second sensor 800, the robot determines that the fixture 10 has completed the clamping and fixing of the steel coil sleeve 20, and controls the driving rod 510 of the driving cylinder 500 to stop through the pneumatic system. Thus, excessive clamping force can be avoided, and damage to the steel coil sleeve 20 can be prevented.

[0101] Step S909: The robot drives the fixture 10 and the steel coil sleeve 20 to a predetermined position through the manipulator. After arriving, the controller of the robot controls the driving rod 510 of the driving cylinder 500 to retract along the direction opposite to the first direction A through the pneumatic system. Thus, the three clamping rods 200 can be driven to move respectively by the three transmission linkages 400 along the direction opposite to the first direction A. Thus, the pose linkage 300 can be rotated along the direction opposite to the first direction A, and further the clamping rods 200 are moved in the direction approaching the bracket 100, and the diameter of the working circle R formed by the three clamping rods 200 gradually decreases. Thus, the fixture can release the clamping and fixing of the steel coil sleeve 20.

[0102] Embodiment 2

[0103] Another embodiment of the fixture 10 is also provided in Embodiment 2 of the present application. Compared with the fixture 10 in Embodiment 1, the difference in Embodiment 2 is that there are 4 clamping rods 200. When viewed in the first direction, the 4 clamping rods 200 are located at the positions corresponding to the four corners of a square, and the bracket 100 is located at the center of the square formed by the 4 clamping rods 200. Each clamping rod 200 is installed on the bracket through three pose linkages 300. Other structural features of the fixture 10 in Embodiment 2 are the same as those in Embodiment 1 and will not be described in detail here.

[0104] Note that the above is only the preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present application has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, all of which fall within the protection scope of the present invention.

Claims

1. A fixture for clamping a steel coil sleeve, characterized in that, Comprising: A bracket that extends along a first direction, with a connecting portion provided at one end of the bracket for connecting to the robotic arm of a robot. Clamping rods that extend along the first direction, with a plurality of clamping rods arranged in a second direction, and the second direction is the circumferential direction of the bracket. A driving cylinder provided on the bracket, located at a position among the plurality of clamping rods, and having a driving rod that extends along the first direction. A pose link, with one end of the pose link hinged to the bracket and the other end hinged to the clamping rod; the pose link rotates on the bracket, causing the other end of the pose link to move away from / approach the bracket along the first direction while making the plurality of clamping rods move away from / approach each other. A transmission link, with one end of the transmission link hinged to the driving rod and the other end hinged to the clamping rod.

2. The fixture according to claim 1, characterized in that, Further comprising: A first sensor for identifying the position information of the steel coil sleeve, and the robot corrects the clamping pose of the fixture according to the position information.

3. The fixture according to claim 2, wherein The first sensor is further used for identifying the diameter information of the steel coil sleeve, and the diameter information is used for comparison with the pre-stored diameter of the steel coil sleeve. When the comparison result is inconsistent, the robot controls the fixture to stop.

4. The fixture according to claim 2, characterized in that, The driving rod extends from the other end of the bracket; further comprising: A connecting member installed at the end of the driving rod, with the first sensor installed on the connecting member, and one end of the transmission link is hinged to the driving rod by hinging with the connecting member.

5. The fixture according to claim 1, characterized in that Further comprising: A second sensor provided on the clamping rod for detecting whether the clamping rod abuts against the inner circumferential surface of the steel coil sleeve. When it is detected that the clamping rod abuts against the inner circumferential surface of the steel coil sleeve, the driving cylinder is controlled to stop.

6. The jig according to claim 5, characterized in that, When viewed along the first direction, the plurality of clamping rods are located on the same working circle; the second sensor is a position detection switch, and the second sensor protrudes from the outside of the working circle.

7. The jig according to claim 1, characterized in that, A plurality of the pose links are connected to a single clamping rod, and the lengths of the plurality of pose links corresponding to the same clamping rod are equal, arranged in the first direction and parallel to each other.

8. The fixture according to claim 7, characterized in that The acute angle formed between the transmission link and the clamping rod is greater than the acute angle formed between the pose link and the clamping rod.

9. The jig according to claim 1, characterized in that, A gasket is provided on the surface of the clamping rod on the side away from the bracket, and the gasket is made of a flexible material.

10. A robot, characterized in that, For handling a steel coil sleeve, comprising: A fixture, where the fixture is the fixture according to any one of claims 1 - 9. A robotic arm fixedly connected to the connecting portion of the bracket to drive the fixture to move.

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