Clamping jaw suitable for grabbing and stacking looped cables of various specifications

Abstract

A clamping jaw suitable for grabbing and stacking looped cables of various specifications comprises a rack, an inner clamping jaw mechanism and an outer clamping jaw mechanism, and the inner clamping jaw mechanism is connected to the bottom face of the rack; the inner clamping jaw mechanism is provided with at least two inner clamping jaw hands. The inner clamping claws are symmetrical around a straight line l; each inner claw hand is driven by a first radial movement driving mechanism to do linear motion, and the motion direction is perpendicular to a straight line l; the outer clamping jaw mechanism comprises two outer clamping jaw hands in pairs, and the two outer clamping jaw hands are connected to the bottom face of the rack and located below the rack. The two outer clamping jaw hands are symmetrical around a straight line 1; a cavity enclosed by the two outer clamping jaws is a loading cavity of a looped cable; the two outer clamping jaws are driven by a second radial movement driving mechanism to do linear movement, and the movement direction is perpendicular to the straight line l; a lifting mechanism is connected between the inner clamping jaw mechanism and the rack; when the inner clamping jaw mechanism is in a falling state, the inner clamping jaw hand is arranged below the loading cavity; and when the inner clamping jaw mechanism is in a lifting state, the inner clamping jaw hand is in the loading cavity.

Description

Technical Field

[0001] The utility model relates to the technical field of production line equipment such as BV lines of cable enterprises, and specifically to a clamping claw used for grabbing and stacking coiled cables of various specifications. Background Art

[0002] Cable is a general term for optical cables, electrical cables, etc. Cables have many uses, mainly used for controlling installation, connecting equipment, transmitting electricity, and other multiple functions. They are common and indispensable in daily life.

[0003] BV wire, that is, copper core polyvinyl chloride insulated cloth wire (referred to as plastic copper wire), is usually packaged into a hollow cylindrical shape and tied securely after production. It is different from the packaging form of large-sized cables wound on wooden or plastic reels. The BV wire stacking manipulator commonly used by cable manufacturers uses claws that are mainly used to grab small-sized coiled cables. This type of coiled cable is light in weight and small in size. Only the inner claw is used to expand the hollow hole of the coiled cable (taking pneumatic or pneumatic clamping jaws as an example, the air claw drives the inner claw to expand), and the coiled cable can be automatically grabbed, transported and stacked. However, large-sized coiled cables are heavy and large in size. Only using the inner claw to grab them will cause problems such as falling and scratching. Therefore, the handling method is still mainly manpower, resulting in high labor intensity and low work efficiency. Summary of the invention

[0004] In order to solve the above technical problems, the utility model proposes a clamping claw suitable for grabbing and stacking coiled cables of various specifications, including a frame and an inner clamping claw mechanism, the inner clamping claw mechanism is connected to the bottom surface of the frame, and the axis of the inner clamping claw mechanism is perpendicular to the bottom surface of the frame, and the axis of the inner clamping claw mechanism is defined as a straight line. l The inner claw mechanism has at least two inner claw hands, and the outer wall of each inner claw gripper is on the side of the same cylindrical shape; each inner claw hand surrounds a straight line l Symmetrical; each inner clamping claw moves in a straight line under the drive of the first radial moving drive mechanism, and the movement direction is perpendicular to the straight line l .

[0005] The outer clamp mechanism also includes two outer clamp hands in a pair, the two outer clamp hands are connected to the bottom surface of the frame and are below the frame; the two outer clamp hands surround a straight line l Symmetrical; the cavity surrounded by the two outer grippers is the loading cavity for the coiled cable; the two outer grippers move in a straight line driven by the second radial moving drive mechanism, and the movement direction is perpendicular to the straight line l ;

[0006] A lifting mechanism is connected between the inner clamping claw mechanism and the frame; when the inner clamping claw mechanism is in a lowered state, the inner clamping claw hand is below the loading cavity; when the inner clamping claw mechanism is in a raised state, the inner clamping claw hand is in the loading cavity.

[0007] In engineering implementation, the frame is a rectangular frame structure consisting of a pair of parallel cross beams connected with a plurality of parallel longitudinal beams;

[0008] A hollow for connecting a lifting mechanism is reserved at the central position of the frame structure, and the lifting mechanism is connected in the hollow;

[0009] The two outer gripping claws are slidably connected to the bottom surface of the frame structure, and the sliding direction of the two outer gripping claws is consistent with the length direction of the beam; the second radial movement driving mechanism is connected to the frame structure;

[0010] The inner clamping claw hand and the first radial movement driving mechanism are connected to the lifting mechanism.

[0011] Specifically, the lifting mechanism includes an up-and-down moving cylinder, a sliding optical axis, a copper sleeve, an up-and-down moving cylinder fixing seat, an air gripper fixing seat and an air gripper assembly; the air gripper assembly is connected to the bottom surface of the air gripper fixing seat;

[0012] The vertically movable cylinder fixing seat is connected to the top of the frame structure, and the two legs of the vertically movable cylinder fixing seat are respectively connected to a longitudinal beam; the main body of the vertically movable cylinder fixing seat is provided with a first hole for the piston rod of the vertically movable cylinder to pass through and two second holes for the sliding optical axis to pass through; the two second holes are symmetrically distributed on both sides of the first hole;

[0013] The cylinder body of the up-and-down moving cylinder is connected to the main body top surface of the up-and-down moving cylinder fixing seat, the piston rod passes through the first hole downward, and the bottom end of the piston rod is connected to the middle position of the air gripper fixing seat; the copper sleeve is nested in the second hole, and the two sliding optical axes pass through a copper sleeve respectively, and the bottom ends of the sliding optical axes are connected to the two sides of the air gripper fixing seat;

[0014] Each air gripper of the air gripper assembly is connected to an inner gripper hand respectively, and each air gripper and the inner gripper hand constitute an inner gripper mechanism; the air gripper assembly is the first radial movement driving mechanism.

[0015] Furthermore, an inner clamping claw hand wear-resistant layer is connected to the outer wall of the inner clamping claw hand.

[0016] Specifically, a slide rail is connected to the bottom of each of the two beams, and the two slide rails are parallel;

[0017] A pair of sliders are connected to the top of each outer gripper hand, and the two sliders are slidably connected to a slide rail respectively;

[0018] The second radial movement drive mechanism includes two left and right moving cylinders; the axes of the two left and right moving cylinders are parallel to each other, and the directions of the piston rods are opposite; the front end of the piston rod of each left and right moving cylinder is connected to a cylinder joint, and the cylinder joint is connected to an external gripper through a connecting seat; the cylinder body of each left and right moving cylinder is connected to the frame structure;

[0019] The positions of the two left and right moving cylinders are respectively close to the two cross beams, and an assembly space for the inner clamping claw hand is reserved between the two left and right moving cylinders.

[0020] Furthermore, the outer gripper hand protective layer and the protective layer anti-slip plate are sequentially connected to the inner wall of the outer gripper hand from the inside to the outside.

[0021] Furthermore, the frame is connected with a lifting mechanism (specifically, it may be lifting rings at the four corners of the frame).

[0022] Compared with the prior art, the beneficial effects of this clamp are:

[0023] 1. The clamp includes an inner clamp mechanism and an outer clamp mechanism, which can realize the grabbing and stacking of large-sized coiled cables, reduce the labor intensity of employees, reduce the number of employees, and improve the automation level of equipment.

[0024] 2. The inner clamping claw mechanism has the function of moving up and down to prevent the coiled cables on the pallet from interfering with the outer clamping claw mechanism during palletizing.

[0025] 3. The outer clamping claw mechanism cooperates with the inner clamping claw mechanism to grab large-sized coiled cables, which has the functions of preventing falling and scratching, making the grabbing action safer and more reliable, and playing a role of double protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is an axonometric diagram of the gripper;

[0027] Figure 2 This is a schematic diagram of the main view of the clamp;

[0028] Figure 3 It is a schematic diagram of the inner clamping claw hand of the present clamping claw;

[0029] Figure 4 is a top view schematic diagram of the present clamp;

[0030] Figure 5 is a schematic diagram of the outer gripper hand of the present gripper;

[0031] Figure 6 This is a schematic diagram of the working state of the clamp;

[0032] In the figure: 1--frame, 2--inner clamping jaw mechanism, 3--outer clamping jaw mechanism, 4--manual valve, 101--lifting ring, 102--up and down moving cylinder fixing seat, 103--crossbeam, 104--longitudinal beam, 201--inner clamping jaw hand, 202--inner clamping jaw hand wear-resistant layer, 203--air claw, 211--up and down moving cylinder, 212--sliding optical axis, 213--copper sleeve, 214--air claw fixing seat, 301--outer clamping jaw hand, 302--outer clamping jaw hand protective layer, 303--protective layer anti-slip plate, 311-left and right moving cylinder, 312--cylinder joint, 313--connecting seat, 314--sliding block, 315--slide rail, 5--loop cable. DETAILED DESCRIPTION

[0033] The utility model is further described below in conjunction with the accompanying drawings and specific embodiments.

[0034] See also Figure 1 to Figure 6 A clamping claw suitable for grasping and stacking coiled cables of various specifications, comprising a frame 1 and an inner clamping claw mechanism 2, wherein the inner clamping claw mechanism is connected to the bottom surface of the frame, and the axis of the inner clamping claw mechanism is perpendicular to the bottom surface of the frame, and the axis of the inner clamping claw mechanism is defined as a straight line. l The inner claw mechanism has at least two inner claw hands 201, and the outer wall of each inner claw gripper is on the side of the same cylindrical shape; each inner claw hand surrounds a straight line l Symmetrical; each inner clamping claw moves in a straight line under the drive of the first radial moving drive mechanism, and the movement direction is perpendicular to the straight line l .

[0035] The outer clamp mechanism 3 includes two outer clamp hands 301 in a pair, and the two outer clamp hands 301 are connected to the bottom surface of the frame 1 and are below the frame; the two outer clamp hands 301 surround a straight line l Symmetrical; the cavity surrounded by the two outer grippers is the loading cavity for the coiled cable 5; the two outer grippers move in a straight line under the drive of the second radial movement drive mechanism, and the movement direction is perpendicular to the straight line l ;

[0036] A lifting mechanism is connected between the inner clamping claw mechanism 2 and the frame 1; when the inner clamping claw mechanism is in a lowered state, the inner clamping claw hand is below the loading chamber; when the inner clamping claw mechanism is in a raised state, the inner clamping claw hand is in the loading chamber.

[0037] In this example, the frame 1 is a rectangular frame structure consisting of a pair of parallel cross beams 103 connected with a plurality of parallel longitudinal beams 104;

[0038] A hollow for connecting a lifting mechanism is reserved at the central position of the frame structure, and the lifting mechanism is connected in the hollow;

[0039] The two outer gripping claws 301 are slidably connected to the bottom surface of the frame structure, and the sliding direction of the two outer gripping claws is consistent with the length direction of the beam 103; the second radial movement driving mechanism is connected to the frame structure;

[0040] The inner clamping claw hand and the first radial movement driving mechanism are connected to the lifting mechanism.

[0041] Further references Figure 2 The lifting mechanism includes an up-and-down moving cylinder 211, a sliding optical axis 212, a copper sleeve 213, an up-and-down moving cylinder fixing seat 102, an air gripper fixing seat 214 and an air gripper assembly; the air gripper assembly is connected to the bottom surface of the air gripper fixing seat;

[0042] The vertically movable cylinder fixing seat 102 is connected to the top of the frame structure, and the two legs of the vertically movable cylinder fixing seat are respectively connected to a longitudinal beam; the main body of the vertically movable cylinder fixing seat is provided with a first hole for the piston rod of the vertically movable cylinder 211 to pass through and two second holes for the sliding optical axis 212 to pass through; the two second holes are symmetrically distributed on both sides of the first hole;

[0043] The cylinder body of the up-and-down moving cylinder 211 is connected to the main body top surface of the up-and-down moving cylinder fixing seat 102, the piston rod passes through the first hole downward, and the bottom end of the piston rod is connected to the middle position of the air claw fixing seat 214; the copper sleeve 213 is nested in the second hole, and the two sliding optical axes 212 pass through a copper sleeve 213 respectively, and the bottom ends of the sliding optical axes 212 are connected to the two sides of the air claw fixing seat 214;

[0044] Each air gripper 203 of the air gripper assembly is connected to an inner gripper hand 201 , respectively. Each air gripper and the inner gripper hand constitute an inner gripper mechanism 2 ; the air gripper assembly is the first radial movement driving mechanism.

[0045] Further references Figure 3 The outer wall of the inner clamping claw hand 201 is connected to an inner clamping claw hand wear-resistant layer 202 .

[0046] Further references Figure 4 , a slide rail 315 is connected to the bottom of the two beams, and the two slide rails are parallel;

[0047] A pair of sliders 314 are connected to the top of each outer gripper hand, and the two sliders are slidably connected to a slide rail respectively;

[0048] The second radial movement drive mechanism includes two left-right moving cylinders 311; the axes of the two left-right moving cylinders are parallel to each other, and the directions of the piston rods are opposite; the front end of the piston rod of each left-right moving cylinder is connected to a cylinder joint 312, and the cylinder joint is connected to an outer gripper hand through a connecting seat 313; the cylinder body of each left-right moving cylinder is connected to the frame structure;

[0049] The positions of the two left and right moving cylinders are respectively close to the two cross beams, and an assembly space for the inner clamping claw hand is reserved between the two left and right moving cylinders.

[0050] Further references Figure 5 The outer gripper hand protective layer 302 and the protective layer anti-slip plate 303 are sequentially connected on the inner wall of the outer gripper hand from the inside to the outside.

[0051] Refer to Figure 1 The frame is connected with a lifting mechanism, specifically the lifting rings 101 at the four corners of the frame. In implementation, taking manual control as an example, the pneumatic valves of the up-and-down moving cylinder, the left-and-right moving cylinder and the pneumatic claw assembly are manual valves 4, and the three manual valves 4 can be installed on the side of the frame.

[0052] The clamping jaws in this example include: a frame 1, an inner clamping jaw mechanism 2, an outer clamping jaw mechanism 3, and a manual valve 4;

[0053] The inner clamping claw mechanism 2 comprises an inner clamping claw hand 201, an inner clamping claw hand wear-resistant layer 202, an air clamping claw 203 and an up and down moving component. The three equally divided axes of the air clamping claw 203 are fixedly connected to the three groups of inner clamping claw hands 201 to realize the loosening and clamping of the inner clamping claw mechanism; there is a group of sliding optical axis 212 and copper sleeve 213 on each side of the up and down moving cylinder 211, which are fixed on the up and down moving cylinder fixing seat 102 of the frame 1 to realize the up and down movement of the inner clamping claw mechanism after grasping.

[0054] The outer clamping mechanism 3 includes an outer clamping hand 301, an outer clamping hand protective layer 302, a protective layer anti-slip plate 303 and a left and right moving component. There is one group of outer clamping hands on each side of the left and right sides of the outer clamping hands 301. Each group of outer clamping hands 301 is fixedly connected to four sliders 314 (two sliders are connected to the two sides of the top of the outer clamping hands respectively to ensure uniform force and smooth sliding) and is slidably connected to the slide rail 315. One end of the two groups of left and right moving cylinders 311 are respectively hinged to the frame 1, and the other ends are respectively connected to the two groups of outer clamping hands 301 through cylinder joints 312 and connecting seats 313 to realize the loosening and clamping of the outer clamping mechanism.

[0055] Combination Figure 6 The working principle is that when the gripper grabs a large-sized coiled cable,

[0056] First, open the first manual valve to drive the cylinder assembly to move up and down to lower the inner claw mechanism 2 and enter the inner hole of the large-sized coiled cable 5;

[0057] Then open the second manual valve to drive the air claw assembly to open, and support the inner circle of the coiled cable 5 to achieve clamping and grasping;

[0058] Then close the first manual valve to drive the cylinder assembly to move up and down to raise the inner claw mechanism 2 to the limit position;

[0059] Then, the third manual valve is opened to drive the cylinder assembly to move left and right to pick up the outer clamp mechanism 3 from the outer ring of the coiled cable and clamp it, and then transport it to the designated position for stacking;

[0060] When stacking, first close the third manual valve to drive the left and right moving cylinder assembly to loosen the outer clamping claw mechanism 3, then open the first manual valve to drive the up and down moving cylinder assembly to lower the inner clamping claw mechanism 2, close the second manual valve to drive the air claw assembly to retract and lower the coiled cable 5, and finally close the first manual valve to drive the up and down moving cylinder assembly to retract the inner clamping claw mechanism 2 to achieve the grabbing and stacking of large-sized coiled cables; repeat the above actions to achieve cyclic work.

[0061] If grabbing a small-sized coiled cable, it can be done only by the inner claw mechanism, which is the same as the existing grabbing method.

Claims

1. A clamping claw suitable for grabbing and stacking coiled cables of various specifications, comprising a frame and an inner clamping claw mechanism, wherein the inner clamping claw mechanism is connected to the bottom surface of the frame, and the axis of the inner clamping claw mechanism is perpendicular to the bottom surface of the frame, and the axis of the inner clamping claw mechanism is defined as a straight line. l The inner claw mechanism has at least two inner claw hands, and the outer wall of each inner claw gripper is on the side of the same cylindrical shape; each inner claw hand surrounds a straight line l Symmetrical; each inner clamping claw moves in a straight line under the drive of the first radial moving drive mechanism, and the movement direction is perpendicular to the straight line l , which is characterized by Also includes External clamping mechanism; the external clamping mechanism includes two pairs of external clamping hands, the two external clamping hands are connected to the bottom surface of the frame and are below the frame; Two outer grippers around a straight line l Symmetrical; the cavity surrounded by the two outer gripper hands is the loading cavity for the coiled cable; The two outer grippers move in a straight line under the drive of the second radial movement drive mechanism, and the movement direction is perpendicular to the straight line. l ; A lifting mechanism is connected between the inner clamping claw mechanism and the frame; when the inner clamping claw mechanism is in a lowered state, the inner clamping claw hand is below the loading cavity; when the inner clamping claw mechanism is in a raised state, the inner clamping claw hand is in the loading cavity.

2. The clamping claw suitable for grabbing and stacking coiled cables of various specifications according to claim 1 is characterized in that The frame is a rectangular frame structure consisting of a pair of parallel cross beams connected with a plurality of parallel longitudinal beams; A hollow for connecting a lifting mechanism is reserved at the central position of the frame structure, and the lifting mechanism is connected in the hollow; The two outer gripping claws are slidably connected to the bottom surface of the frame structure, and the sliding direction of the two outer gripping claws is consistent with the length direction of the beam; The second radial movement driving mechanism is connected to the frame structure; The inner clamping claw hand and the first radial movement driving mechanism are connected to the lifting mechanism.

3. The clamping claw suitable for grabbing and stacking coiled cables of various specifications according to claim 2 is characterized in that The lifting mechanism includes an up-and-down moving cylinder, a sliding optical axis, a copper sleeve, an up-and-down moving cylinder fixing seat, an air claw fixing seat and an air claw assembly; the air claw assembly is connected to the bottom surface of the air claw fixing seat; The vertically movable cylinder fixing seat is connected to the top of the frame structure, and the two legs of the vertically movable cylinder fixing seat are respectively connected to a longitudinal beam; the main body of the vertically movable cylinder fixing seat is provided with a first hole for the piston rod of the vertically movable cylinder to pass through and two second holes for the sliding optical axis to pass through; the two second holes are symmetrically distributed on both sides of the first hole; The cylinder body of the up-and-down moving cylinder is connected to the main body top surface of the up-and-down moving cylinder fixing seat, the piston rod passes through the first hole downward, and the bottom end of the piston rod is connected to the middle position of the air gripper fixing seat; the copper sleeve is nested in the second hole, and the two sliding optical axes pass through a copper sleeve respectively, and the bottom ends of the sliding optical axes are connected to the two sides of the air gripper fixing seat; Each air gripper of the air gripper assembly is connected to an inner gripper hand respectively, and each air gripper and the inner gripper hand constitute an inner gripper mechanism; the air gripper assembly is the first radial movement driving mechanism.

4. The clamping claw suitable for grabbing and stacking coiled cables of various specifications according to claim 3 is characterized in that The outer wall of the inner clamping claw hand is connected with an inner clamping claw hand wear-resistant layer.

5. The clamping claw suitable for grabbing and stacking coiled cables of various specifications according to claim 2 is characterized in that A slide rail is connected to the bottom of the two beams, and the two slide rails are parallel; A pair of sliders are connected to the top of each outer gripper hand, and the two sliders are slidably connected to a slide rail respectively; The second radial movement drive mechanism includes two left and right moving cylinders; the axes of the two left and right moving cylinders are parallel to each other, and the directions of the piston rods are opposite; the front end of the piston rod of each left and right moving cylinder is connected to a cylinder joint, and the cylinder joint is connected to an external gripper through a connecting seat; the cylinder body of each left and right moving cylinder is connected to the frame structure; The positions of the two left and right moving cylinders are respectively close to the two cross beams, and an assembly space for the inner clamping claw hand is reserved between the two left and right moving cylinders.

6. The clamping claw suitable for grabbing and stacking coiled cables of various specifications according to claim 5 is characterized in that The inner wall of the outer gripper hand is connected with the outer gripper hand protection layer and the protection layer anti-dropping plate in sequence from the inside to the outside.

7. The clamping claw suitable for grabbing and stacking coiled cables of various specifications according to claim 1 is characterized in that The frame is connected with a lifting mechanism.

Images